Warehousing support device and warehousing support method

Abstract

To provide a warehousing support device and a warehousing support method that can determine whether or not a reel is properly mounted in a mounting part where the warehoused reel is temporarily mounted.SOLUTION: A warehousing support device comprises a recognition part and a determination part. The recognition part recognizes a mark indicative of a center position of a reel to be mounted at a mounting part where the reel is temporarily mounted when the reel wound with a component tape accommodating a component to be mounted at a substrate is warehoused in an automatic warehouse, from the center hole of the reel mounted at the mounting part. The determination part determines whether or not the reel is mounted at a predetermined position based upon a recognition result of the mark by the recognition part.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] This specification discloses a technique relating to a warehousing assistance device and a warehousing assistance method. [Background technology]

[0002] The storage facility described in Patent Document 1 includes an acquisition unit and a recognition unit. The acquisition unit uses an imaging device to acquire a first image captured of an imaging area including at least a part of the guide unit before a worker places an item on the placement unit, and a second image captured of the same imaging area after the worker places the item on the placement unit. The recognition unit recognizes at least one of the placement position and the outer dimensions of the item placed on the placement unit, based on difference information between the first image and the second image acquired by the acquisition unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2021 / 079520 Summary of the Invention [Problem to be solved by the invention]

[0004] In an automated warehouse, a transfer device can be used to move and store received reels in a storage section. If the received reels are not placed in an appropriate position in the storage section where they are temporarily placed, the transfer device cannot properly grip the reels, which may cause problems when moving or storing the reels.

[0005] In consideration of these circumstances, this specification discloses an inventory support device and an inventory support method that are capable of determining whether a reel is properly placed in a placement section where the stored reel is temporarily placed. [Means for solving the problem]

[0006] This specification discloses an inventory support device including a recognition unit and a judgment unit. The recognition unit recognizes a mark indicating a center position of a reel to be placed on a placement unit on which a reel, on which a component tape that contains components to be mounted on a circuit board is wound, when the reel is stored in an automated warehouse, from a center hole of the reel placed on the placement unit. The judgment unit judges whether the reel is placed in a predetermined position based on the recognition result of the mark by the recognition unit.

[0007] This specification also discloses a warehousing support method including a recognition step and a determination step. In the recognition step, a mark indicating a center position of a reel to be placed on a placement section on which the reel is temporarily placed when the reel, on which a component tape that contains components to be mounted on a board is wound, is recognized from a center hole of the reel placed on the placement section. In the determination step, it is determined whether the reel is placed in a predetermined position based on a result of recognition of the mark by the recognition step.

[0008] This specification discloses the technical idea of ​​changing "the warehousing support device according to claim 1" to "the warehousing support device according to any one of claims 1 to 3" in claim 4 of the claims originally attached to the application (hereinafter referred to as the original claims). This specification also discloses the technical idea of ​​changing "the warehousing support device according to claim 1" to "the warehousing support device according to any one of claims 1 to 4" in claim 5 of the original claims.

[0009] Furthermore, this specification discloses a technical idea in claim 9 originally claimed in which "the warehousing support device according to claim 1" is changed to "the warehousing support device according to any one of claims 1 to 8." Also, this specification discloses a technical idea in claim 10 originally claimed in which "the warehousing support device according to claim 1" is changed to "the warehousing support device according to any one of claims 1 to 9." Effect of the Invention

[0010] According to the above-mentioned storage assistance device, it is possible to determine whether the reel is properly placed on the placement section where the stored reel is temporarily placed. The above description of the storage assistance device also applies to the storage assistance method. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a configuration diagram showing an example of the configuration of a board production facility. [Figure 2A] FIG. 2 is a plan view showing an example of a reel. [Figure 2B] FIG. 2B is a side view of the reel of FIG. 2A. [Figure 3A] FIG. 1 is a front view showing an example of an automated warehouse. [Figure 3B] FIG. 3B is a plan view of the automated warehouse of FIG. 3A. [Figure 3C] FIG. 3B is a perspective view of the automated warehouse of FIG. 3A. [Figure 4] FIG. 4 is a side view of the automated warehouse of FIG. 3C as viewed in the direction of arrow IV. [Diagram 5] FIG. 2 is a block diagram showing an example of a control block of the warehouse entry assistance device. [Figure 6] 4 is a flowchart showing an example of a control flow by the warehouse entry assistance device. [Figure 7] 1 is a plan view showing an example of a reel placed on a placement portion. FIG. [Figure 8] FIG. 4 is a schematic diagram showing an example of the positional relationship between a mark and a center hole. [Figure 9] FIG. 11 is a schematic diagram showing another example of the positional relationship between the mark and the center hole. [Figure 10] FIG. 11 is a schematic diagram showing another example of the positional relationship between the mark and the center hole. [Figure 11] FIG. 11 is an explanatory diagram for explaining the position where the mark appears in the center hole. [Figure 12] FIG. 4 is a plan view showing an example of a gripping mechanism. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] 1. Embodiment As shown in FIG. 1, a board production facility 80 according to the embodiment includes a board-related work line 10L, a receiving section 20, a transport vehicle 30, and an automated warehouse 40.

[0013] 1-1. Substrate work line 10L In the substrate-related work line 10L, a predetermined substrate-related work is performed on the substrate 90. The type and number of substrate-related work machines 10 constituting the substrate-related work line 10L are not limited. As shown in Fig. 1, the substrate-related work line 10L of the embodiment includes a plurality of (five) substrate-related work machines 10, including a printer 10a, a print inspection machine 10b, a component mounting machine 10c, a reflow furnace 10d, and a visual inspection machine 10e, and the substrate 90 is transported in this order by a substrate transport device.

[0014] The printer 10a prints solder at component mounting positions on the board 90. The print inspection machine 10b inspects the printing condition of the solder printed by the printer 10a. The component mounting machine 10c mounts multiple components on the board 90 on which the solder has been printed. There may be one component mounting machine 10c or multiple component mounting machines 10c. When multiple component mounting machines 10c are provided, the multiple component mounting machines 10c can share the task of mounting multiple components on the board 90.

[0015] The component mounting machine 10c is equipped with a component supplying device that supplies components to be mounted on the board 90. The component supplying device can supply components using, for example, a feeder equipped with reel 21a shown in Figures 2A and 2B, a tray on which components are arranged, or the like. As shown in Figure 2B, reel 21a has component tape 21a2 that stores components to be mounted on the board 90 wound around reel body 21a1. Reel 21a is rotatably and detachably provided on the feeder.

[0016] The leading end of the component tape 21a2 is pulled out to a component removal section provided in the feeder, and the components are supplied one after another. The reel 21a can supply relatively small components such as chip components. The components are arranged on the tray. The tray can supply relatively large components such as QFPs (Quad Flat Packages) and BGAs (Ball Grid Arrays). The reflow furnace 10d heats the board 90 on which the components have been mounted by the component mounting machine 10c, melting the solder and performing soldering. The appearance inspection machine 10e inspects the mounting state of the components mounted by the component mounting machine 10c.

[0017] In this way, the substrate-related work line 10L can use a plurality (five) of substrate-related work machines 10 to sequentially transport substrates 90 and perform production processes including inspection processes to produce substrate products. Note that the substrate-related work line 10L can also include substrate-related work machines 10 such as a functional inspection machine, a buffer device, a substrate supply device, a substrate reversing device, a shield mounting device, an adhesive application device, and an ultraviolet ray irradiation device, as necessary.

[0018] The plurality (five) of substrate-related performing machines 10 constituting the substrate-related performing line 10L and the management device 19 are provided so as to be able to communicate with each other by wired or wireless communication units. The management device 19 controls the plurality (five) of substrate-related performing machines 10 constituting the substrate-related performing line 10L and monitors the operating status of the substrate-related performing line 10L. The management device 19 stores various control data for controlling the plurality (five) of substrate-related performing machines 10. The management device 19 transmits the control data to each of the plurality (five) of substrate-related performing machines 10. Furthermore, each of the plurality (five) of substrate-related performing machines 10 transmits its operating status and production status to the management device 19.

[0019] 1-2. Receiving section 20 and transport vehicle 30 When the article 21 used in the substrate-related operation machine 10 arrives at the receiving section 20, a predetermined receiving operation is performed. Then, the article 21 is loaded onto, for example, a transport vehicle 30 and transported to the automated warehouse 40. After being stored in the automated warehouse 40, the article 21 is supplied to the substrate-related operation line 10L as necessary.

[0020] The article 21 may be any one that is used in the substrate-related operating machine 10, and includes, but is not limited to, the reel 21a. For example, the article 21 may include a tray on which components are arranged, a container for accommodating solder, and the like, in addition to the reel 21a. Also, an article identification member 22 capable of identifying the article 21 is attached to the article 21. The article identification member 22 may have article identification information capable of identifying the article 21, and may be, for example, a one-dimensional code, a two-dimensional code, a wireless tag, or the like.

[0021] Specifically, when the item 21 arrives at the receiving section 20, the worker issues the item identification member 22 using, for example, an item management device. The worker can also read the identification member 23 attached to the item 21 by the supplier (vendor) using a reading device (for example, a barcode reader). The worker can also obtain item information from a database in which item information on the item 21 is registered.

[0022] For example, a worker attaches the item identification member 22 to the surface of the item 21, etc., and places the item 21 in a storage case. The worker loads the storage case containing the item 21 onto the transport vehicle 30. For example, the transport vehicle 30 can be towed by a worker. The transport vehicle 30 can also be an unmanned transport vehicle capable of automatic travel. Note that the transport vehicle 30 can also transport the item 21 to the automated warehouse 40 without using a storage case.

[0023] Also, a worker can transport the article 21 to the automated warehouse 40 without using the transport vehicle 30. Furthermore, at least a part of the work performed by the worker described above can be automated using a transport device (e.g., a belt conveyor), an actuator (e.g., a robot arm), an article management device, etc.

[0024] 1-3.Automated Warehouse 40 The automated warehouse 40 may take various forms as long as the storage and retrieval of the articles 21 including the reels 21a is automated. As shown in Figs. 3A to 3C, the automated warehouse 40 of the embodiment is formed, for example, in an octagonal prism shape. For convenience of explanation, the top of the automated warehouse 40 is open in Fig. 3C, and the interior of the automated warehouse 40 is shown. Fig. 4 is a schematic diagram of the interior of the automated warehouse 40 as viewed from the direction of arrow IV shown in Fig. 3C, and mainly illustrates the storage and retrieval section 41 and the storage section 42.

[0025] The automated warehouse 40 of the embodiment includes an entry / exit section 41, a storage section 42, a control device 40a, a transfer device 40b, a reading device 40d, and a display device 40e. The entry / exit section 41 includes an opening 41a and a placement section 40c, through which the item 21 is entered and removed. As shown in FIG. 3A, an opening 41a is provided on the front side of the automated warehouse 40. The opening 41a is formed larger than the item 21 so that the item 21 can be entered and removed. Note that the automated warehouse 40 may also have an exit port provided at an opening different from the opening 41a through which the item 21 is entered.

[0026] As shown in FIG. 3B and FIG. 4, the placement section 40c is provided in a work space near the opening 41a. The placement section 40c temporarily places the item 21 when the item 21 is stored or removed. For example, the storing operation of the item 21, which involves bringing in the item 21 and placing it on the placement section 40c, can be performed by an operator. Also, the item 21 to be removed is placed on the placement section 40c through the opening 41a. The removing operation of the item 21, which involves removing the item 21 placed on the placement section 40c, can be performed by an operator in the same manner as the storing operation. The storing operation and removing operation of the item 21 can also be automated using an actuator (e.g., a robot arm, etc.).

[0027] As shown in Fig. 4, a reading device 40d is provided above the placement section 40c. The reading device 40d reads the article identification member 22 attached to the article 21 to obtain article identification information of the article 21. The reading device 40d may be a known reading device (e.g., a code reader that reads one-dimensional codes and two-dimensional codes, a radio that can wirelessly communicate with a wireless tag, etc.). When the article 21 is stored through the opening 41a, the reading device 40d reads the article identification member 22 attached to the article 21 to obtain the article identification information.

[0028] The storage section 42 stores the article 21. The storage section 42 may take various forms as long as it is capable of storing the article 21. For example, when the article 21 is a reel 21a, the storage section 42 may include a storage main body 42a and a support member 42b, as shown in Figs. 3C and 4. The storage main body 42a is formed in a U-shape when viewed in the vertical direction (Z-axis direction). The support member 42b is provided so as to protrude upward at a predetermined angle relative to the storage main body 42a, and can store the reel 21a. The angle of the support member 42b is set so as to prevent the reel 21a from falling off.

[0029] Furthermore, the support members 42b of each storage unit are provided in multiple pairs (15 pairs or 30 pieces in FIG. 4), and multiple (15 pieces) of reels 21a can be stored. In each of the multiple pairs (15 pairs) of support members 42b, the two support members 42b are provided at a distance from each other so as not to interfere with the transfer device 40b. Note that, for convenience of illustration, in FIG. 3C and FIG. 4, only some of the members are given reference numbers, and not all of the members are given reference numbers.

[0030] As shown in Figures 3B and 3C, the storage section 42 of the embodiment is arranged in an elliptical shape when viewed in the vertical direction (Z-axis direction). The storage section 42 of the embodiment includes two types of storage units, a first storage unit 42t1 and a second storage unit 42t2, and each of the first storage unit 42t1 and the second storage unit 42t2 is provided in a plurality of units along the vertical direction (Z-axis direction). The first storage unit 42t1 is formed wider than the second storage unit 42t2, and can store a reel 21a larger than the reel 21a that can be stored in the second storage unit 42t2.

[0031] As shown in Fig. 3C and Fig. 4, the first storage units 42t1 are connected in the vertical direction (Z-axis direction) by a connecting portion 42j. The second storage units 42t2 are connected in the vertical direction (Z-axis direction) by a connecting portion 42j. Adjacent first storage units 42t1 are connected to each other by a connecting portion 42j, and adjacent second storage units 42t2 are connected to each other by a connecting portion 42j. Adjacent first storage units 42t1 and second storage units 42t2 are connected to each other by a connecting portion 42j.

[0032] The type, number and arrangement of the storage units can be changed as appropriate. The shape and size (width, depth and height) of the storage units can be set to suit the items 21 to be stored, and the storage section 42 can also store items 21 other than the reels 21a, such as trays. Furthermore, the items 21 may be stored in any suitable storage unit, and in the case where the board production facility 80 includes multiple automated warehouses 40, the items 21 may be stored in any of the automated warehouses 40 as long as the automated warehouses 40 include suitable storage units.

[0033] The control device 40a includes a known arithmetic device and storage device, and a control circuit is configured. The control device 40a is provided so as to be able to communicate with the transfer device 40b, the reading device 40d, and the display device 40e, and can control them. The control device 40a includes a storage device that stores item information on the item 21, and can also notify the management device 19 of the item information. For example, if the item 21 is a reel 21a, the item information can include the type of parts contained in the reel 21a, the number of parts (remaining number), reel diameter, reel thickness, model and supplier (vendor), humidity control level, expiration date, etc.

[0034] The transfer device 40b carries the item 21 received in the automated warehouse 40 into the storage section 42 for storage, and carries the item 21 stored in the storage section 42 out of the storage section 42 when the item 21 is retrieving. Specifically, the transfer device 40b moves the item 21 placed on the placement section 40c during the retrieval work of the item 21 to the storage section 42 for storage. In addition, the transfer device 40b moves the item 21 stored in the storage section 42 to the placement section 40c when the item 21 is retrieving, thereby enabling the retrieval work of the item 21.

[0035] As shown in FIG. 3B and FIG. 3C, the transfer device 40b of the embodiment is provided inside the storage units (first storage unit 42t1 and second storage unit 42t2) when viewed in the vertical direction (Z-axis direction). The transfer device 40b may take various forms as long as it can move the item 21. For example, a robot arm (multi-joint robot), a lifting and sliding mechanism, etc. may be used as the transfer device 40b. As shown in FIG. 3C, the transfer device 40b of the embodiment includes a lifting mechanism 40b1 and a gripping mechanism 40b2.

[0036] The lifting mechanism 40b1 can rotate about an axis along the vertical direction (Z-axis direction) and can lift and lower the gripping mechanism 40b2 along the vertical direction (Z-axis direction). The gripping mechanism 40b2 can grip the article 21 and can move forward or backward at the same angle as the inclination angle θ1 of the placement unit 40c shown in FIG. 4. The gripping mechanism 40b2 can also move forward or backward at the same angle as the inclination angle θ1 of the support member 42b of the storage unit 42.

[0037] In this manner, in the automated warehouse 40 of the embodiment, the inclination angle θ1 of the placement section 40c coincides with the inclination angle θ1 of the support member 42b of the storage section 42. Therefore, in the automated warehouse 40 of the embodiment, the entry-time removal operation of removing the article 21 from the placement section 40c and the entry-time storage operation of storing the removed article 21 in the storage section 42 can be performed by the lifting and lowering motions, the turning motion, the forward motion, and the backward motions of the transfer device 40b. Also, in the automated warehouse 40 of the embodiment, the retrieval-time removal operation of removing the article 21 from the storage unit and the retrieval-time sending-out operation of sending the removed article 21 to the placement section 40c can be performed by the lifting and lowering motions, the turning motion, the forward motion, and the backward motions of the transfer device 40b.

[0038] The display device 40e may be a known display device, and displays various information so that the worker can visually confirm it. The display device 40e displays, for example, item information about the items 21 stored in the storage unit 42 in response to the worker's operation. The display device 40e of the embodiment is configured with a touch panel, and the display device 40e also functions as an input device that accepts various operations by the worker.

[0039] The control device 40a can also store in the storage device the position information, entry / exit information and storage information of the item 21 in the storage section 42, and the display device 40e can also display this information. The position information indicates the storage location of the item 21. The entry / exit information indicates the entry date and time and the exit date and time of the item 21. The storage information includes, for example, information such as the ambient temperature and humidity of the storage section 42. The control device 40a stores the position information and entry date and time of the item 21 when the item 21 is stored. The control device 40a stores the storage information while the item 21 is in storage. The control device 40a stores the exit date and time of the item 21 when the item 21 is exited.

[0040] 1-4. Warehousing support device 50 As described above, the automated warehouse 40 can move the stored reel 21a to the storage section 42 using the transfer device 40b and store it. If the stored reel 21a is not placed in an appropriate position in the placement section 40c where the stored reel 21a is temporarily placed, the transfer device 40b cannot properly grip the reel 21a, which may cause problems in moving or storing the reel 21a. Therefore, the board production equipment 80 of the embodiment is provided with a storage support device 50. The storage support device 50 can determine whether the stored reel 21a is properly placed in the placement section 40c where the stored reel 21a is temporarily placed.

[0041] Specifically, the warehousing support device 50 includes a recognition unit 51 and a judgment unit 52. The warehousing support device 50 may also include a regulation unit 53. The warehousing support device 50 may also include a guidance unit 54. As shown in FIG. 5, the warehousing support device 50 of the embodiment includes a recognition unit 51, a judgment unit 52, a regulation unit 53, and a guidance unit 54. The recognition unit 51, the judgment unit 52, the regulation unit 53, and the guidance unit 54 may be provided in various control devices, management devices, and the like. For example, at least one of the recognition unit 51, the judgment unit 52, the regulation unit 53, and the guidance unit 54 may be provided in the control device 40a of the automated warehouse 40.

[0042] At least one of the recognition unit 51, the judgment unit 52, the regulation unit 53, and the guidance unit 54 can also be provided in the management device 19. At least one of the recognition unit 51, the judgment unit 52, the regulation unit 53, and the guidance unit 54 can also be provided in a control system higher than the management device 19. At least one of the recognition unit 51, the judgment unit 52, the regulation unit 53, and the guidance unit 54 can also be formed on the cloud. As shown in FIG. 5, in the warehousing support device 50 of the embodiment, the recognition unit 51, the judgment unit 52, the regulation unit 53, and the guidance unit 54 are provided in the control device 40a of the automated warehouse 40.

[0043] Moreover, the warehousing assistance device 50 can execute control, for example, according to the flowchart shown in FIG. 6. Specifically, the recognition unit 51 performs the process shown in step S12. The judgment unit 52 performs the process shown in step S13. The regulation unit 53 performs the judgment and process shown in steps S14 and S19. The guidance unit 54 performs the judgment and process shown in steps S14 and S20. The worker or the automated warehouse 40 can perform other processes. The matters described in this specification can be appropriately selected and applied. The matters described in this specification can be appropriately combined.

[0044] 1-4-1. Recognition unit 51 and judgment unit 52 As described above, when the reel 21a around which the component tape 21a2 that contains the components to be mounted on the board 90 is wound is stored in the automated warehouse 40, the reel 21a is temporarily stored on the placement unit 40c. The storing operation of the reel 21a can be performed by an operator or an actuator (e.g., a robot arm) (step S11 shown in FIG. 6). The recognition unit 51 recognizes the mark 43 indicating the center position of the reel 21a to be stored on the placement unit 40c from the center hole 21h of the reel 21a placed on the placement unit 40c (step S12).

[0045] The recognition unit 51 may take various forms as long as it can recognize the mark 43 from the center hole 21h of the reel 21a placed on the placement unit 40c. Similarly, the mark 43 may take various forms as long as it indicates the center position of the reel 21a to be placed on the placement unit 40c. For example, as shown in FIG. 7, the placement unit 40c may have at least one mark 43 (three in the figure). Each of the three marks 43 is formed, for example, by attaching a circular seal member to the placement unit 40c. Each of the three marks 43 may also be formed, for example, by applying paint in a circular shape.

[0046] The mark 43 can be formed in a shape other than a circle, such as a triangle, a rectangle, or a polygon having pentagons or more. The mark 43 may also be provided with a pattern, color, or the like. The mounting portion 40c of the embodiment is formed in a white color (e.g., a metallic color, white, or the like). In this case, the mark 43 is preferably formed in a black color (e.g., black, or the like) in order to provide a contrast between the mounting portion 40c and the mark 43 and make the mark 43 easier to recognize. Conversely, when the mounting portion 40c is formed in a black color (e.g., black, or the like), the mark 43 can also be formed in a white color (e.g., white, or the like). This makes it easier for the recognition unit 51 to recognize the mark 43. Note that, when a plurality of marks 43 are provided as shown in FIG. 7, at least one of the shape, pattern, and color can be changed for each mark 43.

[0047] The recognition unit 51 can recognize the mark 43 at any timing after the reel 21a is placed on the placement unit 40c. For example, the recognition unit 51 can recognize the mark 43 when acquiring identification information capable of identifying the reel 21a from the reel 21a. This allows the recognition unit 51 to reduce processing time compared to a case in which the recognition unit 51 acquires the identification information and recognizes the mark 43 separately. For example, the recognition unit 51 can acquire the identification information and recognize the mark 43 by capturing images of both the identification code 22c having the identification information and the mark 43 by the imaging device 44.

[0048] As described above, the automated warehouse 40 is equipped with a reading device 40d. When an item 21 enters the warehouse through the opening 41a, the reading device 40d reads the item identification member 22 attached to the item 21 to obtain item identification information of the item 21. The identification code 22c is, for example, a two-dimensional code and is included in the item identification member 22. The reading device 40d included in the imaging device 44 can simultaneously image both the identification code 22c and the mark 43 of the reel 21a. The recognition unit 51 can obtain the identification information capable of identifying the reel 21a, which is included in the item identification information, and recognize the mark 43 by imaging once.

[0049] The recognition unit 51 can recognize the mark 43 by various known methods. For example, the recognition unit 51 can recognize the mark 43 by image processing the image of the mark 43 captured by the imaging device 44. Furthermore, the recognition unit 51 can process the image of the mark 43 captured by the imaging device 44 by various known methods, and the method of image processing is not limited. For example, the recognition unit 51 can process the image of the mark 43 captured by the imaging device 44 by binarization processing.

[0050] In this case, as described above, the mark 43 is preferably formed in a blackish color (e.g., black) on the placement portion 40c that is formed in a whiteish color (e.g., metallic color, white, etc.). Also, the mark 43 is preferably formed in a whiteish color (e.g., white) on the placement portion 40c that is formed in a blackish color (e.g., black, etc.). This makes it easier to distinguish at least a part of the mark 43 that can be seen from the center hole 21h of the reel 21a placed on the placement portion 40c from the area of ​​the placement portion 40c other than the mark 43.

[0051] 7 and 8, the outer diameter of the circular mark 43 is equal to or slightly smaller than the inner diameter of the circular center hole 21h of the reel 21a. Since the mark 43 indicates the center position of the reel 21a to be placed on the placement section 40c, if the mark 43 can be recognized from the center hole 21h of the reel 21a, it can be said that the reel 21a is placed on the placement section 40c at the predetermined position P0 where the reel 21a should be placed. In other words, if the mark 43 cannot be recognized from the center hole 21h of the reel 21a, it can be said that the reel 21a is not placed on the placement section 40c at the predetermined position P0 where the reel 21a should be placed.

[0052] Therefore, the determination unit 52 determines whether or not the reel 21a is placed at the predetermined position P0 based on the recognition result of the mark 43 by the recognition unit 51 (step S13 shown in FIG. 6). Specifically, when the recognition unit 51 can recognize the mark 43, the determination unit 52 can determine that the reel 21a is placed at the predetermined position P0, and when the recognition unit 51 cannot recognize the mark 43, the determination unit 52 can determine that the reel 21a is not placed at the predetermined position P0. FIGS. 8 to 10 show examples of images of the mark 43 captured by the imaging device 44.

[0053] 8 shows an example of the positional relationship between the mark 43 and the center hole 21h, and shows a case where the entire mark 43 is included in the center hole 21h. In this case, the recognition unit 51 can recognize the entire mark 43, and the judgment unit 52 can judge that the reel 21a is placed at the predetermined position P0. In contrast, when no mark 43 is included in the center hole 21h, the recognition unit 51 cannot recognize the mark 43, and the judgment unit 52 can judge that the reel 21a is not placed at the predetermined position P0.

[0054] In addition, if the reel 21a must be placed on the placement unit 40c so that the entire mark 43 is included in the center hole 21h of the reel 21a during the storage operation of the reel 21a, the time required for the storage operation of the reel 21a may increase. Also, if at least a part of the mark 43 is included in the center hole 21h of the reel 21a, the reel 21a may be appropriately held by the transfer device 40b. Therefore, for example, the determination unit 52 can determine whether or not the recognition unit 51 has recognized the mark 43 based on the recognition area S0 of the mark 43 recognized from the center hole 21h of the reel 21a.

[0055] Specifically, when the ratio of the recognition area S0 of the mark 43 recognized from the center hole 21h of the reel 21a to the actual area T0 of the mark 43 falls within a predetermined range, the determination unit 52 can determine that the recognition unit 51 has recognized the mark 43. In other words, when the ratio of the recognition area S0 of the mark 43 recognized from the center hole 21h of the reel 21a to the actual area T0 of the mark 43 does not fall within a predetermined range, the determination unit 52 can determine that the recognition unit 51 has not recognized the mark 43.

[0056] In the example shown in FIG. 8, the recognition area S0 of the mark 43 and the actual area T0 of the mark 43 match, and the ratio of the recognition area S0 of the mark 43 to the actual area T0 (a calculated value obtained by dividing the recognition area S0 of the mark 43 by the actual area T0 and multiplying the result by 100) is 100%. FIGS. 9 and 10 show another example of the positional relationship between the mark 43 and the central hole 21h, showing a case where a part of the mark 43 is included in the central hole 21h. In these cases, the recognition area S0 of the mark 43 is smaller than the actual area T0. The determination unit 52 determines whether the recognition unit 51 has been able to recognize the mark 43 depending on whether the ratio of the recognition area S0 of the mark 43 to the actual area T0 is within a predetermined range.

[0057] As the ratio of the recognition area S0 of the mark 43 to the actual area T0 becomes smaller, the transfer device 40b grasps a portion of the reel 21a farther from the center hole 21h. In this case, for example, when the transfer device 40b grasps the reel 21a and moves it to the storage section 42, the reel 21a is more likely to fall. Also, when the transfer device 40b grasps the reel 21a and moves it to the storage section 42, the reel 21a may interfere with other members, making it difficult to store the reel 21a in the storage section 42.

[0058] Therefore, the above-mentioned predetermined range can be set to a range in which the reel 21a can be appropriately gripped by the transfer device 40b. Specifically, the above-mentioned predetermined range can be set to a range in which the reel 21a can be stored in the storage section 42 without falling and without interfering with other members when the transfer device 40b grips the reel 21a and moves it to the storage section 42. The above-mentioned predetermined range can be acquired in advance by simulation, verification using an actual machine, etc. In this way, the determination unit 52 can determine that the reel 21a is placed at the predetermined position P0 when the recognition unit 51 can recognize at least a part of the mark 43. In other words, the determination unit 52 can determine that the reel 21a is not placed at the predetermined position P0 when the recognition unit 51 cannot recognize at least a part of the mark 43.

[0059] The determination unit 52 can also determine at least one of the deviation direction L0 and the deviation amount K0 of the center of the reel 21a with respect to the mark 43. In the example shown in FIG. 9, the center hole 21h of the reel 21a is deviated leftward from the mark 43. In this case, the recognized shape of the mark 43 is a substantially elliptical shape, and the major axis of the ellipse is arranged along the vertical direction of the paper in the figure. In contrast, in the example shown in FIG. 10, the center hole 21h of the reel 21a is deviated upward from the mark 43 with respect to the paper. In this case, the recognized shape of the mark 43 is also a substantially elliptical shape, but the major axis of the ellipse is arranged along the horizontal direction of the paper in the figure.

[0060] 9 and 10, the recognized shape of the mark 43 (part filled in black) occurs when the reel 21a is placed with the center of the reel 21a shifted from the mark 43, and a part of the mark 43 is hidden by the reel 21a. The determination unit 52 can determine at least one of the direction of shift L0 and the amount of shift K0 of the center of the reel 21a from the mark 43, based on the recognized shape of the mark 43. Specifically, as shown in FIG. 9, when the recognized shape of the mark 43 is a substantially elliptical shape with the major axis of the ellipse aligned along the vertical direction of the paper in the figure, the determination unit 52 can determine that the center of the reel 21a is shifted from the mark 43 in the horizontal direction of the paper in the figure.

[0061] 11 is an explanatory diagram for explaining the position where the mark 43 appears in the center hole 21h of the reel 21a. In this figure, the coordinate axes are shown with the X0 axis in the left-right direction on the paper and the Y0 axis in the up-down direction on the paper. As the center of the reel 21a is shifted from the mark 43 to the left on the paper in this figure, the recognized shape of the mark 43 is more likely to appear in the first quadrant AR1 and the fourth quadrant AR4. Conversely, as the center of the reel 21a is shifted from the mark 43 to the right on the paper in this figure, the recognized shape of the mark 43 is more likely to appear in the second quadrant AR2 and the third quadrant AR3.

[0062] In the example shown in FIG. 9, the recognized shape of the mark 43 appears more frequently in the first quadrant AR1 and the fourth quadrant AR4 than in the second quadrant AR2 and the third quadrant AR3. Therefore, the determination unit 52 can determine that the center of the reel 21a is shifted from the mark 43 in the leftward direction of the paper in the figure. The determination unit 52 can make a similar determination for the case shown in FIG. 10. Specifically, as shown in FIG. 10, when the recognized shape of the mark 43 is a substantially elliptical shape with the major axis of the ellipse arranged along the leftward direction of the paper in the figure, the determination unit 52 can determine that the center of the reel 21a is shifted from the mark 43 in the upward direction of the paper in the figure.

[0063] Moreover, the more the center of the reel 21a is displaced from the mark 43 in the upward direction of the paper in the figure, the more likely the recognized shape of the mark 43 will appear in the third quadrant AR3 and the fourth quadrant AR4. Conversely, the more the center of the reel 21a is displaced from the mark 43 in the downward direction of the paper in the figure, the more likely the recognized shape of the mark 43 will appear in the first quadrant AR1 and the second quadrant AR2. In the example shown in FIG. 10, the recognized shape of the mark 43 appears more frequently in the third quadrant AR3 and the fourth quadrant AR4 than in the first quadrant AR1 and the second quadrant AR2. Therefore, the determination unit 52 can determine that the center of the reel 21a is displaced from the mark 43 in the upward direction of the paper in the figure.

[0064] The determination unit 52 can also make a similar determination when the center of the reel 21a is displaced from the mark 43 in both the left-right direction (direction along the X0 axis) and the up-down direction (direction along the Y0 axis). In this case, the recognized shape of the mark 43 is also approximately elliptical, but the major axis of the ellipse is inclined with respect to the X0 axis or the Y0 axis. The determination unit 52 can determine the displacement direction L0 of the center of the reel 21a from the mark 43 based on the inclination direction of the major axis of the ellipse and the area (first quadrant AR1 to fourth quadrant AR4) in which the recognized shape of the mark 43 appears.

[0065] In any of the above-described cases, the determination unit 52 can calculate the amount of deviation K0 from the mark 43 at the center of the reel 21a based on the ratio of the recognition area S0 of the mark 43 to the actual area T0. Specifically, the determination unit 52 calculates the amount of deviation K0 so that the smaller the ratio, the larger the amount of deviation K0. In other words, the determination unit 52 calculates the amount of deviation K0 so that the larger the ratio, the smaller the amount of deviation K0. Note that the relationship between the ratio of the recognition area S0 of the mark 43 to the actual area T0 and the amount of deviation K0 can be obtained in advance by simulation, verification using an actual machine, or the like.

[0066] 12 shows an example of the gripping mechanism 40b2. The transfer device 40b can be equipped with a gripping mechanism 40b2 capable of pinching and gripping the reel 21a from the vertical direction (Z-axis direction). The gripping mechanism 40b2 is equipped with, for example, a pair of grippers GP1, GP2. The pair of grippers GP1, GP2 can grip the reel 21a from a predetermined direction inclined at a predetermined angle with respect to the vertical direction (Z-axis direction).

[0067] The predetermined angle is set to, for example, the same angle as the inclination angle θ1 of the placement portion 40c and the inclination angle θ1 of the support member 42b of the storage portion 42, which have already been described. The pair of grippers GP1, GP2 grip the reel 21a by the upper gripper GP1 and the lower gripper GP2 moving in a direction in which they approach each other. Conversely, the pair of grippers GP1, GP2 release the grip of the reel 21a by the upper gripper GP1 and the lower gripper GP2 moving in a direction in which they move away from each other.

[0068] The lower gripper GP2 is connected to the lifting mechanism 40b1. Therefore, the upper gripper GP1 can move relative to the lower gripper GP2. The pair of grippers GP1, GP2 can move forward or backward in the inclination direction of the inclination angle θ1. The pair of grippers GP1, GP2 can move up and down along the vertical direction (Z-axis direction) together with the lifting mechanism 40b1. The pair of grippers GP1, GP2 can also rotate around an axis along the vertical direction (Z-axis direction) together with the lifting mechanism 40b1. With these, the transfer device 40b can carry the reel 21a into the storage section 42 and store it therein, and carry the reel 21a out of the storage section 42.

[0069] As shown in FIG. 12, when gripping the reel 21a, the pair of grippers GP1 and GP2 can move forward or backward in the vertical direction (direction along the Y0 axis) of the drawing. However, when gripping the reel 21a, it is difficult for the pair of grippers GP1 and GP2 to move in the horizontal direction (direction along the X0 axis) of the drawing. Therefore, among the deviations of the center of the reel 21a from the mark 43, the deviation in the horizontal direction (direction along the X0 axis) of the drawing is more difficult to absorb than the deviation in the vertical direction (direction along the Y0 axis). Therefore, it is preferable that the allowable range of the deviation amount K0 of the center of the reel 21a from the mark 43 is narrower in the deviation amount in the horizontal direction (direction along the X0 axis) of the drawing than in the vertical direction (direction along the Y0 axis).

[0070] As shown in FIG. 7, the mark 43 can be provided at the center of each of the multiple types of reels 21a having different outside dimensions and positions to be placed. In the figure, the mark 43 is provided at the center of each of the multiple types (three types) of reels 21a, and the multiple (three) marks 43 are arranged in the vertical direction of the paper surface of the figure (the direction along the Y0 axis described above). The mark 43a indicates the mark 43 provided at the center of the reel 21a having the smallest outside dimension among the multiple types (three types) of reels 21a. The mark 43b indicates the mark 43 provided at the center of the reel 21a having the intermediate outside dimension among the multiple types (three types) of reels 21a. The mark 43c indicates the mark 43 provided at the center of the reel 21a having the largest outside dimension among the multiple types (three types) of reels 21a.

[0071] The reel 21a indicated by the solid line indicates the reel 21a with the smallest outer dimension among the multiple types (three types) of reels 21a, and the predetermined position P1 indicates the predetermined position P0 where the reel 21a should be placed. The reel 21a indicated by the dashed line indicates the reel 21a with the middle outer dimension among the multiple types (three types) of reels 21a, and the predetermined position P2 indicates the predetermined position P0 where the reel 21a should be placed. Although not shown for convenience of illustration, the reel 21a with the largest outer dimension among the multiple types (three types) of reels 21a can also be placed on the placement section 40c in the same manner. The predetermined position P3 indicates the predetermined position P0 where the reel 21a should be placed.

[0072] In this way, when there are a plurality of predetermined positions P0 on which the reel 21a should be placed and a plurality of marks 43 are provided on the placement section 40c, it is necessary to recognize the positions of the marks 43 according to the type of the reel 21a. Therefore, for example, the determination section 52 can recognize the position of the mark 43 provided on the predetermined position P0 on which the reel 21a should be placed, based on the type of the reel 21a obtained from the identification information of the reel 21a acquired by the recognition section 51.

[0073] For example, the position coordinates of the mark 43 on the placement unit 40c are stored in a storage device for each type of the reel 21a. The storage device may be a known storage device, database, or the like, and may be provided in the automated warehouse 40, the management device 19, or the like. The storage device may also be formed on a cloud. The determination unit 52 recognizes the type of the reel 21a (one of three types in the example shown in FIG. 7) from the identification information of the reel 21a acquired by the recognition unit 51. Then, the determination unit 52 can refer to the storage device and acquire the position coordinates of the mark 43 corresponding to the recognized type of the reel 21a. This allows the determination unit 52 to recognize the position of the mark 43 provided at the predetermined position P0 where the reel 21a is to be placed, depending on the type of the reel 21a.

[0074] The determination unit 52 can also obtain the type of the reel 21a to be placed from the mark 43 recognized by the recognition unit 51. As described above, for example, the mark 43 can be provided with a pattern, a color, or the like. In this case, the pattern (for example, a character, a symbol, a figure, or the like) of the mark 43 can be changed for each type of the reel 21a. The color of the mark 43 can also be changed for each type of the reel 21a. The determination unit 52 determines whether the reel 21a is placed in the predetermined position P0 that matches the type of the reel 21a based on the difference between the type of the reel 21a obtained from the identification information of the reel 21a obtained by the recognition unit 51 and the type of the reel 21a to be placed obtained from the mark 43 recognized by the recognition unit 51.

[0075] For example, assume that the recognition unit 51 recognizes the mark 43a shown in Fig. 7. The mark 43a is provided with a pattern or color indicating information (information on the type of the reel 21a) that the reel 21a having the smallest outer dimension among the multiple types (three types) of reels 21a should be placed. In this case, the determination unit 52 determines whether there is a difference between the type of the reel 21a obtained from the identification information of the reel 21a obtained from the identification code 22c by the recognition unit 51 and the type of the reel 21a to be placed obtained from the mark 43 recognized by the recognition unit 51.

[0076] When the types of reels 21a match, the determination unit 52 determines that the reel 21a (in this case, the reel 21a having the smallest outer dimension among the multiple types (three types) of reels 21a) is placed at the predetermined position P0 (in this case, the predetermined position P1) that matches the type of reel 21a. In other words, when the types of reels 21a differ, the determination unit 52 determines that the reel 21a (the reel 21a having the smallest outer dimension among the multiple types (three types) of reels 21a) is not placed at the predetermined position P0 (predetermined position P1) that matches the type of reel 21a. What has been described above about the mark 43a also applies to the mark 43b and the mark 43c.

[0077] 1-4-2. Restriction portion 53 and guide portion 54 As described above, the transfer device 40b moves the reel 21a placed on the placement section 40c to the storage section 42 and stores it therein. When the determination section 52 determines that the reel 21a is placed at the predetermined position P0 (Yes in step S14 shown in FIG. 6), the restriction section 53 permits the transfer device 40b to move the reel 21a (steps S15 to S18). Specifically, the determination section 52 permits the gripping mechanism 40b2 to grip the reel 21a placed on the placement section 40c. As a result, the gripping mechanism 40b2 grips the reel 21a placed on the placement section 40c (step S15).

[0078] The gripping mechanism 40b2 then moves to the storage section 42 which stores the reel 21a (step S16). When the gripping mechanism 40b2 moves to the storage section 42, it releases the grip on the reel 21a (step S17). As a result, the reel 21a is stored in the storage section 42. Once the reel 21a is stored in the storage section 42, the gripping mechanism 40b2 moves to a predetermined standby position (step S18). Then, the control by the warehousing assistance device 50 is temporarily terminated.

[0079] When the determination unit 52 determines that the reel 21a is not placed at the predetermined position P0 (No in step S14), the regulating unit 53 regulates the movement of the reel 21a by the transfer device 40b (step S19). This makes it possible to prevent the transfer device 40b from inappropriately gripping the reel 21a, and to prevent damage to members that accompanies the movement or storage of the reel 21a.

[0080] When the determination unit 52 determines that the reel 21a is not placed at the predetermined position P0 (No in step S14), the guidance unit 54 guides the worker to place the reel 21a at the predetermined position P0 (step S20). For example, the guidance unit 54 guides the worker to place the reel 21a on the placement unit 40c so that the mark 43 can be recognized from the center hole 21h of the reel 21a placed on the placement unit 40c. The guidance unit 54 may take various forms as long as it can provide the worker with the above guidance. For example, the guidance unit 54 can display the above guidance to the worker on the display device 40e of the automated warehouse 40. The guidance unit 54 can also provide the worker with voice guidance of the above content on the display device 40e of the automated warehouse 40.

[0081] The guidance unit 54 can also provide the above-mentioned information to the worker on a mobile terminal carried by the worker. When the recognition unit 51 is unable to obtain identification information from the reel 21a that can identify the reel 21a, the guidance unit 54 can also provide the worker with a notification to that effect. The guidance unit 54 can also provide the worker with a deviation direction L0 from the mark 43 at the center of the reel 21a. The guidance unit 54 can also provide the worker with a deviation amount K0 from the mark 43 at the center of the reel 21a.

[0082] When the guidance by the guidance unit 54 ends, the control by the warehousing assistance device 50 returns to the process shown in step S11, and the warehousing operation of the reel 21a is performed. The above-mentioned processes and judgments are repeated until the reel 21a is placed at the predetermined position P0. The placement unit 40c may also be provided with a guide pin so that the reel 21a is placed at the predetermined position P0. As shown in FIG. 7, when multiple types of reels 21a with different outside dimensions can be placed on the placement unit 40c, the guide pins can be placed on the outer edge of the reel 21a for each type of reel 21a.

[0083] 2. Warehousing support method What has already been described about the warehousing assistance device 50 also applies to the warehousing assistance method. Specifically, the warehousing assistance method comprises a recognition process and a judgment process. The recognition process corresponds to the control performed by the recognition unit 51. The judgment process corresponds to the control performed by the judgment unit 52. The warehousing assistance method can also comprise a restriction process. The restriction process corresponds to the control performed by the restriction unit 53. The warehousing assistance method can also comprise a guidance process. The guidance process corresponds to the control performed by the guidance unit 54.

[0084] 3. Examples of Effects of the Embodiments According to the storage assistance device 50, it is possible to determine whether the reel 21a is properly placed on the placement section 40c on which the stored reel 21a is temporarily placed. The above description of the storage assistance device 50 also applies to the storage assistance method. [Explanation of symbols]

[0085] 21a: reel, 21a2: component tape, 21h: center hole, 22c: identification code, 40: automated warehouse, 40b: transfer device, 40c: placement section, 42: storage section, 43: mark, 44: imaging device, 50: storage assistance device, 51: recognition unit, 52: judgment unit, 53: regulation unit, 54: Guide portion, 90: Board, P0: Predetermined position, S0: Recognized area, T0: Actual area, L0: direction of deviation, K0: amount of deviation.

Claims

1. a recognition unit that recognizes, when a reel around which a component tape that contains components to be mounted on a board is wound is stored in an automated warehouse, a mark that indicates a center position of the reel to be placed on a placement unit on which the reel is temporarily placed, from a center hole of the reel placed on the placement unit; a determination unit that determines whether or not the reel is placed at a predetermined position based on a recognition result of the mark by the recognition unit; A storage assistance device comprising:

2. The storage assistance device according to claim 1, wherein the judgment unit judges that the reel is placed at the predetermined position when the recognition unit can recognize the mark, and judges that the reel is not placed at the predetermined position when the recognition unit cannot recognize the mark.

3. The storage assistance device according to claim 1 or claim 2, wherein the judgment unit judges that the mark has been recognized by the recognition unit when a ratio of the recognition area of ​​the mark recognized from the center hole of the reel to the actual area of ​​the mark is within a predetermined range, and judges that the mark has not been recognized by the recognition unit when the ratio of the recognition area of ​​the mark is not within the predetermined range.

4. The storage assistance device of claim 1, wherein the determination unit determines at least one of the direction and amount of deviation of the center of the reel from the mark based on the recognized shape of the mark that is created when a part of the mark is hidden by the reel when the reel is placed with the center of the reel offset from the mark.

5. The storage assistance device according to claim 1 , wherein the recognition unit recognizes the mark when acquiring identification information capable of identifying the reel from the reel.

6. The warehousing assistance device according to claim 5 , wherein the recognition unit captures images of both the identification code including the identification information and the mark using an imaging device, thereby acquiring the identification information and recognizing the mark.

7. the mark is provided at the center position of each of a plurality of types of reels having different outer dimensions and positions to be placed, The storage assistance device according to claim 5 or claim 6, wherein the determination unit recognizes the position of the mark provided at the specified position where the reel is to be placed, based on the type of the reel obtained from the identification information of the reel acquired by the recognition unit.

8. the mark is provided at the center position of each of a plurality of types of reels having different outer dimensions and positions to be placed, The storage assistance device according to claim 5 or claim 6, wherein the judgment unit judges whether the reel is placed at the specified position matching the type of the reel based on the difference between the type of the reel obtained from the identification information of the reel obtained by the recognition unit and the type of the reel to be placed obtained from the mark recognized by the recognition unit.

9. The storage support device of claim 1, further comprising a regulating unit that, when the determining unit determines that the reel is not placed at the specified position, regulates the movement of the reel by a transfer device that moves the reel placed on the placement section to a storage section and stores it therein.

10. The storage assistance device according to claim 1 , further comprising a guidance unit that guides an operator to place the reel in the specified position when the determination unit determines that the reel is not placed in the specified position.

11. a recognition step of recognizing, from a center hole of the reel placed on a placement section, a mark indicating a center position of the reel to be placed on a placement section on which the reel, around which a component tape that contains components to be mounted on a board is wound, is temporarily placed when the reel is stored in the automated warehouse; a determination step of determining whether or not the reel is placed at a predetermined position based on a result of the recognition of the mark by the recognition step; A method for assisting in warehousing.

Images