Monitoring device, mobile work device, surface mounting system, monitoring method and method for controlling a mobile work device

Abstract

A monitoring device according to the present disclosure comprises a monitoring control section configured to issue a recovery command to move the feeder, which is contained in the common device and is not located in the assembly installation section, to an installation position of the common device on a mobile work device after a feeder has been installed in a common device for installing feeders that hold a common component at a common position during the manufacture of several types of machining target objects, at a predetermined time when the manufacture of the machining target object by the common device is completed.

Description

Technical field

[0001] The present description discloses a monitoring device, a mobile work device, an assembly system, a monitoring method and a method for controlling a mobile work device. State of the art

[0002] In conventional technology, an assembly system has been proposed in which an assembly process is initiated in a state where some feeders, representing initial setup targets among several feeders required for the assembly process, are positioned within a feed area of ​​a component placement machine, while the remaining feeders are not positioned within that feed area. The assembly process is then carried out while the feeders that have finished feeding components are replaced with the remaining feeders using a mobile work device (see, for example, patent literature 1). Since this assembly system allows the assembly process to be carried out while a feeder is being replaced with a necessary feeder within a range of a limit on the number of assembly devices to be installed, the efficiency of the assembly process can be improved. List of cited documents Patent literature

[0003] Patent literature 1: WO 2017 / 085782 Summary of the invention: Technical problem

[0004] In the assembly system, there is now a case where the assembly process is carried out while a group of feeders, representing the original setup targets, are collectively exchanged as a common setup. With this assembly system, it is possible to minimize online setup time and further improve efficiency. However, since in the assembly system from patent literature 1 the currently unused feeder is moved to a standby installation area as a storage area, in some cases the common setup is not maintained, and the feeders cannot be exchanged together. For such an assembly system, it was necessary to further improve efficiency.

[0005] One objective of the present disclosure is to provide a monitoring device, a mobile work device, an assembly system, a monitoring method and a method for controlling a mobile work device that can further improve the efficiency of assembly systems for the automatic exchange of feeders.

[0006] The present disclosure uses the following means to accomplish the task described above.

[0007] A monitoring device of the present disclosure is A monitoring device used in an assembly system, comprising an assembly fixture with an assembly section configured to perform an assembly process of a component on a machining target object, a feeding section with an assembly installation section in which a feeder is installed to hold the component, the feeding section being configured to feed the component, an assembly control section configured to cause the assembly section to pick up the component from the feeding section, and a mobile work device configured to automatically exchange the feeders between a standby installation section, in which the assembly operation cannot be performed, and the assembly installation section, wherein the monitoring device comprises: A monitoring control section configured to issue a recovery command to move the feeder contained in the common facility and not located in the assembly installation section to an installation position of the common facility on the mobile work device after the feeders are installed in a common facility for installing feeders that hold a common component at a common position during the manufacture of several types of machining target objects, at a predetermined time when the manufacture of the machining target object by the common facility ends.

[0008] In this monitoring device, at a predetermined time, when production of the target workpiece by the shared equipment ends and the feeder in the shared equipment is not in the assembly installation section, a reset command is issued to the mobile work device to move the feeder into the installation position of the shared equipment. Because the feeding arrangement of the shared equipment is reset in this monitoring device when production ends, the feeders can be exchanged together, further improving efficiency by reducing online setup time. Brief description of the drawings Fig. Figure 1 is a schematic diagram showing an example of the assembly system 10. Fig. Figure 2 is a diagram that schematically shows the configurations of the assembly device 15 and the loader 18. Fig. Figure 3 is a diagram showing an example of production plan information 44, which is stored in memory section 43. Fig. Figure 4 is a flowchart showing an example of an execution condition setting processing routine. Fig. Figure 5 is a diagram showing an example of an execution conditions input screen 80. Fig. Figure 6 is a flowchart showing an example of an assembly monitoring processing routine. Fig. Figure 7 is a diagram showing an example of a process for carrying out an assembly order in a shared facility. Fig. Figure 8 is a diagram showing an example of the process for carrying out the assembly order in the joint facility. Description of exemplary implementations

[0009] The present embodiment is described below with reference to the attached drawings. Fig. Figure 1 is a schematic diagram showing an example of the assembly system 10 of the present disclosure. Fig. Figure 2 is a diagram showing schematic configurations of the assembly device 15 and the loader 18, which is a mobile working device. Fig. Figure 3 is a diagram showing an example of production plan information 44 stored in the memory section 43 of the monitoring device 14. In the present embodiment, the left-right direction (X-axis), the forward-backward direction (Y-axis), and the up-down direction (Z-axis) are as shown in the Fig. 1 and Fig. 2 illustrated.

[0010] The assembly system 10, for example, is configured as a production line in which devices that perform an assembly process of components P on a circuit board S are used as a single unit. Fig. 2. Execute the machining target object shown, which is arranged in a transport direction of the circuit board S. Here, the machining target object is described as circuit board S, but the machining target object is not particularly restricted as long as it is an object on which the component P is mounted and can be a substrate with a three-dimensional shape. As shown in Fig. As shown in Figure 1, the assembly system 10 comprises a printing device 11, a printing inspection device 12, a storage device 13, a monitoring device 14, an assembly device 15, an assembly inspection device 16, a driverless transport vehicle 17, a loader 18, a reflow device 19, a control device 60 and the like.

[0011] The printing device 11 is a device that prints viscous liquids such as solder paste, conductive paste, or adhesive onto the circuit board S. The printing inspection device 12 is a device that checks the condition of the printed viscous liquid. The storage device 13 is a storage location for feeders 25 as feed elements for use in the assembly device 15. The storage device 13 is provided in a front lower section of a transport device between the printing inspection device 12 and the assembly device 15. The monitoring device 14 is a device that checks the feeders 25 stored in the storage device 13. The assembly inspection device 16 is a device that checks the condition or similar of the components P mounted on the circuit board S.The reflow device 19 is a device that subjects the circuit board S, onto which the viscous liquid is printed and the component P is mounted, to a reflow process.

[0012] As in Fig. As shown in Figure 1, the storage device 13 is a device that temporarily stores feeders 25 as feed devices for use in the assembly device 15. The storage device 13 comprises the transport device, which transports the circuit board S, and the monitoring device 14, which monitors information, and is located between the pressure inspection device 12 and the assembly device 15. The storage device 13 includes a storage installation section with a chute 28 and a connecting section 29, similar to the assembly installation section 26 and the buffer installation section 27 provided in the component feeder section 24 described later. When the feeder 25 is connected to the installation section, a feeder 25 controller outputs information about the feeder 25 to the monitoring device 14 connected to the storage device 13.In the storage device 13, the feeders 25 are transported by a driverless transport vehicle 17, or the feeders 25 can be transported by a worker W.

[0013] The monitoring device 14 is located in the storage device 13 and configured as a server that monitors information about the assembly device 15 of the assembly system 10. The monitoring device 14 comprises a monitoring control section 41, which controls the entire device; a storage section 43, which stores various information; a communication section 48, which performs bidirectional communication with an external device such as an automated guided vehicle 17 or a loader 18; and a display section 49, which displays a screen in an upper section. The monitoring device 14 creates and monitors production plan information 44, which is used for the assembly process of component P or the assembly order 45 contained in the production plan information 44, and acquires and monitors information about the assembly system 10.

[0014] As in Fig. As shown in Figure 3, memory section 43 stores production plan information 44, which includes one or more assembly orders 45 used as the processing target object in the manufacture of each circuit board S, as well as selection information 46. The monitoring device 14 retrieves the production plan information 64 generated by the control device 60 via a communication line and stores the information as production plan information 44 in memory section 43. The assembly order 45 is defined for each circuit board S as the product to be manufactured. The assembly order 45 includes information about the installation position of the feeders 25 that hold the component P, or about the type and number of components P arranged on a particular circuit board S, or information about the arrangement sequence and arrangement position of the components P mounted on the circuit board S.The assembly device 15 comprises an individual setup and a common setup as installation positions for the respective feeders 25. The individual setup is a setup for installing feeders 25 as feeding elements at individual positions during the production of several types of circuit boards S. The common setup is a setup for installing feeders 25 as feeding elements that hold a common component P at a common position during the production of several types of circuit boards S. Since the feeders 25 can be installed at a unique position during the production of each circuit board S in the individual setup, the production time can be further reduced, but it is necessary to remove and install the feeders 25 many times during changeovers for the assembly order 45.Since, in the shared setup, the feeder 25, which holds the same component P, is installed in the same position during the production of multiple circuit boards S, flexibility, such as space requirements and production time reduction, may be insufficient. However, during the changeover, when the assembly job 45 is changed, no movement of the feeder 25 is required. The selection information 46 includes a retraction procedure for the feeder 25 of the shared setup and a recovery time for the feeder 25 of the shared setup. The retraction procedure defines how the feeder 25, which is not needed for the production of circuit board S, is retracted from the assembly installation section 26 to the standby installation section when the production of the shared setup is carried out.The recovery time refers to the point in time at which the withdrawn feeder 25 is returned to the assembly installation section 26 and the installation state of the feeders 25 is restored in the common facility.

[0015] The assembly device 15 is a device that receives the components and mounts them onto the circuit board S. The assembly device 15 comprises an assembly control section 20, a circuit board processing section 22, a component feeding section 24, an assembly section 30, an imaging section 34, a nozzle station 35, an operator panel 36, and a communication section 38. The assembly control section 20 is configured as a microprocessor with the CPU 21 as its core and controls the entire device, as shown in Fig. Figure 2 shows the assembly control section 20. The assembly control section 20 outputs control signals to the circuit board processing section 22, the component feeder section 24, the assembly section 30, the imaging section 34, and the operator panel 36, and receives signals from the circuit board processing section 22, the component feeder section 24, the assembly section 30, the imaging section 34, and the operator panel 36. The assembly control section 20 includes a memory section that stores the assembly order, including information about the component P and information about an arrangement sequence and the arrangement position in which the components P are mounted on the circuit board S, the installation positions of the feeders 25 that receive the component P, or the like. The assembly order stored in the memory section includes information that corresponds to the Fig. 3 resembles assembly order 45 as shown.

[0016] The circuit board handling section 22 performs processes for loading, transporting, securing to an installation position, and unloading the circuit board S, as well as a process for supporting the circuit board S from below using a support element. The circuit board handling section 22 includes a pair of conveyor belts spaced apart in the forward-backward direction, while in the left-right direction they Fig. 1 are tensioned. The circuit board S is transported by the conveyor belts.

[0017] The component feed section 24 is a unit that feeds the component P to the assembly section 30. In the component feed section 24, feeders 25 are installed as feeding elements, including a roller onto which a belt is wound as a holding element that holds the component, in one or more installation sections. As in Fig. As shown in Figure 2, the component feed section 24 has two upper and lower installation sections in which the feeders 25 can be installed on a front side of the device. The upper stage is the assembly installation section 26, from which the component can be picked up by the assembly section 30, and the lower stage is the buffer installation section 27, from which the component cannot be picked up by the assembly section 30. Here, the assembly installation section 26 and the buffer installation section 27 are collectively referred to as the installation section. Here, the buffer installation section 27 and the storage installation section of the storage device 13 are collectively referred to as the standby installation section.In the component feed section 24, several chutes 28, arranged at predetermined intervals in the X-direction, are inserted into the rail elements of feeders 25, as well as connection sections 29, into which connectors provided at the distal ends of the feeders 25 are inserted. The feeder 25 includes the control unit (not shown). The control unit stores information such as the ID of the belt in the feeder 25, a component type, or the number of remaining components. When the feeder 25 is connected to the connection section 29, the control unit transmits the information about the feeder 25 to the assembly control section 20.

[0018] The assembly section 30 is a unit that picks up component P from component feeder section 24 and places component P onto the circuit board S, which is attached to circuit board processing section 22. The assembly section 30 comprises a head movement section 31, a placement head 32, and a nozzle 33. The head movement section 31 includes a sliding element that moves in XY directions by means of guide rails and a motor that drives the sliding element. The placement head 32 picks up one or more components and is moved in XY directions by the head movement section 31. The placement head 32 is removably installed in the sliding element. One or more nozzles 33 are removably installed on the underside of the placement head 32. The nozzle 33 picks up the component using a vacuum. There are several types of nozzles 33 suitable for each type or size of component P.There are several types of placement heads 32, and the types and number of nozzles 33 that can be installed are specified for each type. The placement head 32 is configured so that, for example, one or two nozzles 33 can be installed for a large component, and 4, 6, 8, 12, and 16 nozzles 33 for a general-purpose component. A holding element that accommodates the component can be a mechanical clamping device or similar device that mechanically holds the component instead of the nozzle 33.

[0019] Imaging section 34 is a camera that captures upward-facing images and records an image of the component P or the like held by the placement head 32. Imaging section 34 is, as shown in Fig. Figure 1 shows a device that captures images of one or more components P that are picked up and held by the placement head 32. The imaging section 34 is arranged between the component feed section 24 and the circuit board processing section 22. The imaging section 34 captures one, two, or more images as the placement head 32, holding the component P, passes over the imaging section 34 and outputs the captured images to the assembly control section 20. The assembly control section 20 can check the pick-up position, shape, or similar characteristics of the component P based on the images captured by the imaging section 34. The nozzle station 35 is a storage area in which various nozzles 33 are kept ready for use in the assembly section 30. The operator panel 36 is a unit that receives input from the operator W and displays information to the operator W.The operating panel 36 is located on the front of the mounting device 15 and comprises a display section and an operating area with a touch panel and buttons. The communication area 38 is an interface for exchanging information with external devices such as the monitoring device 14 and the control device 60.

[0020] The automated guided vehicle (AGV) 17 transports components for use in the assembly system 10, for example, printing components for use in the printing device 11, or assembly components for use in the loader 18. The AGV 17 automatically transports, for example, the printing components or the assembly components between a storage unit (not shown) and the storage device 13. The assembly components include, for example, feeders 25, the circuit board support element S, the placement head 32, and the nozzle 33 as receiving components. It is assumed here that the AGV 17 primarily transports feeders 25.The driverless transport vehicle 17 can be configured as an automated guided vehicle (AGV) that moves along a predetermined route, or as an autonomous mobile robot (AMR) that moves to a destination along a free route by sensing its surroundings.

[0021] The loader 18 is a mobile work device that moves within a range of motion in front of the assembly system 10 and automatically picks up and replenishes the feeders 25 of the assembly device 15. The loader 18 comprises a motion control section 50, a storage section 52, a receiving section 53, an exchange section 54, a motion section 55, and a communication section 58. The motion control section 50 is configured as a microprocessor with a CPU 51 as its core and controls the entire device. The storage section 52 is, for example, a hard drive or similar storage device that stores various data, such as processing programs, and information about the exchange process. The receiving section 53 has a receiving compartment in which feeders 25 are housed. The receiving section 53 is configured to hold, for example, four feeders 25.

[0022] The exchange section 54 is a mechanism that extends and retracts the feeder 25 and moves the feeder 25 in an up-down direction (see Fig. 2) The exchange section 54 has a clamp that secures the feeder 25, a Y-axis slider that moves the clamp in the Y-axis direction (forward-backward direction), and a Z-axis slider that moves the clamp in the Z-axis direction (up-down direction). The exchange section 54 performs the installation and removal of the feeder 25 at the mounting installation section 26 as well as the installation and removal of the feeder 25 at the buffer installation section 27. The movement section 55 is a mechanism that moves the loader 18 in the X-axis direction (left-right direction) along the X-axis rail 39, which is located at the front of the mounting fixture 15. The communication section 58 is an interface for exchanging information with external devices such as the monitoring device 14 and the assembly device 15. The loader 18 outputs the current position or the work performed to the monitoring device 14.The loader 18 can automatically attach and detach feeders 25 as feed elements and can also be configured to pick up and refill assembly-related elements, pressure-related elements or the like.

[0023] The control device 60 (see Fig. 1) is configured as a server that controls information about each device of the assembly system 10. The control device 60 comprises an overall control section 61 that controls the entire device, a memory section 63 that stores various information, and a communication section 68 that performs bidirectional communication with an external device, such as the assembly system 10, the automated guided vehicle 17, and the loader 18. The control device 60 creates and monitors production plan information 64, which is used for the assembly process of the component or the assembly order 65 included in the production plan information 64, and acquires and monitors information about the assembly system 10.

[0024] Next, a process of the assembly system 10 of the present embodiment, configured as above, is described, beginning with the processing in which the control device 60 generates production plan information 64. When this processing is started, the CPU 62 of the overall control section 61 first acquires information about the circuit boards S, which are all the processing target objects to be manufactured in the current production plan. For example, the CPU 62 acquires the type of component P, the number of components, and the like from the data of the circuit board S representing the product, and acquires the number of modules or the number of installation sections of the assembly device 15 from the configuration of the assembly system 10. Next, the CPU 62 establishes the assembly order 65 for each circuit board S to be manufactured.The CPU 62 determines the common setup, including multiple assembly orders 65, and the individual setup based on the information previously selected by worker W. For example, in . Fig. As shown in Figure 3, the CPU 62 creates production plan information 64, including the common setup with assembly orders A to E, the common setup with assembly orders F to J, and the individual setup with assembly order K. The control device 60 outputs the production plan information 64 created in this way to the monitoring device 14, where the production line is provided to execute the production process.

[0025] Next, the process by which the assembly fixture 15 mounts component P onto the circuit board S based on the production plan information 44 is described. This section primarily describes the assembly process of the individual fixture. When the assembly process is started, the CPU 21 of the assembly control section 20 receives the assembly order 45 for the product to be manufactured this time from the monitoring device 14. The CPU 21 can receive the assembly order 45 for its own fixture for each product from either the monitoring device 14 or the control device 60. The loader 18 performs a changeover operation, installing each feeder 25 at the installation position specified in the assembly order 45. When production is ready to start, the CPU 21 instructs the circuit board processing section 22 to load and secure the circuit board S.Next, based on the assembly order 45, the CPU 21 performs processing that causes the placement head 32 to pick up component P from the feeder 25 integrated into the component feeder section 24 and place component P onto the circuit board S. Once the placement of component P on the circuit board S is complete, the CPU 21 unloads the circuit board S to the circuit board processing section 22 and repeats the processing described above. The CPU 21 monitors the number of components consumed by each feeder 25 during the assembly process, and if the number of remaining components is equal to or less than a predetermined warning value, the CPU 21 transmits the exchange information, indicating that the number of remaining components is equal to or less than the predetermined warning value, to the monitoring device 14.The monitoring device 14 instructs the loader 18 to perform the feeder 25 exchange operation based on the exchange information. The loader 18 moves along the X-axis rail 39 between the storage device 13 and the assembly device 15 and executes a process to exchange the feeders 25 in the assembly device 15 as its operational objective. When the production of the current circuit board S is complete, it is determined whether the next production run of circuit board S is scheduled, and if so, the loader 18 is instructed to perform the exchange operation. The loader 18 performs an operation to install each feeder 25 at the installation position of the next production order 65.

[0026] Next, the setting of the execution conditions in the changeover process in the common facility, which is carried out by the assembly device 15, is described. Fig. Figure 4 is a flowchart showing an example of an execution conditions setting processing routine executed by the monitoring control section 41 of the monitoring device 14. This routine is stored in the memory section 43 of the monitoring device 14 and is executed based on input from worker W before the start of the circuit board S production process. When this routine is started, the CPU 42 of the monitoring control section 41 first displays an execution conditions setting screen to capture the execution conditions in the changeover operation in the common device (S100). The monitoring device 14 displays the execution conditions input screen 80 and outputs it to the display section 49.

[0027] Fig. Figure 5 is a diagram showing an example of an execution conditions input screen 80, which is displayed and output on display section 49. The execution conditions input screen 80 includes a cursor 81, a selection processing display field 82, a selection input field 83, a summary display field 84, a message display field 86, a back button 88, and an acknowledge button 89. The cursor 81 is configured to be moved by an operator of worker W so that worker W can select an input position. The selection processing display field 82 is a field for displaying the selection processing of the execution conditions of the common facility. The selection input field 83 is a field for entering the selection. The summary display field 84 is a field that displays a summary of the options. The message display field 86 is a field for displaying a message to worker W.The Back button 88 is a button that returns the display section 49 screen to the previous screen. The Confirmation button 89 is a button used to confirm the selection of the selection processing. The selection processing of the execution conditions includes the retraction procedures of the feeder 25 of the common facility and the feeder 25 recovery time. The retraction procedure options include a case in which all unneeded feeders 25 from among the feeders 25 of the common facility are retracted into the buffer installation section 27, a case in which the number of feeders 25 required for replenishment when the component is depleted is retracted into the buffer installation section 27, and a case in which the feeder 25 is retracted into the buffer installation section 27 when the component of the feeder 25 is depleted.The options for the recovery time include, for example, when the last assembly job ends in the shared facility, when the shared facility ends and the assembly job transitions to the next assembly job, and when a predetermined number is reached immediately before the end of the shared facility. The phrase "when the predetermined number is reached" includes options such as the predetermined number before the end of the last assembly job in the shared facility and a predetermined time before the end of the last assembly job in the shared facility. Worker W can select the withdrawal procedure option and the recovery time option and confirm the input text by pressing the confirmation key 89.

[0028] After S100, CPU 42 determines whether the execution conditions input has been confirmed (S110). If the input has not been confirmed, CPU 42 remains in standby mode. If, however, the execution conditions input has been confirmed, CPU 42 stores the selection content, the input of which was confirmed on the execution conditions input screen 80, in memory section 43 as selection information 46, which includes the selection content as execution conditions (S120), and terminates the routine. As described above, the execution conditions are predefined in the common device in the monitoring device 14, for example, before the start of the assembly process.

[0029] Next, the processing is described in which the monitoring device 14 issues a command to the loader 18 during the assembly process through the assembly device 15. Fig. Figure 6 is a flowchart showing an example of an assembly monitoring processing routine executed by the monitoring control section 41 of the monitoring device 14. This routine is stored in the memory section 43 of the monitoring device 14 and is executed based on the input of worker W when the production process of the circuit board S is started. Furthermore, according to the start of this routine, for example, in a case where production begins with assembly order 45 of the common device, worker W installs the feeder group into the component feeder section 24 of the corresponding assembly device 15 by means of a collective installation using a feeder magazine changer, in which the feeders 25 are arranged at the installation positions defined in the common device (see Figure 6 described later). Fig. 7A). The feeder magazine changer is a carriage with a shaft 28, similar to the assembly installation section 26. The feeder magazine changer is configured such that when the feeder magazine changer is brought near the component feed section 24 while facing it, the feeder group in the shaft can be installed together on the assembly installation section 26 of the component feed section 24. Furthermore, the feeder magazine changer is configured so that when it is brought near the assembly installation section 26, where the feeder group is installed with empty shafts, it can be picked up together. As described above, using the feeder magazine changer in the assembly system 10 reduces the changeover time. After the feeder 25 is installed, worker W begins the assembly process of the assembly fixture 15 and starts this routine.

[0030] When this routine is started, the CPU 42 of the monitoring control section 41 first reads and acquires the production plan information 44 and the selection information 46 from the CPU 42 (S200) and designates the assembly order 45, in which the assembly operation is performed in the assembly fixture 15, as the assembly order 45 to be monitored and executed (S210). For example, in the example of Fig. 3. First, the assembly order A is defined as the execution order, based on the sequence specified in the production plan information 44 in the joint facility. Here, the items in the Fig. 3, Fig. 7 and Fig. Eight illustrated examples were described as concrete examples. Fig. 7 and Fig. Figure 8 are diagrams that illustrate an example of the process of executing the assembly order in the joint facility. In the Fig. 7 and Fig. 8 is the number of the assembly order used among assembly orders A to E and F to J, shown in feeder 25. Fig. 7 is Fig. 7A a diagram showing the installation state of the common facility 1, Fig. 7B is a diagram in which the unused feeder 25 is withdrawn to the buffer installation section 27 when the assembly order A is carried out. Fig. 7C is a diagram in which the used and unused feeders 25 are exchanged during the execution of assembly order B, and Fig. 7D is a diagram in which the used and unused feeders 25 are exchanged during the execution of assembly order C. Furthermore, Fig. 8A a diagram showing the exchange of used and unused feeders 25 when assembly order D is carried out, and Fig. 8B a diagram in which used and unused feeders 25 are exchanged when the assembly order E is carried out. Fig. 8C is a diagram showing the restoration of the installation state of common facility 1, and Fig. 8D is a diagram showing the installation status of the shared facility 2.

[0031] According to S210, CPU 42 issues a command to loader 18 to retract feeder 25, which is not used in the currently executed assembly job on the standby installation section (S220). CPU 42 determines the retraction command based on the execution conditions specified in selection information 46. For assembly fixture 15, it is possible to efficiently perform feeder exchange by using the empty hopper in assembly installation section 26 for feeder exchange when the component is depleted. For assembly fixture 15, the component run-out time can also be determined during the setting of production plan information 44 based on the cycle time of the assembly process derived from experience, and the minimum number of empty hoppers required for feeder exchange can also be calculated. Therefore, in selection information 46, as in Fig. Figure 5 illustrates that the option of withdrawing the number of feeders required for refilling is also defined. The loader 18, which has received the withdrawal command, moves the unused feeder 25 to the buffer installation section 27 as a standby installation section based on the withdrawal command. Fig. 7A and Fig. 7B). If there is no empty slot in the buffer installation section 27 of the corresponding assembly device 15, the loader 18 can retract the unused feeder 25 into the buffer installation section 27 of the adjacent assembly device 15. If there is no empty slot in the adjacent buffer installation section 27, the loader 18 can retract the unused feeder 25 into the storage section of the storage device 13.

[0032] Next, the CPU 42 determines whether a feeder 25 needs to be replaced (S230). The CPU 42 determines whether a feeder 25 needs to be replaced based on the number of components used, the number of components remaining, and similar factors. If a feeder needs to be replaced, the CPU 42 issues a replacement instruction for the corresponding feeder 25 to the loader 18 (S240). The loader 18, which has received the replacement instruction, performs the replacement operation between the feeder 25 of the replacement source and the new feeder 25 based on the replacement instruction. The new feeder 25 can be provided in an empty slot of the assembly installation section 26, the buffer installation section 27, the storage section of the storage device 13, or the like.

[0033] After S240, or if there is no feeder 25 to be replaced in S230, CPU 42 determines whether the currently executed assembly job is the individual setup or the shared setup (S250). If the currently executed assembly job is the individual setup, CPU 42 determines whether the current assembly job should be continued or terminated (S260). If the current assembly job is continued, i.e., if the production of board S has not yet been completed, CPU 42 performs the processing in and after S230. If, on the other hand, the current assembly job is terminated, i.e., if the production of board S in this assembly job ends, CPU 42 switches to the next assembly job and issues the switchover instruction to loader 18 to execute the switchover (S270).In the individual setup, the loader 18, which has received the change command, performs the exchange process of the feeder 25 installed in the assembly setup 26 based on the change command.

[0034] If, however, the currently executed assembly job is the shared facility in S250, CPU 42 determines whether the current time has reached the predetermined time for the end of the shared facility (S280). CPU 42 can use the "shared facility feeder recovery time" specified in selection information 46 to determine whether the predetermined time has been reached. CPU 42 can use as the predetermined time one or more of the times at which the last assembly job in the shared facility ends, a time after the end of the shared facility and before the execution of the next production assembly job, a time a predetermined number of times before the end of the last assembly job in the shared facility, and a time a predetermined time before the end of the last assembly job in the shared facility.The "predetermined number before" and the "predetermined time before" can be set to values ​​determined empirically by ascertaining the number of boards and the time required to restore the installation state of feeder 25 as defined in the common facility, and by adding any necessary margin. Furthermore, CPU 42 can monitor the filename being executed for the assembly job and determine the end time of the last assembly job in the common facility by changing the filename. The filename can be, for example, a filename from the assembly job or a filename from the common facility.

[0035] In S280, if the current time has not yet reached the specified time for the end of the joint setup, CPU 42 determines whether the current assembly job has finished, i.e., whether the production of board S has ended (S330). If the current assembly job has not yet finished, CPU 42 performs processing in and after S230. That is, CPU 42 determines whether the currently executed assembly job ends while simultaneously determining whether the specified time has been reached. Conversely, if the current assembly job has finished in S330, i.e., when the production of board S has ended, or after S270, CPU 42 determines whether all assembly jobs are completed, i.e., whether production is complete according to the production plan information 44 (S340). If not all assembly work has yet been completed, CPU 42 performs processing in and after S210.This means that the CPU 42 continuously carries out the production of board S according to the production plan information 44.

[0036] On the other hand, if the current time reaches the predetermined time for the end of the joint setup, CPU 42 determines whether the current time has reached the changeover time (S290). If the current time is the changeover time, CPU 42 outputs information to worker W indicating that the feeders 25 are being jointly exchanged (S300). CPU 42 can cause display section 49 to display a corresponding message. Worker W, having reviewed this information, performs the joint exchange of feeder 25, for example, using the feeder magazine changer. After S300, or if the changeover time in S290 has not yet been reached, CPU 42 determines whether there is a feeder 25 with a different installation position in the installation state of the joint setup of assembly installation section 26 (S310).For example, if feeder 25 is withdrawn to the standby installation section, CPU 42 determines that a feeder 25 with a different installation position exists. If a feeder 25 with a different installation position exists, CPU 42 issues the restore command for the installation position of the corresponding feeder 25 to loader 18 (S320). Loader 18, having received the restore command, performs an operation in which feeder 25 with the different installation position is moved to the installation position of the common facility.

[0037] After S320, or if the current time has not yet reached the time specified in S280 for the end of the joint setup, or if no feeder 25 with a different installation position is present in S310, CPU 42 performs the processing in and after S330. Once all assembly jobs in S340 are completed, CPU 42 issues the pick-up command for feeder 25 installed in assembly installation section 26 to loader 18 (S350) and terminates this routine. Loader 18, having received the pick-up command, moves feeder 25 installed in assembly installation section 26 to the standby installation section as needed.

[0038] For example, in Fig. Figure 7B illustrates that the loader 18 replaces the feeder 25 when the CPU 21 of the assembly device 15 executes assembly order A and completes production of the circuit board S, as shown in Fig. Figure 7C illustrates this, and CPU 21 executes assembly job B. Furthermore, when CPU 21 completes production of board S for assembly job B, as shown in Figure 7C, the CPU 21 completes the assembly job. Fig. As illustrated in Figure 7D, loader 18 replaces feeder 25, and CPU 21 executes assembly job C. Furthermore, when CPU 21 executes assembly job C and finishes production of board S, loader 18 replaces feeder 25, as shown in Figure 7D. Fig. 8A illustrates this, and CPU 21 executes assembly job D. When assembly job D is completed and board S production is finished, as shown in Fig. Figure 8B illustrates that the feeder 25 is replaced, and the CPU 21 executes the assembly job E. Then, when the final assembly operation E of the common facility is complete, the loader 18 performs a recovery process to restore the installed state of the feeder 25 in the common facility, as shown in Figure 8B. Fig.Figure 8C illustrates this. When the assembly process is completed by the common device, the CPU 42 notifies worker W of the collective exchange of the feeders 25, and worker W, having checked the notification, collectively exchanges the feeder group of the common device 2. With assembly device 15, the position of the feeder 25 changes when the empty slot is provided in the assembly installation section 26, so a collective exchange using the feeder magazine changer or the like is not possible. With assembly device 15, the feeders 25 can be collectively exchanged because the arrangement state of the feeders 25 in the common device is restored at a predetermined point in the assembly process within the common device.

[0039] Here, a correspondence relationship between the elements of the present embodiment and the elements of the present disclosure is clarified. The assembly system 10 of the present embodiment corresponds to an example of an assembly system, the assembly device 15 corresponds to an assembly device, the loader 18 corresponds to a mobile work device, and the monitoring device 14 corresponds to a monitoring device. The monitoring control section 41 corresponds to an example of a monitoring control section, the assembly installation section 26 corresponds to an example of an assembly installation section, the buffer installation section 27 and the memory installation section of the storage device 13 correspond to an example of a standby installation section, and the CPU 51 corresponds to an example of a motion control section.

[0040] The monitoring device 14 described above is intended for use in an assembly system 10, which comprises an assembly device 15 with an assembly section 30 that performs the assembly operation of component P on the circuit board S as the processing target object, a component feed section 24 as a feed section, which includes an assembly installation section 26 in which a feeder 25 is installed that holds the component P, wherein the component feed section 24 is configured to feed the component P, and an assembly control section 20 that causes the assembly section 30 to pick up the component P from the component feed section 24, and a loader 18 as a mobile work device that automatically exchanges feeder 25 between the standby installation section, in which the assembly operation cannot be performed, and the assembly installation section 26.The monitoring device 14 includes a monitoring control section 41, which is configured to issue a recovery command to move the feeder 25, which is included in the common device and is not located in the assembly installation section 26, to an installation position of the common device at a predetermined time when the production of the board S by the common device ends, to the loader 18 after feeders 25 are installed in a common device for installing feeders 25, which hold a common component P at a common position during the manufacture of several types of circuit boards S, in an assembly installation section 26.Since the arrangement of the feeder 25 of the common facility is restored in the monitoring device 14 when production in the common facility is finished, the feeders 25 can be exchanged together, which can further improve efficiency by reducing the online setup time.

[0041] Furthermore, the loader 18 moves some or all of the feeders 25 not required for the current production of circuit board S, including those contained in the various types of common facilities, to the standby installation section. Since the feeder 25 not required for current production is moved from the assembly installation section 26 in the monitoring device 14, there is an empty slot in the assembly installation section 26, allowing the feeder 25 to be easily replaced and a more efficient assembly process to be carried out. Furthermore.The monitoring control section 41 issues the recovery command at one of the predetermined times before, or at a predetermined time before the end of the last assembly job 45 in the common facility, if the last assembly job 45 ends in the common facility, or after the common facility has finished and before the assembly job 45 of the next production run is executed, as a predetermined time.

[0042] In monitoring device 14, for example, if the predetermined time is before the end of assembly order 45, the common unit is restored in advance so that the feeders 25 can be exchanged together immediately after production is completed, further improving efficiency. Furthermore, if the end of assembly order 45 is set as the predetermined time, production in the common unit can be carried out reliably, and efficiency can be improved by further reducing waiting time. Additionally, it is possible to more reliably receive the feeders 25 in the common unit after production if the predetermined time is set before the execution of assembly order 45 for the next production run.

[0043] Furthermore, the monitoring control section 41 monitors the filename being executed for assembly job 45 and issues the recovery command according to any filename changes. In the monitoring device 14, efficiency can be improved by using the filename change function for assembly job 45. Additionally, the standby installation section in the monitoring device 14 includes a buffer installation section 27 of the assembly device 15, from which the assembly section 30 cannot retrieve component P, or a storage installation section provided in the storage device 13, which stores the feeder 25. In the monitoring device 14, the feeder can be withdrawn to either the buffer installation section 27 or the storage installation section.Furthermore, after issuing the recovery order, monitoring unit 14 notifies worker W with information indicating that the feeder group contained in the shared facility is being jointly replaced. Worker W can then jointly replace the feeder group contained in the shared facility at monitoring unit 14.

[0044] Furthermore, the loader 18 is provided as a mobile work device for use in an assembly system 10, which comprises an assembly device 15 with an assembly section 30 that performs the assembly operation of the component P on the circuit board S as the processing target object, a component feed section 24 as a feed section with an assembly installation section 26 in which a feeder 25, which holds the component P, is installed, wherein the component feed section 24 is configured to feed the component P, and an assembly control section 20 that causes the assembly section 30 to pick up the component P from the component feed section 24.The loader 18 comprises an exchange section 54, which automatically exchanges feeders 25 between the standby installation section, in which the assembly process cannot be performed, and the assembly installation section 26, and a motion control section 50, which is configured to, after feeders 25 are installed in a common facility for installing feeders 25 that hold the common component at a common position during the manufacture of several types of circuit boards S, in the assembly installation section 26, at a predetermined time when the manufacture of the circuit board S by the common facility ends, cause the exchange section 54 to perform a recovery process in which the feeder 25, which is included in the common facility and is not in the assembly installation section 26, is moved to an installation position of the common facility.Since the feeder arrangement of the common facility is restored at loader 18 when production ends in the common facility, the feeders 25 can be picked up together, further improving efficiency by reducing the online setup time.

[0045] In loader 18, the motion control section 50 moves some or all of the feeders 25 that are not required for the current production of circuit board S, among those feeders 25 included in the various types of common facilities, to the standby installation section. Since the feeder 25 not required for current production is removed from the assembly installation section 26 in loader 18, a free slot is created in the assembly installation section 26, allowing the feeder 25 to be easily replaced and a more efficient assembly process to be carried out.Furthermore, the motion control section 50 executes the recovery process at any number of times or at a predetermined time: before the last assembly job 45 ends in the common facility, when the last assembly job 45 ends in the common facility, or after the common facility ends and before the execution of assembly job 45 of the next production run. In the loader 18, for example, if the predetermined time is before the end of assembly job 45, the common facility is recovered in advance so that the feeders 25 can be exchanged together immediately after production has finished in the common facility, further improving efficiency.Furthermore, if the end of assembly order 45 is set as a predetermined time, production in the shared facility can be carried out reliably, and efficiency can be improved by further reducing waiting time. Additionally, if the time before the execution of the next production assembly order is set as a predetermined time, the feeders 25 can be exchanged jointly after production in the shared facility has been carried out more reliably. Moreover, the standby installation section in the loader 18 includes a buffer installation section 27 of the assembly device 15, from which the assembly section 30 cannot receive component P, and / or a storage installation section provided in the storage device 13, which stores the feeder 25.In the loader 18, the feeder 25 can be withdrawn into the buffer installation section 27 or the storage installation section.

[0046] Furthermore, the assembly system 10 comprises an assembly fixture 15 with an assembly section 30, which performs the assembly operation of component P on the circuit board S as the processing target; a component feed section 24, which includes an assembly installation section 26 in which the feeder 25 holding component P is installed, the component feed section 24 being configured to feed component P; and an assembly control section 20, which causes the assembly section 30 to pick up component P from the component feed section 24. The assembly system 10 also includes the monitoring device 14 and the loader 18 described above. Since the assembly system 10 includes the monitoring device 14 and the loader 18 described above, it is possible to improve efficiency by restoring the feeder arrangement of the common facility when production in the common facility ends.

[0047] It is obvious that the present disclosure is not limited to the embodiment described above and can be carried out in different modes, as long as the modes are within the scope of the present invention.

[0048] For example, in the embodiment described above, the restore command is issued as a predetermined time at any time before the last assembly job 45 in the common facility, when the last assembly job 45 ends in the common facility, or after the common facility ends and before the assembly job 45 of the next production run is executed. However, the present disclosure is not specifically limited to this. Any of these four types of predetermined time can be omitted, or a time other than these four types can be added. Furthermore, for example, the monitoring control section 41 can determine each time an assembly job is completed whether the time has come to pick up the feeder 25 arranged in the feeder section and issue the restore command when it is determined that the time to pick up the feeder 25 has come.

[0049] In the embodiment described above, the CPU 42 monitors the filename being executed for the assembly job and issues the recovery command according to the filename change, but the present disclosure is not specifically limited to this. The CPU 42 can also monitor factors other than filename changes.

[0050] In the embodiment described above, the standby installation section comprises a buffer installation section 27 and the storage section, but the present disclosure is not specifically limited thereto, and each of these sections may be omitted or other installation sections may be included.

[0051] In the embodiment described above, the CPU 42 notifies worker W of the information indicating that the feeder group contained in the common facility will be collectively replaced after the restore command is issued. However, the present disclosure is not specifically limited to this, and this processing can be omitted. Furthermore, in the embodiment described above, worker W collectively replaces the feeder group of the common facility. However, the present disclosure is not specifically limited to this, and an automated conveying device such as an AMR or an AGV can be configured to automatically transport between the storage and the buffer installation section 27, and the feeder group can be collectively replaced by the automated conveying device.

[0052] In the embodiment described above, the monitoring device 14 issues the recovery command, but the present disclosure is not specifically limited to this, and the control device 60 can issue the recovery command. The function of the monitoring device 14 can be performed by another control device, such as the control device 60.

[0053] In the embodiment described above, the assembly system 10 comprises, in addition to the assembly device 15, a pressure device 11, a pressure inspection device 12, a storage device 13, a monitoring device 14, an assembly inspection device 16, a conveying device 17, a loader 18 and a reflow device 19, although the configuration is not specifically limited thereto and one or more of the devices described above may be omitted or a device other than those described above may be added.

[0054] In the embodiment described above, the present disclosure is applied to the shape of the assembly system 10, but the present disclosure can also be applied to the monitoring device 14, the loader 18, a monitoring method or a method for controlling the loader 18.

[0055] Here, the monitoring device, the mobile work device, the assembly system, the monitoring procedure and the procedure for controlling the mobile work device can be configured as follows, according to the present disclosure.For example, the monitoring method according to the present disclosure is a monitoring method executed by a computer for use in an assembly system comprising an assembly device, which includes an assembly section configured to perform an assembly process of a component on a machining target object, a feeding section comprising an assembly installation section in which a feeder is installed to hold the component, the feeding section being configured to feed the component, an assembly control section configured to cause the assembly section to pick up the component from the feeding section, and a mobile work device configured to automatically exchange the feeders between a standby installation section in which the assembly operation cannot be performed and the assembly installation section, wherein the monitoring method comprises: a monitoring step, after the feeders are installed in a common facility for installing the feeders that hold a common component at a common position during the manufacture of several types of machining target objects, in the assembly installation section, at a predetermined time when the manufacture of the machining target object by the common facility ends, to issue a recovery command to move the feeder that is included in the common facility and is not in the assembly installation section to an installation position of the common facility on the mobile work device.

[0056] In this monitoring method, similar to the monitoring device described above, the feeders can be exchanged together, since the feeder arrangement of the shared facility is restored when production in the shared facility ends, further improving efficiency by reducing online setup time. Various configurations of the monitoring device described above can be adopted in this monitoring method, and steps can be added to achieve the respective functions of the monitoring device described above.

[0057] The method for controlling the mobile work device according to the present disclosure is A method for controlling a mobile work device by a computer for use in an assembly system, comprising an assembly device which includes an assembly section configured to perform an assembly operation of a component on a machining target object, a feeding section which includes an assembly installation section in which a feeder is installed to hold the component, wherein the feeding section is configured to feed the component, and an assembly control section which is configured to cause the assembly section to pick up the component from the feeding section, wherein the mobile work device includes an exchange section which is configured to automatically exchange the feeders between a standby installation section in which the assembly process cannot be performed and the assembly installation section, wherein the method comprises: a movement step in which, after the feeders are installed in a common facility for installing the feeders that hold a common component at a common position during the manufacture of several types of machining target objects, in the assembly installation section, at a predetermined time when the manufacture of the machining target object by the common facility ends, the exchange section performs a recovery process in which the feeder contained in the common facility and not in the assembly installation section is moved to an installation position of the common facility.

[0058] In the method for controlling the mobile work device, similar to the mobile work device described above, the feeders can be exchanged together, since the feeder arrangement of the shared device is restored when production in the shared device ends, further improving efficiency by reducing online setup time. The method for controlling the mobile work device can adopt various configurations of the mobile work device described above, and steps can be added to achieve the respective functions of the mobile work device described above.

[0059] The present description also discloses a technical idea wherein “The monitoring device according to claim 1 or 2” in claim 4, as originally filed, is amended to “The monitoring device according to any one of claims 1 to 3”, a technical idea wherein “The monitoring device according to claim 1 or 2” in claim 5, as originally filed, is amended to “The monitoring device according to any one of claims 1 to 4”, a technical idea wherein “The monitoring device according to claim 1 or 2” in claim 6, as originally filed, is amended to “The monitoring device according to any one of claims 1 to 5”, and a technical idea wherein “The monitoring device according to claim 1 or 2” in claim 8, as originally filed, is amended to “The monitoring device according to any one of claims 1 to 7”. Industrial applicability

[0060] The present disclosure is applicable in the technical field of a device that receives and mounts a component. Reference symbol list 10 Mounting system 11 Printing device 12 Pressure inspection device 13 Feeder storage device 14 monitoring PCs 15 Mounting device 16 Assembly inspection device 17 driverless transport vehicles 18 chargers 19 Reflow device 20 Assembly control section 21 CPU 22 Circuit board processing section 24 Component feed section 25 feeders 26 Assembly installation section 27 Buffer installation section 28 Shaft 29 Connecting section 30 Assembly section 31 Head movement section 32 Placement head 33 Nozzle 34 Imaging section 35 nozzle station 36 Control panel 38 Communication section 39 X-axis rail 41 Monitoring Control Section 42 CPU 43 Storage section 44 production plan information 45 Assembly order 46 Selection Information 48 Communication section 49 Display section 50 Motion control section 51 CPU 52 Storage section 53 Recording section 54 Exchange section 55 Movement section 58 Communication section 60 surveillance apparatus 61 Overall Control Section 62 CPU 63 Storage section 64 production plan information 65 Assembly order 68 Communication section 80 Execution Conditions Input Screen 81 Cursor 82 Selection processing display field 83 Selection input field 84 Summary Display Field 86 Message display field 88 Back button 89 Confirmation key P component S circuit board W Worker QUOTES INCLUDED IN THE DESCRIPTION

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

[0000] WO 2017 / 085782

[0003]

Claims

Monitoring device used in an assembly system, comprising an assembly fixture with an assembly section configured to perform an assembly process of a component on a machining target object, a feeding section with an assembly installation section in which a feeder holding the component is installed, the feeding section being configured to feed the component, and an assembly control section configured to cause the assembly section to pick up the component from the feeding section, and a mobile work device configured to automatically exchange the feeders between a standby installation section in which the assembly operation cannot be performed and the assembly installation section, wherein the monitoring device comprises: a monitoring control section configured to,After the feeders are installed in a common installation facility in the assembly installation section, holding a common component at a common position during the production of several types of machining target objects, at a predetermined time when the production of the machining target object by the common facility ends, a recovery command is issued to move the feeder contained in the common facility and not located in the assembly installation section to an installation position of the common facility on the mobile work device. Monitoring device according to claim 1, wherein the mobile work device is configured to move some or all of the feeders not required for the production of a current processing target object, from among the feeders contained in several types of common facilities, to the standby installation section. Monitoring device according to claim 1 or 2, wherein the monitoring control section is configured to issue the restore command at any number or at a predetermined time before a last assembly job ends in the common facility, when the last assembly job ends in the common facility, or after the common facility ends and before an assembly job of the next production is executed, as a predetermined time. Monitoring device according to claim 1 or 2, wherein the monitoring control section is configured to monitor a filename being executed for the assembly job and to issue the restore command according to a change in the filename. Monitoring device according to claim 1 or 2, wherein the standby installation section comprises a buffer installation section of the assembly device from which the assembly section cannot remove the component, and / or a storage installation section contained in a storage device configured to store the feeders. Monitoring device according to claim 1 or 2, wherein the monitoring device is configured to transmit information to a worker indicating that a feeder group contained in the common facility is collectively replaced after the issue of the restore command. Mobile work device used in an assembly system, comprising an assembly device with an assembly section configured to perform an assembly operation of a component on a machining target object, a feeding section with an assembly installation section in which a feeder holding the component is installed, wherein the feeding section is configured to feed the component, and an assembly control section configured to cause the assembly section to pick up the component from the feeding section, wherein the mobile work device has: an exchange section configured to automatically exchange the feeders between a standby installation section in which the assembly process cannot be performed and the assembly installation section;and a motion control section configured to, after the feeders are installed in a common facility for installing feeders that hold a common component at a common position during the manufacture of multiple types of machining target objects, in the assembly installation section, at a predetermined time when the manufacture of the machining target object by the common facility ends, cause the exchange section to perform a recovery process in which the feeder that includes the common facility and is not in the assembly installation section is moved to an installation position of the common facility. Assembly system comprising: an assembly device with an assembly section configured to perform an assembly operation of a component on a machining target object, a feed section with an assembly installation section in which a feeder holding the component is installed, the feed section being configured to feed the component, and an assembly control section configured to cause the assembly section to pick up the component from the feed section; the monitoring device according to claim 1 or 2; and the mobile work device according to claim 7. A monitoring method executed by a computer for use in an assembly system, comprising an assembly fixture with an assembly section configured to perform an assembly process of a component on a machining target object, a feeding section with an assembly installation section in which a feeder is installed to hold the component, the feeding section being configured to feed the component, an assembly control device configured to cause the assembly section to pick up the component from the feeding section, and a mobile work device configured to automatically exchange the feeders between a standby installation section in which the assembly operation cannot be performed and the assembly installation section, wherein the monitoring method comprises: a monitoring step to,After the feeders are installed in a common facility for installing feeders that hold a common component at a common position during the production of several types of machining target objects, in the assembly installation section, at a predetermined time when the production of the machining target object by the common facility ends, a recovery command is issued to move the feeder contained in the common facility and not located in the assembly installation section to an installation position of the common facility for the mobile work device. A method for controlling a mobile work device by a computer for use in an assembly system, comprising an assembly device with an assembly section configured to perform an assembly process of a component on a machining target object, a feeding section with an assembly installation section in which a feeder is installed that holds the component, wherein the feeding section is configured to feed the component, and an assembly control section configured to cause the assembly section to pick up the component from the feeding section, wherein the mobile work device includes an exchange section configured to automatically exchange the feeders between a standby installation section in which the assembly operation cannot be performed and the assembly installation section, wherein the method comprises: a movement step to,After the feeders are installed in a common facility for installing feeders that hold a common component at a common position during the production of several types of machining target objects, in the assembly installation section, at a predetermined time when the production of the machining target object by the common facility ends, cause the exchange section to perform a recovery process in which the feeder contained in the common facility and not located in the assembly installation section is moved to an installation position of the common facility.

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