Transfer device

Abstract

The transfer device according to the present disclosure is provided with a transfer mechanism having a tray on which an article can be placed and capable of transferring the article placed on the tray; a motor for driving the transfer mechanism by supplying power from a battery; an extracting part for extracting the weight of the article; and a control part that sets a drive current to be smaller for the light article than for the heavy article based on the weight of the article obtained by the extracting part, thereby performing drive control of the motor.

Description

TECHNICAL FIELD

[0001] The present description discloses a transfer device. TECHNICAL BACKGROUND

[0002] Transfer devices capable of transferring required components to a production line for producing circuit boards on which components are mounted are known. For example, Patent Document 1 discloses a transfer device including a transfer mechanism capable of transferring a storage case containing belt feeders stored therein to a storage warehouse, and an automated guided vehicle for transporting the transfer mechanism. Furthermore, Patent Document 2 discloses that the number of trays in a magazine is detected by a sensor, and the detected number of trays is multiplied by the weight of each tray to calculate the total weight of the trays held in the magazine. The magazine is moved up and down at a speed corresponding to the total weight of the trays until it reaches the tray supply point, thereby increasing the speed of the tray supply operation.Patent Document 3 further discloses that a storage part is provided in which the number of trays accommodated in a magazine, the number of components accommodated in the tray, the weight per tray, and the weight per component are stored, and based on this information, the total weight of the materials accommodated in the magazine is calculated, and then the magazine is moved up and down at a speed corresponding to the total weight to the tray supply point, thereby increasing the speed of the tray supply operation. PRIOR ART PATENT DOCUMENTS Patent document 1: WO 2021 / 144866 A Patent document 2: JP H04-170100 A Patent Document 3: JP 2002-329996 A SUMMARY OF THE INVENTION OBJECT TO BE SOLVED BY THE INVENTION

[0003] In the movable transfer device according to Patent Document 1, the transfer mechanism is generally driven by a battery. If the sole objective of this transfer device is to increase the article transfer speed, there is a risk that the battery power consumption will increase and the operating time will be shortened.

[0004] The present disclosure has the main purpose of extending the operating time of a transfer device driven by power supply from the battery.

[0005] To achieve the main purpose, the present disclosure takes the following measure. MEANS FOR SOLVING THE TASK

[0006] The essence of the transfer device according to the present disclosure is that it is provided with a transfer mechanism having a tray on which an article can be placed and capable of transferring the article placed on the tray, a motor for driving the transfer mechanism by power from a battery, a recovery part for obtaining the weight of the article and a control part which, based on the weight of the article obtained by the extraction part, sets a drive current such that it is smaller for the light article than for the heavy article, and thus carries out the drive control of the motor.

[0007] In this transfer device, the drive current is set so that it is lower for a light article than for a heavy article, thus controlling the motor drive. This reduces battery power consumption for light articles and extends the operating time of the transfer device. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic design view of a component assembly system 10. Fig. 2 is an oblique view of a feeder 20. Fig. 3 is an oblique view of a feeder storage warehouse 13. Fig. 4 is an oblique view of a magazine 50. Fig. 5 is an oblique view of a magazine storage device 30. Fig. 6 is a schematic structural view of an automated guided vehicle 60 and a transfer device 70. Fig. 7 is an oblique view of the transfer device 70 from which a row of rollers 75 is removed. Fig. 8 is a schematic construction view of a weight sensor 78. Fig. 9 is a block diagram showing the electrical connection relationship of the component mounting system 10. Fig. 10 is a flowchart showing an example of a magazine transfer processing routine. Fig. Fig. 11 is an explanatory view showing an example of the relationship between the weight of the magazine 50 and the driving current of a stepping motor 76. EMBODIMENT OF THE INVENTION

[0008] An embodiment of the present disclosure will then be explained with reference to the figures. Fig. 1 is a schematic design view of a component assembly system 10. Fig. 2 is an oblique view of a feeder 20. Fig. 3 is an oblique view of a feeder storage warehouse 13. Fig. 4 is an oblique view of a magazine 50. Fig. 5 is an oblique view of a magazine storage device 30. Fig. 6 is a schematic structural view of an automated guided vehicle 60 and a transfer device 70. Fig. 7 is an oblique view of the transfer device 70 from which a row of rollers 75 is removed. Fig. 8 is a schematic construction view of a weight sensor 78. Fig. 9 is a block diagram showing the electrical connection relationship of the component mounting system 10. In the present embodiment, the X-axis direction (left-right direction), Y-axis direction (forward and backward direction), and Z-axis direction (up and down direction) are respectively as shown in Fig. 1 - 8 (The Z-axis direction in Fig. 1 corresponds to the direction perpendicular to the paper surface and the Y-axis direction in Fig. 8 in the direction perpendicular to the paper surface).

[0009] In the component mounting system 10, a plurality of (five in the present embodiment) component mounting devices 14 are each supplied with components P through a feeder 20 and mount the components P sequentially on a board S to produce the board S with the components P mounted thereon. The component mounting system 10 is provided with a production line L, a loader 17, an automated guided vehicle 60, a transfer device 70, and a control device 90 (see FIG. Fig. 9) as in Fig. 1 shown.

[0010] The production line L is formed of a printing device 11, a printing inspection device 12, a feeder storage warehouse 13, a plurality of component mounting devices 14, a reflow device 15 and a visual inspection device 16 in such a way that they are arranged in this order as shown in Fig. 1 shown.

[0011] The printing device 11 is a device for printing solder on the circuit pattern of the board S. The printing device 11 includes a board conveying device for conveying the board S, a print head, a head moving device for moving the print head, a fixing frame to which a screen mask is fixed, and a control device that is a computer including CPU, ROM, RAM, storage (e.g., HDD and SSD), etc. The print checking device 12 is a device for checking the state of the solder printed on the board S by the printing device 11. The print checking device 12 includes a checking device and a control device (computer) for controlling the checking device, etc. The feeder storage warehouse 13 is a device for storing the feeders 20 to be used on the component mounting devices 14 and used feeders 20.The component mounting device 14 is a device for mounting components P onto the circuit board S printed with solder by the printing device 11. The component mounting devices 14 each have a mounting control device (not shown) and a feeder setting frame (not shown). When the feeder 20 is placed on the feeder setting frame, the mounting control device can communicate with the feeder 20 and obtains information about the components P held on the feeder 20. The reflow device 15 is a device that heats the circuit board S to melt the solder and then cools it to electrically connect the components P on the circuit board S and simultaneously fix the components P to the circuit board S.The visual inspection device 16 is a device that judges, for each component P on the board S, whether the positional deviation amount between the actual mounting position and the predetermined target mounting position is within the allowable range of the visual inspection or not.

[0012] The feeder 20 is a component feeding device for feeding the components P to the component mounting device 14. The feeder 20 is a cassette-type belt feeder having a belt reel 22 on which a belt 21 in which a plurality of components P are accommodated is wound, a belt feed mechanism 23, a connecting link 24, a rail 25, a feeder control device (not shown) for controlling the belt feed mechanism 23, etc., as shown in Fig. 2 shown.

[0013] The loader 17 is an exchange device that is moved along the production line L to remove the used feeders 20 from the component assembly device 14 and collect them into the feeder storage warehouse 13, or to remove the feeders 20 to be used later from the feeder storage warehouse 13 and to supplement them in the component assembly device 14, as shown in Fig. 1. The charger 17 is provided with a charging control device (not shown).

[0014] The feeder storage 13 is a device for storing the feeders 20, to which magazines 50 for storing the feeders 20 are detachably attached. The feeder storage 13 is provided with two magazine storage devices 30, which are placed side by side on the left and right, as shown in Fig. 3, and a storage warehouse control device 45 (see Fig. 9).

[0015] The magazine 50 is a housing that can accommodate a plurality of feeders 20. The magazine 50 has a magazine main body 51, slots 52, a clamping part 53, connecting members 54 for the feeders 20, and a connecting member 55 for the magazine storage device 30, as shown in Fig. 4. The magazine main body 51 is a rectangular casing. A plurality of slots 52 are provided along the left-right direction on the rear entry side of the bottom surface of the magazine main body 51. The rail 25 of the feeder 20 is inserted into the slot 52 from behind, allowing the feeder 20 to be held. The clamping part 53 is a projection provided on the rear side of the bottom surface of the magazine main body 51, which is clamped by a clamping mechanism 40 of the magazine storage device 30. The connecting link 54 is connected to the connecting link 24 of the feeder 20 when the feeder 20 is inserted into the slot 52. The connecting link 55 can be connected to a connecting link 35 of a magazine tray 31. When the connecting member 55 of the magazine 50 is connected to the connecting member 35 of the magazine storage device 30, the storage warehouse control device 45 of the feeder storage warehouse 13 (see Fig. 9) communicate with the feeder 20 attached to the magazine 50 via the magazine 50, wherein the storage control device 45 obtains the mounting position of the feeder 20 inserted in the slot 52 of the magazine 50, the identification information of the feeder 20, information about the components P held on the feeder 20, etc.

[0016] The magazine storage device 30 is a device that receives the magazine 50, in which the feeders 20 are accommodated for use in the next production, from the transfer device 70 and transfers the magazine 50, in which the used feeders 20 are accommodated, to the transfer device 70. The magazine storage device 30 is provided with a magazine tray 31 and a clamping mechanism 40, as shown in Fig. 5 shown.

[0017] The magazine tray 31 is a frame for placing the magazine 50. The magazine tray 31 is provided with a roller support element 32, two rows of rollers 34 and a connecting link 35, as shown in Fig. 5. The roller support member 32 is a disc-shaped member on which the roller rows 34 are provided. The roller rows 34 are provided on the left and right sides of the roller support member 32. The roller row 34 is formed of a plurality of rollers 34R lined up in the back-and-forth direction, the rotational axes of which are arranged in the left-right direction. Each roller 34R is rotatably mounted on a roller mounting member 36 fixed to the upper surface of the roller support member 32. The magazine 50 is moved forward or backward in the magazine storage device 30 by rotating each roller 34R in a state in which the magazine 50 is mounted by the driving force of the motor 37 (see FIG. Fig. 9) is rotated in the normal or reverse direction. The connecting member 35 is provided on a wall portion 38 provided on the front side of the upper surface of the roller support member 32. The connecting member 35 can be connected to the connecting member 55 provided on the front surface of the magazine 50.

[0018] The clamping mechanism 40 is a mechanism for clamping the magazine 50 placed on the magazine tray 31. The clamping mechanism 40 is provided between two rows of rollers 34, as shown in Fig. 5. The clamping mechanism 40 is attached to a clamping slide 42, which is movable in the forward and backward direction by a pneumatic cylinder 41. The clamping mechanism 40 has a hook-shaped clamping piece 43. The clamping piece 43 is moved between the unclamping position according to Fig. 5 and a clamping position (not shown) (a position rotated upwards from the unclamping position) by an actuator (not shown). During the transfer of the magazine 50, the clamping slide 42 is at the Fig. 5 (rear position). The cocking slide 42 is provided with a stop 44 for stopping the forwardly moved magazine 50 against the magazine rest 31.

[0019] The storage warehouse control device 45 is a device for controlling the entire feeder storage warehouse 13, as shown in Fig. 9. The storage control device 45 is a computer including CPU, ROM, RAM, memory, etc. The storage control device 45 outputs control signals to the magazine tray 31 and the clamping mechanism 40.

[0020] The driverless transport vehicle 60 is a device that travels in conjunction with the transfer device 70 and thereby pulls the transfer device 70. The driverless transport vehicle 60 has a battery 61 (see Fig. 9), a motor 62 for driving, and a transport vehicle control device (not shown). The driverless transport vehicle 60 is driven by the motor 62, which is powered by power from the battery 61. The driverless transport vehicle 60 is designed, for example, as an AGV (Automatic Guided Vehicle) or AMR (Autonomous Mobile Robot). The transport vehicle control device controls the driving of the driverless transport vehicle 60.

[0021] The transfer device 70 is a device that can receive or transfer the magazine 50 from the magazine storage device 30. The transfer device 70 is connected to the automated guided vehicle 60 via a link (not shown) and is powered by the battery 61 of the automated guided vehicle 60. The transfer device 70 is configured as a carriage with a base member 71, a magazine transfer mechanism 72, a stepping motor 76 (see Fig. 9), a driver 77 (see Fig. 9), a weight sensor 78, wheels 79 and a control device 80 (see Fig. 9) trained as in Fig. 6 - 8 shown.

[0022] The base member 71 is a structural member on whose upper part the magazine transfer mechanism 72 (roller support member 73) is mounted. The base member 71 has an opening 71a at each of its left and right ends, extending from the front end to the rear end, as shown in Fig. 8. In addition, the base member 71 has a recess 71b near the center in the front-and-back and left-right directions.

[0023] The magazine transfer mechanism 72 has a roller support element 73 (see Fig. 7, Fig. 8) and a roll series 75 (see Fig. 6, Fig. 8). The roller support member 73 is a structural member for supporting the roller row 75. The roller support member 73 has projections 73a as shown in Fig. 8. The projection 73a projects downward from the lower surface of the roller support member 73 and extends in the front and rear direction. The projection 73a is passed through the opening 71a of the base member 71. A pull-out prevention member 73b is formed at the lower end of the projection 73a. This can prevent the magazine transfer mechanism 72 from being pulled out upward from the base member 71 together with the roller support member 73. The magazine 50 can be placed on the roller row 75. The roller row 75 has a plurality of rollers 75R and a plurality of roller fixing members 74. Each roller 75R is rotatably attached to the roller fixing members 74 fixed on the upper surface of the roller support member 73.The roller fastening elements 74 are paired left and right components with a substantially L-shaped cross-section, which are provided on the upper surface of the roller support element 73 such that the rotation axis of the roller 75R is directed in the left-right direction. A plurality of roller fastening elements 74 are arranged in a row on the upper surface of the roller support element 73 in the forward and backward directions such that a plurality of rollers 75R are arranged side by side in the forward and backward directions.

[0024] The stepper motor 76 (see Fig. 9) is a power source for rotating each roller 75R. The stepping motor 76 moves the magazine 50 forward or backward in the magazine transfer mechanism 72 by supplying driving power to the rollers 75R in a state where the magazine 50 is placed thereon, thereby rotating them in the normal or reverse direction.

[0025] With driver 77 (see Fig. 9) is a circuit for switching a switching element for driving the stepper motor 76. The driver 77 is, for example, a constant-current drive type motor driver. The driver 77 is provided with, for example, a well-known step-up / step-down converter comprising a coil, a capacitor, and a transistor, and a switching element for driving the stepper motor 76. A set value of the drive current of the stepper motor 76 is input to the driver 77 from the control device 80 (see FIG. Fig. 9). The driver 77 controls the step-up / step-down converter to apply the voltage corresponding to the input drive current setting, and simultaneously controls the switching element at a frequency corresponding to the target speed of the stepper motor 76.

[0026] The weight sensor 78 is a sensor for measuring the weight of the magazine 50 placed on the roller row 75 of the magazine transfer mechanism 72. The weight sensor 78 is arranged such that it is clamped between the bottom surface of the recess 71b formed on the base member 71 and the lower surface of the roller support member 73. The weight sensor 78 outputs data on the measured weight of the magazine 50 to the control device 80.

[0027] The control device 80 is a device for controlling the entire transfer device 70. The control device 80 is a computer with CPU 81, ROM 82, RAM 83, memory 84, etc., as shown in Fig. 9. The control device 80 outputs a drive command, including the set value of the drive current, to the driver 77. A detection signal from the weight sensor 78 is input to the control device 80. The control device 80 exchanges data with the storage warehouse control device 45, the transport vehicle control device, etc.

[0028] The control device 90 is a device for controlling the entire component assembly system 10. The control device 90 is a computer that includes CPU, ROM, RAM, memory, etc., and is connected to input devices such as a keyboard, mouse, etc., and a monitor. The memory of the control device 90 stores a production program for the circuit board S, production information related to the production of the circuit board S, etc. The production program prescribes the order of mounting components P on the circuit board S at a plurality of component mounting devices 14 of the component assembly system 10, the production quantity of the circuit board S, etc. The control device 90 outputs control signals to the printing device 11, the printing inspection device 12, the component mounting device 14, the reflow device 15, the visual inspection device 16, etc.The control device 90 exchanges data with the assembly control device, storage warehouse control device 45, control device 80, loading control device, etc.

[0029] Next, the operation of the component assembly system 10 will be explained. Here, the operation in which the magazine 50 is placed on the transfer device 70 in a warehouse (not shown), the transfer device 70 is pulled from the warehouse to the front of the feeder storage warehouse 13 of the component assembly system 10 by the automated guided vehicle 60, and then the magazine 50 is transferred to the magazine storage device 30 of the feeder storage warehouse 13. The warehouse is located at a different location from the location where the component assembly system 10 is installed.

[0030] First, a worker couples the transfer device 70 to the automated guided vehicle 60 in the warehouse. The worker then places the magazine 50 onto the transfer device 70 and simultaneously loads the magazine 50 with the belt feeders 20 containing the required components, and issues a transfer command to the automated guided vehicle 60. Upon input of the transfer command, the automated guided vehicle 60 pulls the transfer device 70 and moves to the front of the feeder storage warehouse 13. After the automated guided vehicle 60 (transfer device 70) moves to the front of the feeder storage warehouse 13, a signal from a sensor (not shown) is input to the storage warehouse control device 45, indicating that the movement of the automated guided vehicle 60 to the front of the feeder storage warehouse 13 has been detected.Thereafter, the storage warehouse controller 45 issues a transfer start command to the controller 80. By inputting the transfer start command, the CPU 81 of the controller 80 executes the magazine transfer processing routine shown in FIG. Fig. 10. The cocking slide 42 is in the rear position according to Fig. 5 and the clamping piece 43 is positioned at the unclamping position according to Fig. 5 positioned.

[0031] When the magazine transfer processing routine is started, the CPU 81 obtains the weight of the magazine 50 placed on the magazine transfer mechanism 72 from the weight sensor 78 (S100). Subsequently, the CPU 81 sets the drive current of the stepping motor 76 (S105). Specifically, the CPU 81 calculates, based on the relationship between the weight of the magazine 50 and the drive current, as shown in Fig. 11, the CPU 81 outputs a drive current value corresponding to the weight of the magazine 50 obtained in S100 and sets it. This relationship is determined, for example, such that the lighter the weight of the magazine 50, the smaller the drive current value of the stepping motor 76. Then, the CPU 81 outputs a drive command to the driver 77 including the set value of the drive current of the stepping motor 76 set in S105 (S110). After S110, the CPU 81 terminates the present routine.

[0032] When the drive command, including the set value of the drive current, is input, the driver 77 changes the voltage applied to the stepper motor 76 so that the drive current of the stepper motor 76 corresponds to the set value. Specifically, the driver 77 controls the duty cycle of the buck / boost converter (transistor) through feedback control based on the deviation of the set value of the drive current from the actual current value of the stepper motor 76. The driver 77 also controls the switching element at a constant frequency to ensure that the magazine 50 is transferred at a constant speed regardless of the weight of the magazine 50.

[0033] In this way, the CPU 81 on the transfer device 70 provides, based on the relationship shown in Fig. 11 adjusts the drive current of the stepper motor 76 such that the lighter the weight of the magazine 50, the smaller the drive current value. Then, the driver 77 changes the duty cycle of the buck / boost converter (transistor) to apply the voltage corresponding to the drive current. Therefore, the stepper motor 76 can be driven with the drive current appropriate for the weight of the magazine 50, thus reducing the power consumption of the battery 61. For example, in the case of the relatively light weight of the magazine 50, including the feeders 20, due to the small number of feeders 20 stored in the magazine 50, wasted power consumption can be reduced. The driver 77 controls the switching element such that the magazine 50 is transferred at a constant speed regardless of the weight of the magazine 50.Shocks and loads on the magazine 50 can be reduced by setting a frequency such that the transfer speed that does not cause large shocks and loads on the magazine 50 is achieved.

[0034] After entering the signal from the sensor not shown, to the effect that the magazine 50 (see Fig. 4), the storage control device 45 draws out the magazine 50 on the magazine tray 31. Specifically, the storage control device controls the motor 37 to drive the rollers 34R and draws the magazine 50 onto the magazine tray 31. When the magazine 50 is moved forward on the magazine tray 31, the front end of the chucking part 53 (see FIG. Fig. 4) is applied to the stopper 44 and stopped there. The storage control device 45 then clamps the magazine 50. Specifically, the storage control device 45 controls the actuator of the clamping mechanism 40 such that the clamping piece 43 is moved from the unclamping position to the clamping position. Then, the part 53 to be clamped of the magazine 50 is placed in a clamped state by the stopper 44 and the clamping piece 43. The storage control device 45 then connects the connecting link 55 of the magazine 50 (see FIG. Fig. 4) with the connecting link 35 (see Fig. 5) of the magazine rack 31 (see Fig. 5). Specifically, the storage control device 45 moves under the control of the pneumatic cylinder 41 (see Fig. 5) the clamping slide 42 clamping the magazine 50 (see Fig. 5) forward and connects the connecting link 55 of the magazine 50 with the connecting link 35 of the magazine tray 31.

[0035] This allows the components P (feeder 20) required for production to be automatically transferred from the warehouse to the production line L (feeder storage warehouse 13). The feeder storage warehouse 13 has two magazine storage devices 30. One of these can store the magazine 50 in which the feeders 20 to be used are stored, and the other can store the magazine 50 in which the used feeders 20 are stored. Therefore, the feeder storage warehouse 13 can receive the magazine 50 in which the feeders 20 to be used are stored from the transfer device 70 and then transfer the magazine 50 in which the used feeders 20 are stored to the transfer device 70. This allows the replenishment and collection of the feeders 20 (magazine 50) to be carried out efficiently.

[0036] Here, the correspondence of the constituent parts according to the present embodiment to the constituent parts according to the present disclosure is clarified. That is, the transfer device 70 according to the present embodiment corresponds to the transfer device according to the present disclosure. The feeder 20 and the magazine 50 correspond to the articles. The stepping motor 76 corresponds to the motor. The weight sensor 78 and the CPU 81 for performing the processing of S100 in the magazine transfer processing routine correspond to the extraction part. The CPU 81 for performing the processing of S105 in the transfer processing routine and the driver 77 correspond to the control part. In addition, the base member 71 corresponds to the base member.

[0037] In the transfer device 70 explained in more detail above, the drive current is set such that it is lower for the light magazine 50, including the feeders 20, than for the heavy magazine 50, thus performing the drive control of the stepping motor 76. This can reduce the power consumption of the battery 61 for the light magazine 50, including the feeders 20, and extend the operating time of the transfer device 70.

[0038] In the transfer device 70, the CPU 81 also controls the drive current of the stepper motor 76 such that the lighter the weight of the magazine 50, including the feeders 20, the smaller the drive current. This allows the drive current to be more finely controlled according to the weight of the magazine 50, including the feeders 20, and thus further reduces the power consumption of the battery 61.

[0039] The transfer device 70 is further provided with the base member 71 provided below the magazine transfer mechanism 72 and has the weight sensor 78 provided between the base member 71 and the magazine transfer mechanism 72. This allows the weight of the magazine 50 to be more appropriately obtained.

[0040] The transfer device 70 also controls the stepper motor 76 such that the magazine 50 is transferred at a constant speed regardless of the weight of the magazine 50, including the feeders 20. When transferring the magazine 50 by the magazine transfer mechanism 72, shocks and loads on the magazine 50 and the feeders 20 can be reduced by adjusting the speed to take into account the shocks and loads on the magazine 50 and the feeders 20.

[0041] The transfer device 70 is also transported by the automated guided vehicle 60, and the stepper motor 76 is driven by power from the battery 61 installed in the automated guided vehicle 60. By adjusting the drive current according to the weight of the magazine 50, the transfer device 70 can be formed with a simpler structure and, at the same time, the operating time of the automated guided vehicle 60 can be extended.

[0042] The transfer device 70 can also transfer the feeders 20 (magazine 50) for use with the component mounting devices 14 constituting the production line L for the board S. The weight of the magazine 50 in a state where the feeders 20 are stored varies depending on the type and number of feeders 20. Therefore, it is of great importance to obtain the weight of the magazine 50 in which the feeders 20 are accommodated and, at the same time, to set the drive current based on the weight of the magazine 50.

[0043] It is a matter of course that the present disclosure is not at all limited to the above-mentioned embodiment and can be embodied in various configurations as long as they fall within the technical scope of the present disclosure.

[0044] In the above-mentioned embodiment, the motor according to the present disclosure is explained as a stepper motor 76. However, the motor according to the present disclosure may be a servo motor.

[0045] In the above-mentioned embodiment, the components P (feeder 20) are stored in the magazine 50. However, the magazine 50 may store trays in which the components P are received, or pallets on which the trays are placed, or screen masks for use in the printing device 11, or board support elements, etc.

[0046] In the above-mentioned embodiment, the weight sensor 78 of the transfer device 70 measures the weight of the magazine 50. However, the CPU 81 may obtain the weight of the magazine 50 from the control device 90 in S100 of the transfer processing routine. In this case, the control device 90 may estimate the weight based at least on the number of feeders 20. For example, the control device 90 may store the weight of the magazine 50 and the number of feeders 20 stored in the magazine 50, the weight of the feeder 20, etc., in the memory, and calculate the weight of the magazine 50, including the feeders 20, by operation. The control device 90 may further store the type and number of components P accommodated in each feeder 20 and the weight of each component P in the memory, and calculate the total weight by operation.

[0047] In the above-mentioned embodiment, the relationship between the weight of the magazine 50 and the drive current of the stepping motor 76 is such that the lighter the weight of the magazine 50, the smaller the drive current value. However, the relationship between the weight of the magazine 50 and the drive current of the stepping motor 76 may be such that the drive current value is adjusted in steps based on the weight of the magazine 50. In this case, too, the drive current may be smaller when the magazine 50 is light than when it is heavy, in the same way as in the above-mentioned embodiment.

[0048] In the above-mentioned embodiment, the transfer device 70 is pulled by the automated guided vehicle 60. The transfer device 70 can be placed on the automated guided vehicle 60 and then transported. In this case, the transfer device 70 does not need to be designed as a trolley.

[0049] In the above-mentioned embodiment, the transfer device 70 is supplied with power from the battery 61 of the automated guided vehicle 60. However, a battery may be provided on the transfer device 70.

[0050] In the above-mentioned embodiment, the transfer device 70 and the automated guided vehicle 60 are formed separately from each other. However, the transfer device 70 and the automated guided vehicle 60 may be formed as a single piece.

[0051] The present description also discloses the technical idea in which the "transfer device according to claim 1 or 2" according to claim 4 in the original version is replaced by the "transfer device according to any one of claims 1 to 3". Furthermore, the present description also discloses the technical idea in which the "transfer device according to claim 1 or 2" according to claim 5 in the original version is replaced by the "transfer device according to any one of claims 1 to 4". Furthermore, the present description also discloses the technical idea in which the "transfer device according to claim 1 or 2" according to claim 7 in the original version is replaced by the "transfer device according to any one of claims 1 to 6". INDUSTRIAL APPLICABILITY

[0052] The transfer device according to the present disclosure is applicable in the manufacturing industry for component assembly systems. LIST OF REFERENCE SYMBOLS 10 Component assembly system 11 Printing device 12 Pressure testing device 13 feeder storage warehouses 14 Component assembly device 15 Reflow device 16 Visual inspection device 17 chargers 20 feeders 21 Belt 22 Belt reel 23 Belt feed mechanism 24 connecting link 25 rail 30 Magazine storage device 31 Magazine rack 32 roller support element 34 roller row 34R roll 35 connecting link 36 roller fastening element 37 Engine 38 wall section 40 clamping mechanism 41 pneumatic cylinders 42 clamping slides 43 clamping piece 44 stop 45 Storage warehouse control device 50 Magazine 51 magazine main body 52 slot 53 part to be clamped 54 connecting link 55 connecting link 60 driverless transport vehicles 61 Battery 62 engine 68 Weight sensor 70 Transfer device 71 Basic element 71a Opening 71b Deepening 72 Magazine transfer mechanism 73 Roller support element 73a projection 73b Pull-out protection 74 Roller fastening element 75 roller row 75R roll 76 Stepper motor 77 drivers 78 Weight sensor 79 wheels 80 Control device 81 CPU 82 ROM 83 RAM 84 memory 90 Control device L production line P component S board QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] WO 2021 / 144866 A

[0002] JP H04-170100 A

[0002] JP 2002-329996 A

[0002]

Claims

[1] Transfer device with a transfer mechanism having a tray on which an article can be placed and capable of transferring the article placed on the tray, a motor for driving the transfer mechanism by power from a battery, a recovery part for obtaining the weight of the article and a control part which, based on the weight of the article obtained by the extraction part, sets a drive current such that it is smaller for the light article than for the heavy article, and thus carries out the drive control of the motor. [2] A transfer device according to claim 1, wherein the control part controls the drive current such that the lighter the article is, the smaller the drive current is. [3] Transfer device according to claim 1 or 2, with a base element provided below the transfer mechanism, wherein the extraction part has a weight sensor provided between the base member and the transfer mechanism. [4] A transfer device according to claim 1 or 2, wherein the control part controls the motor so that the article is transferred at a constant speed regardless of the weight of the article. [5] Transfer device according to claim 1 or 2, which is transported by a driverless transport vehicle, The motor is powered by a battery installed in the driverless transport vehicle. [6] Transfer device according to claim 5, which is formed from a trolley with wheels. [7] A transfer device according to claim 1 or 2, which can transfer, as the articles, components for use in modules constituting a circuit board production line.

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