Component placement system, tape cassette supply device, unmanned transport vehicle, management device, and tape cassette supply method

Abstract

To provide a component placement system capable of preventing instability in tape cassette supply caused by an inclination of a floor surface.SOLUTION: A component placement system 10 includes: a component placement unit 20 that has a first tape cassette support unit 70 for supporting a tape cassette 60; a tape cassette supply device 40 that supplies the tape cassette to the component placement unit; a detection unit 438 for detecting an inclination relevant to the tape cassette caused by the inclination of a floor on which the tape cassette supply device is installed; and a correction unit (control unit 402). The tape cassette supply device includes: a holding unit 43 for holding the tape cassette; a movement mechanism 45 that moves the holding unit with respect to the component placement unit and transfers the tape cassette held by the holding unit to the first tape cassette support unit; and a control unit 402 that controls the movement mechanism. The correction unit corrects the target position of the holding unit with respect to the first tape cassette support unit based on the inclination detected by the detection unit. The control unit controls the movement mechanism based on the corrected target position.SELECTED DRAWING: Figure 20

Description

[Technical field]

[0001] The present invention relates to a component mounting system, a tape cassette supplying device, an automated guided vehicle, a management device, and a tape cassette supplying method. [Background technology]

[0002] For example, Patent Document 1 discloses a component mounting system including a plurality of tape cassettes storing carrier tapes and a tape cassette supplying device that supplies the temporarily stored tape cassettes to a component mounting device. The tape cassette supplying device is provided with a holding section (cassette transfer head) that holds one of the stored tape cassettes and supplies it to the component mounting device. The tape cassette supplying device is also movable on the floor by an automatic guided vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-64679 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, when the component mounting device is inclined along the floor surface, since the component mounting device is stationary, it is possible to adjust its posture and set it based on the horizontal plane. In contrast, since it is difficult to adjust the posture of a tape cassette supplying device that is moved by an automated guided vehicle, the inclination of the floor surface affects it. In other words, a relative positional deviation may occur between the component mounting device and the tape cassette supplying device due to the inclination of the floor surface. This positional deviation may have an adverse effect when a tape cassette is supplied from the tape cassette supplying device to the component mounting device, and may hinder stable supply of the tape cassette.

[0005] SUMMARY OF THE PRESENTLY PREFERRED EMBODIMENTS An object of the present invention is to prevent instability in tape cassette supply caused by an inclination of the floor surface. [Means for solving the problem]

[0006] (1) A component mounting system according to one embodiment of the present invention includes a component mounting device having a tape cassette support portion that supports a tape cassette having a carrier tape stored therein; a tape cassette supplying device that supplies the tape cassette to the component mounting device; a detection portion that detects a tilt of the tape cassette caused by a tilt of a floor surface on which the tape cassette supplying device is installed; and a correction portion. The tape cassette supplying device includes a holding portion that holds the tape cassette, a moving mechanism that moves the holding portion relative to the component mounting device and transfers the tape cassette held by the holding portion to the tape cassette support portion, and a control portion that controls the moving mechanism. The correction portion corrects a target position of the holding portion relative to the tape cassette support portion based on the tilt detected by the detection portion, and the control portion controls the moving mechanism based on the corrected target position.

[0007] A tape cassette supplying device according to one embodiment of the present invention is a tape cassette supplying device that supplies a tape cassette to a component mounting device having a tape cassette support portion that supports a tape cassette in which a carrier tape is stored, and is equipped with a holding portion that holds the tape cassette, a moving mechanism that moves the holding portion relative to the component mounting device and transfers the tape cassette held by the holding portion to the tape cassette support portion, a detection portion that detects a tilt of the tape cassette caused by a tilt of a floor surface on which the tape cassette supplying device is installed, a correction portion that corrects a target position of the holding portion relative to the tape cassette support portion based on the tilt detected by the detection portion, and a control portion that controls the moving mechanism based on the corrected target position.

[0008] An automated guided vehicle according to one embodiment of the present invention is an automated guided vehicle that transports a tape cassette supplying device that supplies a tape cassette to a component mounting device having a tape cassette support part that supports a tape cassette stored in a carrier tape, the tape cassette supplying device comprising: a holding part that holds the tape cassette; a moving mechanism that moves the holding part relative to the component mounting device and transfers the tape cassette held by the holding part to the tape cassette support part; and a control part that controls the moving mechanism, the automated guided vehicle comprising a detection part that detects a tilt of the tape cassette caused by a tilt of a floor surface on which the tape cassette supplying device is installed, the detection part outputs the tilt to a correction part that corrects a target position of the holding part relative to the tape cassette support part, and the control part controls the moving mechanism based on the target position corrected by the correction part.

[0009] A management device according to one embodiment of the present invention is a management device that manages a component mounting device having a tape cassette support portion that supports a tape cassette stored with a carrier tape, a tape cassette supplying device that supplies the tape cassette to the component mounting device, and a detection portion that detects a tilt of the tape cassette caused by a tilt of a floor surface on which the tape cassette supplying device is installed, wherein the tape cassette supplying device comprises a holding portion that holds the tape cassette, a moving mechanism that moves the holding portion relative to the component mounting device and transfers the tape cassette held by the holding portion to the tape cassette support portion, and a control portion that controls the moving mechanism, and the management device comprises a correction portion that corrects a target position of the holding portion relative to the tape cassette support portion based on the tilt detected by the detection portion, and the control portion controls the moving mechanism based on the target position corrected by the correction portion.

[0010] A tape cassette supplying method according to one embodiment of the present invention is a tape cassette supplying method in which a tape cassette is supplied to a component mounting device having a tape cassette support portion that supports a tape cassette in which a carrier tape is stored, the tape cassette supplying device comprising a holding portion that holds the tape cassette, and a moving mechanism that moves the holding portion relative to the component mounting device and transfers the tape cassette held by the holding portion to the tape cassette support portion, the tape cassette supplying method detecting a tilt of the tape cassette caused by a tilt of a floor surface on which the tape cassette supplying device is installed, correcting a target position of the holding portion relative to the tape cassette support portion based on the detected tilt, and controlling the moving mechanism based on the corrected target position.

[0011] According to these, the inclination of the tape cassette caused by the inclination of the floor surface on which the tape cassette supplying device is installed is detected, and the target position of the holding part relative to the tape cassette support part is corrected based on the detected inclination. Then, the moving mechanism is controlled based on the corrected target position. Since the target position is corrected in this manner, adverse effects when supplying the tape cassette from the tape cassette supplying device to the component mounting device can be reduced. Therefore, instability in tape cassette supply caused by the inclination of the floor surface can be suppressed.

[0012] (2) In the component mounting system described in (1) above, the detection unit may detect, as the inclination, a rotation angle around at least one of a first direction which is the alignment direction of the tape cassette supplying device and the component mounting device, a second direction which is perpendicular to the first direction in a horizontal plane, and a third direction which is a vertical direction.

[0013] According to this, since the detection section detects the rotation angle around at least one of the first direction, the second direction, and the third direction as the tilt, efficient tilt detection is possible.

[0014] (3) In the component mounting system described in (2) above, the detection unit may detect two of a first rotation angle which is a rotation angle around the first direction, a second rotation angle which is a rotation angle around the second direction, and a third rotation angle which is a rotation angle around the third direction, and the correction unit may correct the target position based on the two rotation angles detected by the detection unit.

[0015] According to this, the target position is corrected based on only two of the first rotation angle, the second rotation angle, and the third rotation angle, so that correction with higher accuracy is possible compared to the case where correction is performed based on only one rotation angle.

[0016] (4) The component mounting system described in (3) above may include a guide portion that guides movement of the tape cassette supplying device in the first direction, and the tape cassette supplying device may include a guided portion that is guided by the guide portion and whose position in the second direction relative to the component mounting device is determined, and the third rotation angle of the inclination may be corrected by the guided portion being guided by the guide portion.

[0017] According to this, since the guided portion is guided by the guide portion, the third rotation angle in the tilt is corrected, and the tilt is eliminated at the third rotation angle. Therefore, it is possible to correct the target position based on only the two rotation angles, the first rotation angle and the second rotation angle, and it is expected that the amount of calculation during correction will be reduced and costs will be reduced by simplifying the detection portion.

[0018] (5) In the component mounting system described in any one of (1) to (4) above, the detection unit may be provided in the tape cassette supplying device.

[0019] According to this, since the detection unit is provided on the tape cassette supplying device that is inclined relative to the floor surface, it is possible to detect the inclination with higher accuracy.

[0020] (6) In the component mounting system described in (5) above, the detection unit may be provided in the holding unit.

[0021] According to this, since the detection section is provided on the holding section that holds the tape cassette, the tilt can be detected at a position close to the tape cassette, which allows for more accurate tilt detection.

[0022] (7) The component mounting system described in any one of (1) to (4) above may further include an automated guided vehicle that transports the tape cassette supplying device, and the detection unit may be provided on the automated guided vehicle.

[0023] According to this, many automated guided vehicles come equipped with sensors for detecting tilt as standard, so this can be implemented without incurring additional costs.

[0024] (8) The component mounting system described in any one of (1) to (4) above may include an imaging unit that images the tape cassette held by the holding unit, and the detection unit may detect the tilt based on an image captured by the imaging unit.

[0025] According to this, since the tilt is detected based on the image obtained by the imaging section capturing an image of the tape cassette, the actual tilt of the tape cassette can be detected.

[0026] (9) In the component mounting system described in (8) above, the imaging unit may be provided in the tape cassette supplying device.

[0027] According to this, since the imaging unit is provided in the tape cassette supplying device, the imaging unit can be disposed in a position close to the tape cassette held by the holding unit, and therefore the tape cassette including the tilt can be accurately photographed, thereby improving the accuracy of the correction.

[0028] (10) In the component mounting system described in (8) above, the tape cassette may be equipped with a spirit level, the imaging unit may image an air bubble in the spirit level, and the detection unit may detect the inclination based on an image of the air bubble captured by the imaging unit.

[0029] According to this, the inclination is detected based on an image obtained by imaging an air bubble inside a level provided in the tape cassette, so that the inclination can be easily detected.

[0030] (11) In the component mounting system described in (8) above, the imaging unit may include a visible camera and a TOF camera for imaging the tape cassette, and the detection unit may detect rotation angles around two different directions based on a first image captured by the visible camera and a second image captured by the TOF camera.

[0031] According to this, the rotation angles around two different directions are detected based on a first image captured by the visible camera and a second image captured by the TOF camera, enabling more accurate tilt detection.

[0032] (12) In the component mounting system described in any one of (1) to (4) above, the tape cassette may be provided with a tag including the detection unit, the holding unit may be provided with a reading unit that reads information stored in the tag, and the reading unit may obtain the inclination detected by the detection unit when reading the information.

[0033] According to this, when the reader reads information from a tag including a detection unit, the tilt detected by the detection unit is also acquired, so that reading of tag information and acquisition of the tilt can be performed simultaneously. Also, the tilt can be detected at a position close to the tape cassette. This allows for more accurate tilt detection.

[0034] The automated guided vehicle may include the correction unit.

[0035] According to this, since the automatic guided vehicle is equipped with the correction unit, the correction based on the tilt detected by the detection unit can be completed by the automatic guided vehicle alone. Effect of the Invention

[0036] According to the present invention, it is possible to suppress instability in tape cassette supply caused by an inclination of the floor surface. [Brief description of the drawings]

[0037] [Figure 1] FIG. 1 is an explanatory diagram showing a schematic configuration of a component mounting system according to a first embodiment. [Diagram 2] FIG. 2 is an elevational view showing the dolly and the positioning device according to the first embodiment. [Diagram 3] FIG. 3 is a perspective view of the cart according to the first embodiment. [Figure 4] FIG. 4 is an explanatory diagram showing a state in which the first tape cassette and the second tape cassette have been removed from the dolly according to the first embodiment. [Diagram 5] FIG. 5 is a perspective view showing a schematic configuration of a carrier tape constituting a roll according to the first embodiment. [Figure 6] FIG. 6 is an exploded perspective view of a portion of the first tape cassette according to the first embodiment. [Figure 7] FIG. 7 is an exploded perspective view of a portion of the second tape cassette according to the first embodiment. [Figure 8] FIG. 8 is a plan view showing the first tape cassette support portion according to the first embodiment. [Figure 9A] FIG. 9A is a plan view showing the operation of the first tape cassette support portion according to the first embodiment. [Figure 9B] FIG. 9B is a plan view showing the operation of the first tape cassette support portion according to embodiment 1. FIG. [Figure 9C] FIG. 9C is a plan view showing the operation of the first tape cassette support portion according to the first embodiment. [Figure 10] FIG. 10 is a perspective view showing an installation location of the fixing device according to the first embodiment. [Figure 11A] FIG. 11A is an explanatory diagram showing the operation of the height adjusting unit according to the first embodiment. [Figure 11B] FIG. 11B is an explanatory diagram showing the operation of the height adjusting unit according to the first embodiment. [Figure 11C] FIG. 11C is an explanatory diagram showing the operation of the height adjusting unit according to the first embodiment. [Figure 12] FIG. 12 is a perspective view of the positioning device according to the first embodiment. [Figure 13A] FIG. 13A is an explanatory diagram showing a coupling operation between the positioning device and the dolly according to the first embodiment. [Figure 13B] FIG. 13B is an explanatory diagram showing a coupling operation between the positioning device and the dolly according to the first embodiment. [Figure 13C] FIG. 13C is an explanatory diagram showing a coupling operation between the positioning device and the dolly according to the first embodiment. [Figure 13D] FIG. 13D is an explanatory diagram showing a coupling operation between the positioning device and the dolly according to the first embodiment. [Figure 14A] FIG. 14A is an explanatory diagram showing movement of the roll body between the first tape cassette and the first receiving device according to the first embodiment. [Figure 14B] FIG. 14B is an explanatory diagram showing movement of the roll body between the first tape cassette and the first receiving device according to embodiment 1. [Figure 14C] FIG. 14C is an explanatory diagram showing movement of the roll body between the first tape cassette and the first receiving device according to embodiment 1. [Figure 15] FIG. 15 is a perspective view showing a schematic configuration of the tape cassette supplying device according to the first embodiment. [Figure 16] FIG. 16 is an explanatory diagram showing a state before the tape cassette supplying device according to the first embodiment is connected to a component mounting device. [Figure 17] FIG. 17 is a top view illustrating a schematic internal structure of the tape cassette supplying device and the component mounting device according to the first embodiment when they are connected to each other. [Figure 18] FIG. 18 is a perspective view showing a state in which the holding portion according to the first embodiment holds the tape cassette. [Figure 19] FIG. 19 is a plan view showing a schematic configuration of the holding unit according to the first embodiment. [Figure 20]FIG. 20 is a block diagram showing a control configuration of the component mounting system according to the first embodiment. [Figure 21] FIG. 21 is a schematic diagram showing a state in which the tape cassette supplying device according to the first embodiment is tilted due to the inclination of the floor surface. [Figure 22] FIG. 22 is a schematic diagram showing the relationship between the tape cassette transferred from the tilted tape cassette supplying device to the dolly and the tape cassette on the dolly in the first embodiment. [Figure 23A] FIG. 23A is an explanatory diagram showing a holding operation of the holding unit according to the first embodiment. [Figure 23B] FIG. 23B is an explanatory diagram showing the holding operation of the holding unit according to the first embodiment. [Figure 23C] FIG. 23C is an explanatory diagram showing the holding operation of the holding unit according to the first embodiment. [Figure 24] FIG. 24 is a schematic diagram showing a tape cassette supplying device according to the second embodiment. [Diagram 25] FIG. 25 is a plan view showing a portion of the tape cassette according to the third embodiment. [Figure 26] FIG. 26 is a block diagram showing a control configuration of the tape cassette supplying device according to the third embodiment. [Figure 27] FIG. 27 is a plan view showing the positional relationship between the imaging unit and the tape cassette according to the fourth embodiment. [Figure 28] FIG. 28 is a block diagram showing a control configuration of the component mounting system according to the fifth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0038] Hereinafter, a component mounting system according to an embodiment and its modified example of the present invention will be described with reference to the drawings. Note that the embodiment and its modified example described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, arrangement positions and connection forms of the components shown in the following embodiment and its modified example are only examples and are not intended to limit the present invention. In addition, each figure is a schematic diagram, and the dimensions are not necessarily illustrated precisely. Furthermore, in each figure, the same or similar components are given the same reference numerals. In the following description, the X-axis direction is the width direction of each device (component mounting device 20 and tape cassette supply device 40) provided in the component mounting system 10, and is an example of the second direction. The Y-axis direction is the arrangement direction of each device. The Y-axis direction is an example of the first direction. The Z-axis direction is the height direction (vertical direction) of each device, and is an example of the third direction.

[0039] Furthermore, expressions indicating relative directions or attitudes, such as parallel and perpendicular, also include cases where the directions or attitudes are not strictly the same. For example, two directions being parallel does not only mean that the two directions are completely parallel, but also means that the two directions are substantially parallel, that is, that there is a difference of, for example, about a few percent. Furthermore, simply saying "X-axis direction" means both directions or either one of the directions parallel to the X-axis. The same applies to terms related to the Y-axis and Z-axis.

[0040] (Embodiment 1) Fig. 1 is an explanatory diagram showing a schematic configuration of a component mounting system 10 according to embodiment 1. As shown in Fig. 1, the component mounting system 10 according to embodiment 1 includes a component mounting device 20 and a tape cassette supplying device 40. The component mounting system 10 is an example of a supplying system.

[0041] The component mounting device 20 is a device that mounts components supplied by a component supply unit 31 provided on a cart 30 onto a board 50. The component mounting device 20 is an example of a working device that performs work on the board 50. Specifically, the component mounting device 20 includes a component mounting device main body 20a and a cart 30. The component mounting device main body 20a includes a head 21 that picks up components 87 (see FIG. 5) on the component supply unit 31 of the cart 30 and transfers and mounts them onto the board 50, a board transport section 22 that transports the board 50 on which the components 87 have been mounted by the head 21 to a downstream reflow device (not shown), and a positioning device 23 that positions the cart 30.

[0042] The cart 30 is a cart that is connected to the component mounting device main body 20a by being positioned by the positioning device 23. The cart 30 includes a component supply unit 31 that draws in a carrier tape 83 (see FIG. 5) that stores components 87 and supplies the components 87, and a first tape cassette support section 70 (see FIG. 2, etc.) that detachably holds a plurality of tape cassettes 60 that store rolls 80 of the carrier tape 83.

[0043] The tape cassette supplying device 40 is an example of a supplying device that supplies a tape cassette 60 to the first tape cassette support portion 70 of the dolly 30 and retrieves an empty tape cassette 60 from the first tape cassette support portion 70. In other words, the tape cassette 60 is an example of a member that is supplied to the supplying device.

[0044] [Trolley] Next, the dolly 30 will be described in detail. Fig. 2 is an elevational view showing the dolly 30 and the positioning device 23 according to the first embodiment. Fig. 2 shows a state in which the dolly 30 is separated from the positioning device 23. Fig. 3 is a perspective view showing the dolly 30 according to the first embodiment. Fig. 4 is an explanatory diagram showing a state in which a first tape cassette 61, which is an example of the tape cassette 60, and a second tape cassette 65, which is an example of the tape cassette 60, have been removed from the dolly 30 according to the first embodiment. Fig. 4 shows a state in which both the first receiving device 38 and the second receiving device 39 provided on the dolly 30 have been removed.

[0045] As shown in FIGS. 2 to 4, the carriage 30 has a component supply unit 31, a plurality of first tape cassette support parts 70, and a carriage body 32 that supports them. The first tape cassette support part 70 is an example of a tape cassette support part. The component supply unit 31 has a plurality of feeders 311 (component supply devices) that are arranged in the X-axis direction so as to be paired with each of the first tape cassette support parts 70. In FIG. 3, only the feeders 311 at both ends in the X-axis direction are illustrated. Each feeder 311 pulls out the carrier tape 83 from the tape cassette 60 (the first tape cassette 61 or the second tape cassette 65) held by the corresponding first tape cassette support part 70, and transports the components stored in the carrier tape 83 to a pick-up position by the head 21.

[0046] The cart body 32 has a base 300 and a plurality of casters 33 attached to the underside of the base 300, and the casters 33 allow the cart body 32 to be freely movable on the floor surface.

[0047] On the pedestal 300, the component supply unit 31 is disposed in the positive direction of the Y axis, and a plurality of first tape cassette support parts 70 are disposed in an array in the X axis direction in the negative direction of the Y axis. For example, a pair of holding walls 34 are erected in the positive direction of the Y axis on the pedestal 300. A unit holding part 312 for holding the component supply unit 31 is provided on the pair of holding walls 34 so as to be capable of rising and lowering. Positioning rollers 313 for positioning each of the holding walls 34 with respect to the positioning device 23 are provided on both ends of the unit holding part 312 in the X axis direction.

[0048] On the pedestal 300, in the negative Y-axis direction, there are provided a support base 35 and a height adjustment unit 36 ​​(see FIG. 8) which connects the support base 35 and the pedestal 300 and adjusts the height position of the support base 35.

[0049] The support base 35 is a portion that supports a plurality of first tape cassette support parts 70. A pair of support pillars 351, 352 arranged in the Y-axis direction are provided at both ends of the support base 35 in the X-axis direction. A first roller 353 that is positioned relative to the positioning device 23 is provided at the upper end of the support pillar 351 in the positive Y-axis direction. A second roller 354 that is positioned relative to the positioning device 23 is provided at the upper end of the support pillar 352 in the negative Y-axis direction. The first roller 353 and the second roller 354 are aligned along the connection direction (Y-axis direction) of the carriage 30 to the component mounting device 20, and the first roller 353 is disposed at a higher position than the second roller 354.

[0050] The multiple first tape cassette support parts 70 supported by the support base 35 are each configured to detachably hold a first tape cassette 61 or a second tape cassette 65. Similarly, each first tape cassette support part 70 is configured to detachably hold a first receiving device 38 or a second receiving device 39. For example, when the first tape cassette 61 is attached to a specific first tape cassette support part 70, the first receiving device 38 is attached to that first tape cassette support part 70. At this time, in the specific first tape cassette support part 70, the first tape cassette 61 is disposed in the negative direction of the Y axis, and the first receiving device 38 is disposed in the positive direction of the Y axis.

[0051] On the other hand, when the second tape cassette 65 is attached to a given first tape cassette support portion 70, the second receiving device 39 is attached to that first tape cassette support portion 70. At this time, in the given first tape cassette support portion 70, the second tape cassette 65 is disposed in the negative direction of the Y axis, and the second receiving device 39 is disposed in the positive direction of the Y axis.

[0052] [Carrier tape] Fig. 5 is a perspective view showing a schematic configuration of carrier tape 83 constituting roll body 80 according to the first embodiment. As shown in Fig. 5, carrier tape 83 has tape body 85 having a plurality of component pockets 84, and cover tape 86 attached to tape body 85 and covering each of component pockets 84. Components 87 are stored in component pockets 84. A plurality of feed holes 88 that engage with sprockets of feeder 311 are formed in tape body 85 at positions exposed from cover tape 86. This carrier tape 83 is wound to form roll body 80 (see Fig. 6, etc.).

[0053] [Tape cassette] Next, the tape cassette 60 will be described in detail. The first tape cassette 61 and the second tape cassette 65, which are examples of the tape cassette 60, are different types of tape cassettes. Specifically, the first tape cassette 61, which is the first type, and the second tape cassette 65, which is the second type, differ in that they store roll bodies 80 of different sizes. For example, the first tape cassette 61 is configured to store a roll body 80 larger than that of the second tape cassette 65. Therefore, the first tape cassette 61 itself is also larger than the second tape cassette 65. The size of the roll body 80 differs depending on the type of parts stored in the carrier tape 83. Hereinafter, the roll body 80 stored in the first tape cassette 61 will be referred to as the first roll body 81, and the roll body 80 stored in the second tape cassette 65 will be referred to as the second roll body 82.

[0054] First, the first tape cassette 61 will be described as an example of the tape cassette 60. Fig. 6 is an exploded perspective view in which a part of the first tape cassette 61 according to the first embodiment is disassembled. As shown in Fig. 6, the first tape cassette 61 includes a first storage section 62, a first tape feed section 93, and a first slide support section 94. The first tape feed section 93 is a section that feeds out the leading end of the carrier tape 83 to the component supply unit 31. The first slide support section 94 is a section that supports the first tape feed section 93 so that it can slide freely in the Y-axis direction.

[0055] The first tape cassette 61 has a flat outer shape with its thickness direction in the X-axis direction. In the first tape cassette 61, an upper surface 611 is formed parallel to the XY plane, and a base end surface 612 in the negative Y-axis direction is formed parallel to the XZ plane. An identification shape 611a for identifying the type of tape cassette 60 is formed on the upper surface 611. Specifically, the identification shape 611a is a notch formed on the upper surface 611, and is disposed at a distance D1 from the end of the upper surface 611 in the negative Y-axis direction.

[0056] The first storage section 62 has a first storage space H1 (storage space) that stores the first roll body 81. Specifically, the first storage section 62 has a first frame body 621 and a pair of first cover bodies 622, which form the first storage space H1.

[0057] The first frame body 621 is a substantially U-shaped frame that is open in the Y-axis positive direction when viewed in the X-axis direction. The pair of first cover bodies 622 are formed in a flat plate shape and are attached to the first frame body 621 so as to sandwich the first frame body 621 in the X-axis direction. As a result, each of the first cover bodies 622 covers the recess of the first frame body 621 in the X-axis direction. The recess of the first frame body 621 and the pair of first cover bodies 622 form a first storage space H1. When an unused first roll body 81 is stored in the first storage space H1, the pair of first cover bodies 622 covers the entire first roll body 81. The first storage space H1 is open in the Y-axis positive direction. That is, an opening 623 is provided at the end of the first storage section 62 close to the component supply unit 31. This opening 623 allows the first roll body 81 to move forward and backward along the Y-axis direction relative to the first storage space H1. A drop prevention portion 624 for preventing the first roll body 81 from dropping out of the opening 623 is provided at the lower end of the first frame body 621 .

[0058] A gripped portion 625 is provided above the first frame body 621 via a first tape feeding portion 93 and a first slide support portion 94 .

[0059] A pair of leaf springs 621a, 621b for restricting movement of the first slide support portion 94 is attached to the upper portion of the first frame body 621. The pair of leaf springs 621a, 621b are arranged along the Y-axis direction, and their ends in the positive Y-axis direction protrude upward.

[0060] The gripped portion 625 is a portion that is gripped by the tape cassette supplying device 40. That is, when the first tape cassette 61 is supplied to the first tape cassette support portion 70 by the tape cassette supplying device 40 or when the first tape cassette 61 is removed from the first tape cassette support portion 70, the gripped portion 625 is gripped by the holding portion 43 (see FIG. 18 and the like) of the tape cassette supplying device 40. The gripped portion 625 has an L-shaped notch formed on both sides in the Y-axis direction, and the holding portion 43 of the tape cassette supplying device 40 is inserted into the notch. A tag 626 that stores various information is provided on the upper surface of the gripped portion 625. The information stored in the tag 626 includes information about the components 87 stored in the carrier tape 83 that constitutes the first roll body 81 or information about the first tape cassette 61. The information about the components 87 includes the type, size, and the like of the components 87. The information about the first tape cassette 61 includes the type, size, and the like of the first tape cassette 61. The tag 626 is designed so that information can be read by a reading unit 437 (see FIG. 19) provided in the holder 43.

[0061] Next, the second tape cassette 65 will be described as an example of the tape cassette 60. Fig. 7 is an exploded perspective view of a portion of the second tape cassette 65 according to the first embodiment. As shown in Fig. 7, the second tape cassette 65 includes a second storage section 66, a second tape feed section 293, and a second slide support section 294. The second tape feed section 293 is a section that feeds out the leading end of the carrier tape 83 to the component supply unit 31. The second slide support section 294 is a section that supports the first tape feed section 93 so that it can slide freely in the Y-axis direction.

[0062] The second tape cassette 65 has a flat outer shape with the thickness direction being in the X-axis direction. In the second tape cassette 65, an upper surface 651 is formed parallel to the XY plane, and a base end surface 652 in the negative Y-axis direction is formed parallel to the XZ plane. In addition, an identification shape 651a for identifying the type of the tape cassette 60 is formed on the upper surface 651. Specifically, the identification shape 651a is a notch formed on the upper surface 651, and is disposed at a distance D2 from the end of the upper surface 651 in the negative Y-axis direction. The distance D2 is smaller than the distance D1. In other words, the identification shape 651a of the second tape cassette 65 is disposed at a different position from the identification shape 611a of the first tape cassette 61. Therefore, by detecting the positions of the identification shapes 611a and 651a, it is possible to identify the type of the tape cassette to be detected.

[0063] The second tape cassette 65 differs from the first tape cassette 61 in that the second storage section 66 is smaller than the first storage section 62, but the basic structure is generally the same. For this reason, only the parts of the second tape cassette 65 that are different from the first tape cassette 61 will be described here, and the other parts will be given the same reference numerals as the first tape cassette 61 and will follow the description therefor. For example, the gripped portion 625 of the first tape cassette 61 and the second tape cassette 65 have the same structure. For this reason, the distance from the base end faces 612, 652 to the gripped portion 625 of the first tape cassette 61 and the second tape cassette 65 is the same.

[0064] The second storage section 66 has a second frame body 661 and a pair of second cover bodies 662 which form a second storage space H2 (storage space) for storing the second roll body 82. The second storage space H2 is smaller than the first storage space H1. When an unused second roll body 82 is stored in the second storage space H2, the pair of second cover bodies 662 entirely cover the second roll body 82. An opening 663 of the second storage section 66 allows the second roll body 82 to freely advance and retreat along the Y-axis direction relative to the second storage space H2.

[0065] A pair of recesses 611b, 651b are formed on the top surfaces 611, 651 of the first tape cassette 61 and the second tape cassette 65 at positions that sandwich the gripped portion 625. These recesses 611b, 651b are used for positioning the first tape cassette 61 and the second tape cassette 65 when they are held by the holding portion 43, and details of these will be described later.

[0066] [First receiving device and second receiving device] Next, the first receiving device 38 and the second receiving device 39 will be described. As shown in Figs. 3 and 4, the first receiving device 38 is disposed in the Y-axis plus direction of the first tape cassette 61 held by the first tape cassette support portion 70. The first receiving device 38 is a device that receives the first roll body 81 moved from the first tape cassette 61. The first receiving device 38 has a flat outer shape with the X-axis direction as the thickness direction. An engagement piece 382 that is engaged with a support shaft 321 that is provided on the dolly body 32 and is parallel to the X-axis direction is provided on the upper part of the first receiving device 38. An opening 381 is formed at the end of the first receiving device 38 in the Y-axis minus direction, and the first receiving device 38 receives the first roll body 81 from this opening 381.

[0067] The second receiving device 39 is disposed in the positive direction of the Y axis of the second tape cassette 65 held by the first tape cassette support portion 70. The second receiving device 39 is a device that receives the second roll body 82 moved from the second tape cassette 65. The second receiving device 39 has a flat outer shape with its thickness direction in the X axis direction. A locking piece 392 that is locked to the support shaft 321 of the cart main body 32 is provided on the upper part of the second receiving device 39. An opening 391 is formed at the end of the second receiving device 39 in the negative direction of the Y axis, and the second receiving device 39 receives the second roll body 82 from this opening 391.

[0068] [First tape cassette support part] Next, the first tape cassette support portion 70 will be described. Fig. 8 is a plan view showing the first tape cassette support portion 70 according to the first embodiment. Figs. 9A to 9C are plan views showing the operation of the first tape cassette support portion 70 according to the first embodiment. Fig. 9A shows a first posture in which the first tape cassette support portion 70 holds the first tape cassette 61 at a first position. Figs. 8 and 9C show a second posture in which the first tape cassette support portion 70 holds the second tape cassette 65 at a second position. Fig. 9B shows a state in which the first tape cassette support portion 70 is in the middle of moving between the first posture and the second posture.

[0069] As shown in FIGS. 8 to 9C, the first tape cassette support portion 70 has a slot 71, a pair of legs 72, and a beam portion 73.

[0070] The slot 71 is a portion into which the first tape cassette 61 or the second tape cassette 65 is inserted, and is supported by a pair of legs 72. The slot 71 is formed like a rail with an open upper portion, and the first tape cassette 61 or the second tape cassette 65 is inserted and placed in this open portion.

[0071] A fixing portion 711 that protrudes upward is provided at the end of the slot 71 in the negative Y-axis direction. The fixing portion 711 is a portion that fixes the first tape cassette 61 or the second tape cassette 65 inserted into the slot 71.

[0072] The pair of legs 72 have an upper limb 721 and a lower limb 722. The end of the upper limb 721 in the positive direction of the Z axis rotatably supports the slot 71. The end of the lower limb 722 in the negative direction of the Z axis is rotatably supported by the support base 35. The end of the upper limb 721 in the negative direction of the Z axis and the end of the lower limb 722 in the positive direction of the Z axis are rotatably connected. In one leg 72 and the other leg 72, a beam portion 73 is rotatably connected to the connecting position of the upper limb 721 and the lower limb 722. In other words, the beam portion 73 is bridged between the pair of legs 72.

[0073] 9A , when the first tape cassette support part 70 is in the first position, the upper limbs 721 and lower limbs 722 of each leg part 72 are folded, and the slots 71 are lowered to the lowest position. In this first position, the first tape cassette 61 is placed in the slots 71 and fixed by the fixing parts 711. At this time, the first tape cassette 61 is held in the first position by the first tape cassette support part 70.

[0074] 9C , when the first tape cassette support part 70 is in the second position, the upper leg 721 and the lower leg 722 of each leg 72 are extended in a straight line, and the slot 71 is raised to the highest position. In this second position, the second tape cassette 65 is placed in the slot 71 and fixed by the fixing part 711. At this time, the second tape cassette 65 is held in the second position by the first tape cassette support part 70.

[0075] The switching between the first position and the second position is performed by extending and contracting each leg 72, as shown in Fig. 9B. Specifically, when switching from the first position to the second position, the switching is performed by extending each folded leg 72 (in the order of Figs. 9A, 9B, and 9C). When switching from the second position to the first position, the switching is performed by folding each extended leg 72 (in the order of Figs. 9C, 9B, and 9A).

[0076] The first tape cassette 61 held at the first position and the second tape cassette 65 held at the second position are fixed in position by a fixing device 37 (see FIG. 10).

[0077] [Fixing fixture] Next, the fixture 37 will be described. Fig. 10 is a perspective view showing an installation location of the fixture 37 according to the first embodiment. As shown in Fig. 10, a shaft 359 extending in the X-axis direction is provided at the end of the support base 35 in the negative Y-axis direction, and a plurality of fixtures 37 are rotatably supported by this shaft 359. Each fixture 37 is provided in a one-to-one correspondence with each first tape cassette support portion 70. Each fixture 37 rotates relative to the shaft 359 to lock or unlock each first tape cassette support portion 70 in the first position and each first tape cassette support portion 70 in the second position.

[0078] [Height adjustment section] Next, the height adjustment unit 36 ​​provided on the support base 35 will be described. As shown in Fig. 8, the height adjustment unit 36 ​​is disposed between the base 300 and the support base 35, and adjusts the height position of the support base 35 relative to the base 300 by expanding and contracting in the Z-axis direction. In other words, the height adjustment unit 36 ​​indirectly adjusts the height of the first tape cassette support portion 70 by adjusting the height of the support base 35. A pair of height adjustment units 36 are provided with a predetermined interval in the X-axis direction, but since the basic structure is similar, the height adjustment unit 36 ​​in the positive direction of the X-axis will be described here.

[0079] Specifically, the height adjustment unit 36 ​​has a standing wall 361, a pair of first link members 362, a pair of second link members 363, and a beam portion 364. The standing wall 361 is a wall that rises from the upper surface of the base 300 and extends in the Y-axis direction. The pair of first link members 362 are arranged in the Y-axis direction, and each lower end is rotatably connected to the standing wall 361. The pair of second link members 363 have their lower ends rotatably connected to the upper ends of the first link members 362 and their upper ends rotatably connected to the support base 35. The beam portion 364 is a beam that extends in the Y-axis direction and is rotatably connected to the connecting positions of the first link members 362 and the second link members 363.

[0080] 11A to 11C are explanatory diagrams showing the operation of the height adjustment unit 36 ​​according to embodiment 1. Fig. 11A shows the height adjustment unit 36 ​​when the support base 35 is at the lowest position. In this case, each of the first link members 362 and each of the second link members 363 are in the most folded state.

[0081] 11C shows the height adjustment unit 36 ​​when the support base 35 is raised to its highest position. In this case, each of the first link members 362 and each of the second link members 363 are in their most extended state.

[0082] Fig. 11B shows a transition from the state shown in Fig. 11A to the state shown in Fig. 11C, or a transition from the state shown in Fig. 11C to the state shown in Fig. 11A. That is, when the support base 35 rises, the first link members 362 and the second link members 363 that are most folded gradually expand (in the order of Figs. 11A, 11B, and 11C). On the other hand, when the support base 35 descends, the first link members 362 and the second link members 363 that are most extended gradually collapse (in the order of Figs. 11C, 11B, and 11A).

[0083] At this time, the height of the first tape cassette support portion 70 on the support stand 35 is also adjusted, and therefore the height position of the first tape cassette support portion 70 and the component mounting device 20 is also adjusted. In other words, it can be said that the height adjustment unit 36 ​​adjusts the height position of the first tape cassette support portion 70 relative to the component mounting device 20.

[0084] [Positioning device] Next, the positioning device 23 of the component mounting device 20 will be described. The positioning device 23 is a device that positions the cart 30. FIG. 12 is a perspective view of the positioning device 23 according to the first embodiment. As shown in FIG. 12, the positioning device 23 has a pair of first positioning parts 230 arranged at a predetermined interval in the X-axis direction. The pair of first positioning parts 230 position the height and horizontal positions of the first tape cassette support part 70 relative to the component mounting device 20. The cart 30 is accommodated between the pair of first positioning parts 230. Each of the first positioning parts 230 has a guide table 231, a rail part 232, a stopper 236, and a pair of height adjustment legs 240.

[0085] The guide table 231 guides the height direction position of the first tape cassette support portion 70 when the carriage 30 is connected to the component mounting device 20. The guide table 231 supports a rail portion 232 and a stopper 236. Furthermore, the upper surface of the guide table 231, which is located in the negative Y-axis direction from the rail portion 232, is a groove-shaped guide path 231a that guides a first roller 353 and a second roller 354 of the carriage 30.

[0086] The rail portion 232 is a rail extending in the Y-axis direction, and its upper surface guides the first roller 353 of the dolly 30. The upper surface of the rail portion 232 has a first inclined surface 234 and a second inclined surface 235 with different inclinations. Specifically, the first inclined surface 234 is provided from the Y-axis negative direction to the center of the rail portion 232, and is inclined toward the Z-axis positive direction toward the Y-axis positive direction. The second inclined surface 235 is provided at the end of the rail portion 232 in the Y-axis positive direction, and is inclined toward the Z-axis negative direction toward the Y-axis positive direction.

[0087] Here, of the pair of first positioning portions 230, the second inclined surface 235 of the first positioning portion 230 in the negative X-axis direction is generally flat. In contrast, the second inclined surface 235 of the first positioning portion 230 in the positive X-axis direction has a pair of protruding strips 237 formed on both ends in the X-axis direction.

[0088] The stopper 236 is disposed so as to be continuous with the end of the rail portion 232 in the positive direction of the Y axis, and is a pillar that is taller than the rail portion 232.

[0089] A pair of height-adjustable legs 240 are arranged side by side in the Y-axis direction. Each height-adjustable leg 240 is a leg that supports the guide table 231 so that the height can be adjusted freely. Each height-adjustable leg 240 has a screw-shaped upper portion and is screwed into the guide table 231. The height position of the guide table 231 can be adjusted by adjusting the amount of screwing. When installing the positioning device 23 on the floor surface, an operator adjusts the amount of screwing of all of the height-adjustable legs 240 so that the dolly 30 (see FIG. 13D) connected to the positioning device 23 is horizontal.

[0090] [Connection between the positioning device and the cart] Next, a description will be given of the operation of connecting the positioning device 23 and the dolly 30. Figures 13A to 13D are explanatory diagrams showing the operation of connecting the positioning device 23 and the dolly 30 according to the first embodiment. In Figures 13A to 13D, some parts are omitted from the illustration in order to make the operation of each part easier to understand.

[0091] 13A shows a state in which the dolly 30 is separated from the positioning device 23. In this state, when an operator pushes the dolly 30 to move it in the connection direction (positive direction of the Y axis), the dolly 30 enters between the pair of first positioning parts 230. At this time, the first roller 353 of the dolly 30 moves on the guide path 231a of the guide table 231 and then enters the first inclined surface 234 of the rail part 232.

[0092] 13B, as the roller 354 advances, the first roller 353 receives a force in the height direction (Z-axis direction), so that the support base 35 rises and the height adjustment portion 36 gradually extends. At this time, the second roller 354 enters the guide path 231a of the guide base 231.

[0093] Next, as shown in FIG. 13C, when first roller 353 reaches the boundary between first inclined surface 234 and second inclined surface 235, support base 35 reaches its highest position, and height adjustment portion 36 also reaches its highest position.

[0094] 13D, as first roller 353 advances on second inclined surface 235, support base 35 gradually descends and height adjustment portion 36 gradually folds. Finally, first roller 353 comes into contact with stopper 236 and is stopped.

[0095] In this way, when the cart 30 enters the positioning device 23 from the negative Y-axis direction, the first roller 353 of the cart 30 advances and climbs up the first inclined surface 234 of the rail portion 232. Thereafter, the first roller 353 advances on the second inclined surface 235, descends, and comes into contact with the rail portion 232, so that further movement is restricted. This restricts the position of the cart 30 in the height direction (Z-axis direction) and the position in the positive Y-axis direction.

[0096] At the second inclined surface 235 of the first positioning portion 230 in the positive X-axis direction, the first roller 353 enters between a pair of protruding strips 237 (see FIG. 12), so that the position of the first roller 353 in the X-axis direction is regulated. That is, the horizontal position is regulated by the stopper 236 and the pair of protruding strips 237.

[0097] The positioning device 23 is provided with a rail-shaped second positioning portion 315 that is aligned along the Y-axis direction. The second positioning portion 315 is a portion that positions the positioning roller 313 of the unit holding portion 312. When the positioning roller 313 is guided by the second positioning portion 315, the unit holding portion 312 is positioned (see FIG. 13D). That is, the position of the unit holding portion 312 relative to the component mounting device 20 is regulated. As described above, the carriage 30 connected to the positioning device 23 is horizontal, so that the unit holding portion 312 is also kept horizontal.

[0098] [Transfer of roll body between tape cassette and receiving device] Next, the movement of the roll body 80 between the tape cassette 60 (the first tape cassette 61 or the second tape cassette 65) and the receiving device (the first receiving device 38 or the second receiving device 39) will be described. Here, the movement of the roll body 80 between the first tape cassette 61 and the first receiving device 38 is illustrated, but the movement between the second tape cassette 65 and the second receiving device 39 is generally similar.

[0099] 14A to 14C are explanatory diagrams showing the movement of the roll body 80 between the first tape cassette 61 and the first receiving device 38 according to the first embodiment. FIG. 14A shows a state in which the leading end of the carrier tape 83 constituting the roll body 80 stored in the first tape cassette 61 has begun to be fed out by the sprocket of the feeder 311. When the carrier tape 83 is gradually pulled out from the roll body 80 from this state, the roll body 80 moves toward the first receiving device 38 due to the propulsive force. FIG. 14B shows a state in which the roll body 80 is midway through its movement. When the roll body 80 moves further, the first receiving device 38 receives the roll body 80. FIG. 14C shows a state in which the roll body 80 has been received by the first receiving device 38.

[0100] In the feeder 311, a pair of sprockets are provided at a distance in the Y-axis direction at the tape insertion opening 320 into which the carrier tape 83 is inserted. One sprocket feeds the carrier tape 83 unwound from the roll body 80 in the first receiving device 38, and the other sprocket feeds the carrier tape 83 unwound from the roll body 80 in the first tape cassette 61. Therefore, when the roll body 80 remains in the first receiving device 38, one sprocket continues to feed the carrier tape 83 of the roll body 80, and when the roll body 80 is gone, the other sprocket feeds the carrier tape 83 of the roll body 80 in the first tape cassette 61. At this time, since the first receiving device 38 is empty, the roll body 80 in the first tape cassette 61 moves to the first receiving device 38 as shown in FIGS. 14A to 14C. In the first receiving device 38, the carrier tape 83 is stably fed from the roll body 80 to the feeder 311. That is, the inside of the first receiving device 38 is the feed position of the roll body 80 .

[0101] At this time, the first tape cassette 61 is empty. The empty first tape cassette 61 is removed by the tape cassette supply device 40 and replaced with a new first tape cassette 61.

[0102] [Tape cassette supply device] Next, the tape cassette supplying device 40 will be described. Fig. 15 is a perspective view showing a schematic configuration of the tape cassette supplying device 40 according to the first embodiment. As shown in Fig. 15, the tape cassette supplying device 40 is a mobile device that is transported on a floor surface by a transport vehicle 490, such as an AGV (Automatic Guided Vehicle: an example of an unmanned transport vehicle) or an AMR (Autonomous Mobile Robot), and supplies and retrieves a tape cassette 60 to and from a component mounting device 20. In other words, the tape cassette supplying device 40 is a device that moves between a plurality of component mounting devices 20 by the transport vehicle 490, and transfers the tape cassette 60 to each component mounting device 20.

[0103] 16 is an explanatory diagram showing a state before tape cassette supplying device 40 according to embodiment 1 is connected to component mounting device 20. Tape cassette supplying device 40 is transported by transport vehicle 490 and connected to an end portion in the negative Y-axis direction of positioning device 23, which is a part of component mounting device 20 (see FIG. 1). Therefore, in the connected state, tape cassette supplying device 40 and component mounting device 20 are arranged side by side in the Y-axis direction.

[0104] Fig. 17 is a top view showing a schematic internal structure of the tape cassette supplying device 40 and the component mounting device 20 according to the first embodiment when they are connected to each other. Fig. 17 shows a dolly 30 having 17 first tape cassette supporting portions 70 arranged in the X-axis direction (a so-called 17-series dolly). Therefore, a total of 17 first receiving devices 38 and / or second receiving devices 39 can be installed on the dolly 30, and a total of 17 first tape cassettes 61 and / or second tape cassettes 65 can also be installed on the dolly 30. It should be noted that dollies 30 of types other than the 17-series dolly (e.g., a 20-series dolly) can also be connected to the component mounting device main body 20a. Different types of dollies 30 have different lengths (widths) in the X-axis direction.

[0105] The tape cassette supplying device 40 has an open end in the Y-axis positive direction, and a pair of arm parts 41 protruding in the Y-axis positive direction are provided at the end. Each arm part 41 has a dolly position detection part 411 that detects the position of the dolly 30. Each dolly position detection part 411 is an optical length measurement sensor. Examples of length measurement sensors include a laser type length measurement sensor and an LED type length measurement sensor. The dolly position detection part 411 is capable of measuring the distance to the side of the dolly 30 in the connected state. Here, a dolly locating member 310 for detecting the position of the dolly 30 is provided on each outer side surface of the dolly 30 facing the X-axis positive direction or the X-axis negative direction. The dolly locating member 310 is a member that receives detection light from the dolly position detection part 411 and returns the reflected light to the dolly position detection part 411. In other words, the dolly position detection part 411 can detect the position of the dolly 30 by detecting the position of the dolly locating member 310. Furthermore, by using the detection result of the carriage position detection unit 411, the width of the carriage 30 can be specified, and therefore it is also possible to determine the type of carriage 30 (whether it is a 17-gantry carriage or a 20-gantry carriage).

[0106] Arranged inside the tape cassette supply device 40 are a support section 42 that supports the tape cassette 60, a holding section 43 (see Figure 18, etc.) that holds the tape cassette 60 supported by the support section 42, and a support section moving mechanism 44 that moves the support section 42.

[0107] The support portion 42 has a plurality of second tape cassette support portions 421 which individually support each tape cassette 60, and a mounting base 422 on which the plurality of second tape cassette support portions 421 are mounted. Each second tape cassette support portion 421 is a slot extending in the Y-axis direction, and is arranged along the X-axis direction with respect to the mounting base 422. In the connected state, each second tape cassette support portion 421 faces each first tape cassette support portion 70 of the dolly 30 in the Y-axis direction. In other words, the Y-axis direction is an example of a facing direction.

[0108] [Holding part] As shown in Fig. 15, the holding unit 43 is disposed above the support unit 42. The holding unit 43 is moved by a moving mechanism 45 provided in the tape cassette supplying device 40. The moving mechanism 45 moves the holding unit 43 in the X-axis direction, the Y-axis direction, and the Z-axis direction, and rotates the holding unit 43 around the Z-axis direction. In cooperation with the moving mechanism 45, the holding unit 43 holds the tape cassette 60 supported by each second tape cassette support unit 421 and supplies it to the component mounting device 20. In addition, in cooperation with the moving mechanism 45, the holding unit 43 holds the tape cassette 60 supported by each first tape cassette support unit 70 of the component mounting device 20, moves it to the tape cassette supplying device 40, and collects it.

[0109] Fig. 18 is a perspective view showing a state in which the holding portion 43 according to embodiment 1 holds the tape cassette 60 (first tape cassette 61). Fig. 19 is a plan view showing a schematic configuration of the holding portion 43 according to embodiment 1.

[0110] As shown in Figures 18 and 19, the holding portion 43 has a holding main body portion 430, a pair of chuck portions 431, a driving portion 432, a pair of positioning portions 433, a first sensor 434, a second sensor 435, a third sensor 436, a reading portion 437, and a detection portion 438.

[0111] The holding main body 430 is connected to a moving mechanism 45, and is equipped with a pair of chuck portions 431, a drive portion 432, a pair of positioning portions 433, a first sensor 434, a second sensor 435, a third sensor 436, and a reading portion 437.

[0112] The pair of chuck portions 431 are attached to the lower portion of the holding body portion 430 and protrude downward from the lower end of the holding body portion 430. The pair of chuck portions 431 are arranged at an interval in the Y-axis direction, and the interval is variable. The lower end of each chuck portion 431 protrudes toward the other chuck portion 431. The protruding portions of each chuck portion 431 are arranged at positions that sandwich the gripped portion 625 of the tape cassette 60, and when the interval between each chuck portion 431 narrows, the gripped portion 625 is gripped. When the gripped portion 625 is gripped by each chuck portion 431, the tape cassette 60 is held by the holding portion 43.

[0113] The driving unit 432 is a device that moves the pair of chuck portions 431 in the Y-axis direction. For example, the driving unit 432 is a motor, a solenoid, etc. When the driving unit 432 moves the pair of chuck portions 431, the distance between the chuck portions 431 varies.

[0114] The pair of positioning portions 433 are disposed outside the pair of chuck portions 431, and are pins that protrude downward from the lower end surfaces of the corresponding portions. Each positioning portion 433 is biased downward by an elastic body (not shown). The lower end portion of each positioning portion 433 has a tapered shape. Each positioning portion 433 can be freely inserted into and removed from a recess (recess 611b or recess 651b: see FIG. 6 or FIG. 7) formed on the upper surface (upper surface 611 or upper surface 651: see FIG. 6 or FIG. 7) of the tape cassette 60. When each positioning portion 433 is incompletely inserted into the recess 611b, for example, it is pushed upward by the recess 611b against the biasing force.

[0115] The first sensor 434 is a sensor that detects whether or not a tape cassette 60 is present directly below the holding portion 43. The first sensor 434 is disposed in the negative Y-axis direction further from the positioning portion 433 in the negative Y-axis direction out of the pair of positioning portions 433. The first sensor 434 is an optical sensor that irradiates detection light downward and receives reflected light from an object (tape cassette 60) to detect the presence or absence of an object.

[0116] The second sensor 435 is a sensor that detects whether the positioning portion 433 is inserted into the recess 611b (or recess 651b) on the top surface of the tape cassette 60. The second sensor 435 is an optical sensor that detects the presence or absence of an object by irradiating detection light in a horizontal direction and receiving transmitted light. The second sensor 435 is disposed at a position corresponding to the base of the positioning portion 433 in the negative Y-axis direction of the pair of positioning portions 433. When the positioning portion 433 is not pressed by the recess 611b, the base of the positioning portion 433 is not disposed within the second sensor 435. In contrast, when the positioning portion 433 is pressed by the recess 611b and raised, the base of the positioning portion 433 is disposed within the second sensor 435. As a result, the base of the positioning portion 433 blocks the detection light of the second sensor 435, so that the second sensor 435 can detect that the positioning portion 433 is pressed by the recess 611b.

[0117] The third sensor 436 is a sensor that detects the type of the tape cassette 60 before it is held based on the identification shape (identification shape 611a or identification shape 651a: see FIG. 6 or FIG. 7). The third sensor 436 is disposed in the negative Y-axis direction from the second sensor 435. The third sensor 436 is disposed at a position corresponding to the identification shape 611a of the first tape cassette 61 held by the holding unit 43. The third sensor 436 is an optical sensor. When the third sensor 436 detects the identification shape 611a, it is possible to determine that the detection target is the first tape cassette 61. On the other hand, when the first sensor 434 detects an object and the third sensor 436 does not detect the identification shape 611a, it is possible to determine that the detection target is the second tape cassette 65.

[0118] The reading unit 437 is a tag reader that reads information from the tag 626 of the tape cassette 60. The reading unit 437 may have a function of writing information to the tag 626. The reading unit 437 is disposed between the pair of chuck units 431. Therefore, when the gripped portion 625 is gripped by the pair of chuck units 431, the tag 626 on the gripped portion 625 and the reading unit 437 face each other. In other words, the tag 626 of the tape cassette 60 held by the holding unit 43 is in a state in which information can be read by the reading unit 437.

[0119] The detection unit 438 detects the inclination of the tape cassette 60 caused by the inclination of the floor surface on which the tape cassette supplying device 40 is installed. If the floor surface is inclined with respect to the horizontal plane, the tape cassette 60 held by the pair of chuck units 431 will also be inclined depending on the inclination of the floor surface. In this embodiment, a case will be shown in which the inclination of the tape cassette 60 held by the holding unit 43 is detected by detecting the inclination of the holding unit 43.

[0120] Specifically, the detection unit 438 is supported by the holding body 430 in a state in which it is disposed between a pair of chucks 431. The detection unit 438 is, for example, an inertial measurement unit (IMU). The IMU is a sensor unit in which sensors for various physical information (acceleration sensor, rotational angular acceleration sensor (gyro sensor), magnetic field sensor, air pressure sensor, and temperature sensor) are integrated into one package. The detection unit 438 detects the rotation angles around each of the first direction (Y-axis direction), the second direction (X-axis direction), and the third direction (Z-axis direction) as the inclination of the holding unit 43. That is, the detection unit 438 detects the first rotation angle, which is the rotation angle around the Y-axis direction, the second rotation angle, which is the rotation angle around the X-axis direction, and the third rotation angle, which is the rotation angle around the Z-axis direction, as the inclination of the holding unit 43. Note that the detection unit 438 may be in any form as long as it can detect the first rotation angle, the second rotation angle, and the third rotation angle. As a detection unit 438 other than an IMU, for example, analysis using images captured by a camera can be used.

[0121] [Support movement mechanism] 17, the support unit moving mechanism 44 is a uniaxial stage that moves the mounting base 422 of the support unit 42 in the X-axis direction, thereby moving each second tape cassette support unit 421 in the X-axis direction. In other words, the X-axis direction is an example of a second orthogonal direction that is orthogonal to the facing direction (Y-axis direction) in a horizontal plane that includes the facing direction in which the second tape cassette support unit 421 faces the first tape cassette support unit 70. The support unit moving mechanism 44 is able to align each second tape cassette support unit 421 with each first tape cassette support unit 70 of different types of dollies 30 by moving the second tape cassette support units 421 in the X-axis direction.

[0122] [Component mounting system control configuration] Next, a control configuration of the component mounting system 10 will be described. Fig. 20 is a block diagram showing the control configuration of the component mounting system 10 according to the first embodiment. As shown in Fig. 20, the component mounting system 10 has a component mounting device main body 20a, a dolly 30, a tape cassette supplying device 40, a transport vehicle 490, and a management computer 100, which are connected by a communication network, and the entire system is controlled by the management computer 100.

[0123] The component mounting device main body 20a includes a head 21, a board transport unit 22, a communication unit 201, and a control unit 202 that controls these. The communication unit 201 is a communication module for communicating with the management computer 100, the tape cassette supply device 40, the dolly 30, and the transport vehicle 490 wirelessly or by wire, and is communicatively connected to a communication network. The control unit 202 includes a CPU, RAM, and ROM, and the CPU loads a program in the ROM into the RAM and executes it to control each unit of the component mounting device main body 20a. The control unit 202 may also control each unit based on commands from the management computer 100.

[0124] The cart 30 includes each feeder 311, a communication unit 301, and a control unit 302 for controlling these. The communication unit 301 is a communication module for communicating with the management computer 100, the tape cassette supplying device 40, the component mounting device main body 20a, and the transport vehicle 490 by wireless or wired means, and is connected to a communication network for free communication. The control unit 302 includes a CPU, a RAM, and a ROM, and the CPU loads a program in the ROM into the RAM and executes it to control each part of the cart 30. The control unit 302 may control each part based on a command from the management computer 100. Each feeder 311 is provided with a trailing end detection unit 319 for detecting the trailing end of the carrier tape 83 being supplied. When the trailing end detection unit 319 detects the trailing end of the carrier tape 83, it is detected that the roll 80 in the receiving device is empty. Therefore, the feeder 311 winds up the carrier tape 83 of the next roll 80 from the tape cassette corresponding to the receiving device, and moves the next roll 80 to the receiving device.

[0125] The tape cassette supplying device 40 includes a drive unit 432 of the holding unit 43, a first sensor 434, a second sensor 435, a third sensor 436 and a reading unit 437, a support unit moving mechanism 44, a moving mechanism 45, a trolley position detection unit 411, a detection unit 438, an alarm unit 46, a communication unit 401, and a control unit 402 that controls these.

[0126] As described above, the movement mechanism 45 is a part that moves the holding unit 43 in the X-axis direction, the Y-axis direction, and the Z-axis direction, and rotates the holding unit 43 around the Z-axis direction. For this reason, the movement mechanism 45 is provided with a motor for movement in the X-axis direction, a motor for movement in the Y-axis direction, a motor for movement in the Z-axis direction, and a motor for rotation around the Z-axis direction, and these are controlled by the control unit 402.

[0127] The notification unit 46 is a part that notifies various information visually or audibly. For example, a display device is an example of the notification unit 46 that visually notifies, and a speaker is an example of the notification unit 46 that audibly notifies. The communication unit 401 is a communication module for communicating with the management computer 100, the component mounting device main body 20a, the cart 30, and the transport vehicle 490 wirelessly or via a wire, and is connected to a communication network for free communication.

[0128] The control unit 402 has a CPU, RAM, and ROM, and the CPU loads a program in the ROM into the RAM and executes it to control each unit of the tape cassette supplying device 40. The ROM stores target positions of each first tape cassette support unit 70. The target positions are target positions to which the holding unit 43 moves relative to the first tape cassette support unit 70 in order to place the tape cassette 60 held by the holding unit 43 in a specific first tape cassette support unit 70. A plurality of target positions are provided corresponding to each first tape cassette support unit 70. The control unit 402 corrects each target position based on the inclination (first rotation angle, second rotation angle, and third rotation angle) of the holding unit 43 detected by the detection unit 438. In this way, the control unit 402 is an example of a correction unit. The control unit 402 may also control each unit based on a command from the management computer 100.

[0129] The management computer 100 is an example of a management device that manages the component mounting device main body 20a, the tape cassette supply device 40, the cart 30, and the transport vehicle 490. The management computer 100 includes a communication unit 101 and a control unit 202. The communication unit 101 is a communication module for communicating with the component mounting device main body 20a, the tape cassette supply device 40, the cart 30, and the transport vehicle 490 wirelessly or by wire, and is connected to a communication network for free communication. The control unit 102 includes a CPU, a RAM, and a ROM, and the CPU loads a program in the ROM into the RAM and executes it to control the component mounting device main body 20a, the cart 30, the tape cassette supply device 40, and the transport vehicle 490 via the communication unit 101.

[0130] The transport vehicle 490 includes a communication unit 491, a control unit 492, and a drive unit 493. The communication unit 491 is a communication module for communicating with the component mounting device main body 20a, the tape cassette supply device 40, the cart 30, and the management computer 100 wirelessly or by wire, and is connected to a communication network for free communication. The control unit 492 has a CPU, a RAM, and a ROM, and the CPU loads a program in the ROM into the RAM and executes it to control the drive unit 493. The drive unit 493 is a drive unit for moving the transport vehicle 490 on the floor surface, and operates based on the control of the control unit 492. The control unit 492 may also control the drive unit 493 based on a command from the management computer 100.

[0131] [Tape cassette supply method] The tape cassette supplying method according to the first embodiment will be described.

[0132] First, the correction process of the target position will be described. Fig. 21 is a schematic diagram showing a state in which the tape cassette supplying device 40 according to the first embodiment is tilted depending on the inclination of the floor surface. As shown in Fig. 21, the dolly 30 is kept horizontal by a pair of first positioning parts 230 of the positioning device 23. In contrast, the tape cassette supplying device 40 is installed directly on the floor surface, and therefore tilts depending on the inclination of the floor surface.

[0133] Fig. 22 is a schematic diagram showing the relationship between the tape cassette 60 transferred from the tilted tape cassette supplying device 40 to the dolly 30 and the tape cassette 60 on the dolly 30 according to the first embodiment. In Fig. 22, the multiple tape cassettes 60 on the dolly 30 are shown by dashed lines. The tape cassette 60 held by the holding portion 43 of the tilted tape cassette supplying device 40 is shown by solid lines. As such, since the tape cassette 60 held by the holding portion 43 is also tilted, it may interfere with the tape cassette 60 on the dolly 30 and may not be possible to install it in a predetermined location.

[0134] In order to suppress this interference, in this embodiment, the control unit 402, which is a correction unit, corrects the target position based on the inclination detected by the detection unit 438. Specifically, first, when the tape cassette supplying device 40 is connected to the dolly 30, a positional deviation occurs between the origin position of the tape cassette supplying device 40 and the origin position of the dolly 30. In order to eliminate this positional deviation, the origin positions are aligned with each other. Specifically, a camera for detecting the positional deviation between the two is provided in the component mounting system 10, and the control unit 402 detects the amount of deviation based on an image obtained from the camera. The control unit 402 aligns the origin positions with each other based on the amount of deviation. Note that the origin positions may be aligned with each other using software. The alignment may also be performed by the control units 102, 202, and 302 other than the control unit 402.

[0135] Thereafter, the control unit 402 corrects each target position based on the inclination (first rotation angle, second rotation angle, and third rotation angle) of the holding unit 43 detected by the detection unit 438. Specifically, the control unit 402 converts the first rotation angle, second rotation angle, and third rotation angle into Y coordinate value, X coordinate value, and Z coordinate value using an affine transformation. The control unit 402 corrects the target position by adding each coordinate value after the conversion to each coordinate value of the target position. Note that the rotation angle may be converted into a coordinate value by a transformation method other than the affine transformation.

[0136] Next, the operation of holding the tape cassette 60 by the holding section 43 will be described. Figures 23A to 23C are explanatory diagrams showing the holding operation of the holding section 43 according to embodiment 1. Although the first tape cassette 61 will be described below as an example, the second tape cassette 65 is generally similar. Furthermore, the example shown here is when the first tape cassette 61 is being supplied.

[0137] 23A, the control unit 402 controls the movement mechanism 45 to move the holding unit 43 to directly above the first tape cassette 61 supported by the second tape cassette support unit 421. As a result, the holding unit 43 moves to directly above the gripped portion 625 of the first tape cassette 61 supported by the second tape cassette support unit 421.

[0138] The first sensor 434 detects whether or not the first tape cassette 61 is present directly below it, and outputs the detection result to the control unit 402. If the first sensor 434 does not detect the presence of the first tape cassette 61, the control unit 402 controls the notification unit 46 to notify an error. By recognizing this notification, the worker can deal with the error appropriately.

[0139] On the other hand, when the first sensor 434 detects the presence of the first tape cassette 61, the control unit 402 acquires the detection result of the third sensor 436 to determine the type of tape cassette 60. Specifically, when the third sensor 436 detects the identification shape 611a of the first tape cassette 61, the control unit 402 determines that the detection target is the first tape cassette 61. When the third sensor 436 does not detect the identification shape 611a of the first tape cassette 61, the control unit 402 determines that the detection target is the second tape cassette 65.

[0140] 23B, the control unit 402 controls the moving mechanism 45 to lower the holding unit 43 until the pair of chucks 431 can grip the gripped portion 625. At this time, each positioning unit 433 is inserted into each recess 611b of the first tape cassette 61. In this state, the reading unit 437 is disposed opposite the tag 626 of the first tape cassette 61, and is capable of reading and writing information on the tag 626. The reading unit 437 outputs the information read from the tag 626 to the control unit 402. The control unit 402 outputs the acquired information from the communication unit 401 to the management computer 100. This information is used by the management computer 100 to comprehensively control the component mounting device main body 20a, the cart 30, and the tape cassette supplying device 40.

[0141] 23C, the control unit 402 controls the drive unit 432 to narrow the distance between the pair of chuck portions 431 and grip the gripped portion 625 with the pair of chuck portions 431. As a result, the first tape cassette 61 is held by the holding portion 43.

[0142] Thereafter, the control unit 402 controls the moving mechanism 45 to raise the holding unit 43. As a result, the first tape cassette 61 is lifted by the holding unit 43. At this time, if the positioning unit 433 is properly inserted into the recess 611b, the base of the positioning unit 433 located in the second sensor 435 returns to a position that does not block the detection light of the second sensor 435, and the second sensor 435 receives the transmitted light. As a result, the fact that the first tape cassette 61 and the holding unit 43 are in a normal positional relationship is output to the control unit 402. On the other hand, if the base of the positioning unit 433 does not return to a position that does not block the detection light of the second sensor 435, that is, if the second sensor 435 detects the base of the positioning unit 433, the fact that the first tape cassette 61 and the holding unit 43 are not in a normal positional relationship is output to the control unit 402, and the control unit 402 controls the notification unit 46 to notify an error. The operator can appropriately deal with the error by recognizing this notification.

[0143] Thereafter, the control unit 402 controls the movement mechanism 45 based on the corrected target position to move the holding unit 43 and the first tape cassette 61, thereby transferring the first tape cassette 61 onto the first tape cassette support unit 70 on the dolly 30. At this time, because the corrected target position is adopted, the first tape cassette 61 (indicated by the dashed line in FIG. 22) is transferred smoothly between the other tape cassettes 60.

[0144] [effect] As described above, the inclination of the tape cassette caused by the inclination of the floor surface on which the tape cassette supplying device 40 is installed is detected, and the target position of the holding portion 43 with respect to the first tape cassette supporting portion 70 is corrected based on the detected inclination. Then, the moving mechanism 45 is controlled based on the corrected target position. Since the target position is corrected in this manner, it is possible to reduce adverse effects when the tape cassette 60 is supplied from the tape cassette supplying device 40 to the carriage 30 of the component mounting device 20. Therefore, it is possible to suppress instability in the supply of the tape cassette caused by the inclination of the floor surface.

[0145] Since the detection unit 438 detects the rotation angle around at least one of the first direction, the second direction, and the third direction (the first rotation angle, the second rotation angle, and the third rotation angle) as the tilt, efficient tilt detection is possible.

[0146] Since the detector 438 is provided on the holder 43 that holds the tape cassette 60, the tilt can be detected at a position close to the tape cassette 60. This allows for more accurate tilt detection.

[0147] In the first embodiment, the detection unit 438 is provided in the holding unit 43, but in another embodiment, the detection unit 438 may be provided in a location inside the tape cassette supplying device 40 other than the holding unit 43. In this case, since the detection unit 438 is provided in the tape cassette supplying device 40 that is tilted due to the floor surface, it is possible to detect the tilt with higher accuracy.

[0148] (Embodiment 2) A description will be given of embodiment 2. Portions equivalent to those in embodiment 1 above will be given the same reference numerals and the description thereof may be omitted.

[0149] FIG. 24 is a schematic diagram showing a tape cassette supplying device 40a according to the second embodiment. As shown in FIG. 24, in the tape cassette supplying device 40a, each arm portion 41 is provided with a pair of rollers 412 that are rotatable about the Z-axis direction. The pair of rollers 412 are arranged at an interval in the Y-axis direction. Each roller 412 rolls on a wall surface 239 of the positioning device 23 to guide the movement of the tape cassette supplying device 40 at the time of connection. In other words, the wall surface 239 of the positioning device 23 is an example of a guide portion that guides the movement of the tape cassette supplying device 40 in the Y-axis direction. In the second embodiment, the wall surface 239 is provided on the component mounting device 20. The roller 412 is an example of a guided portion that is guided by the wall surface 239 and whose position in the X-axis direction relative to the component mounting device 20 is determined. When the tape cassette supplying device 40a is connected to the component mounting device 20, the pair of rollers 412 of each arm portion 41 rolls on the wall surface 239 of the positioning device 23 to guide the movement of the tape cassette supplying device 40a in the Y-axis direction. At this time, the rollers 412 come into contact with the wall surface 239 to correct the rotation (third rotation angle) of the tape cassette supplying device 40a about the Z-axis direction. That is, of the inclination of the tape cassette supplying device 40a caused by the inclination of the floor surface, the third rotation angle is corrected to zero, and only the first rotation angle and the second rotation angle remain. Note that, although an embodiment in which the wall surface 239, which is an example of a guide portion, is provided on the component mounting device 20 has been described, the position of the wall surface 239 is not limited thereto, and the wall surface 239 may be provided on the dolly 30, the floor surface, or the like.

[0150] Therefore, in the correction process of the target position, the detection unit 438 detects only the first rotation angle and the second rotation angle. The control unit 402 corrects the target position based on the inclination of the holding unit 43 detected by the detection unit 438 (the first rotation angle and the third rotation angle). At this time, the control unit 402 converts the first rotation angle and the second rotation angle into each coordinate value using an affine transformation. The control unit 402 corrects the target position by adding each coordinate value after the conversion to each coordinate value of the target position.

[0151] As described above, according to this embodiment, the target position is corrected based on only two of the first rotation angle, the second rotation angle, and the third rotation angle, so that correction with higher accuracy is possible compared to the case where correction is performed based on only one rotation angle.

[0152] Since the roller 412 (guided portion) is guided by the wall surface 239 (guiding portion), the third rotation angle in the tilt is corrected, and the tilt is eliminated at the third rotation angle. Therefore, it becomes possible to correct the target position based on only two rotation angles, the first rotation angle and the second rotation angle, and it is expected that the amount of calculation during correction will be reduced and costs will be reduced by simplifying the detection unit.

[0153] (Embodiment 3) A third embodiment will be described. Portions equivalent to those in the first embodiment will be given the same reference numerals and their description may be omitted. In the first embodiment, the detection unit 438 is an IMU provided in the holder 43. In the third embodiment, an image of the tape cassette 60b held by the holder 43 is captured by an imaging unit to detect the tilt of the tape cassette 60b.

[0154] Fig. 25 is a plan view showing a part of a tape cassette 60b according to the third embodiment. As shown in Fig. 25, a level 630b is disposed in the gripped portion 625b of the tape cassette 60b near the tag 626. A liquid 632b containing an air bubble 631b is sealed in the level 630b. The level 630b has a transparent window 633b that allows the air bubble 631b to be seen, and the window 633b is provided with a cross-shaped scale 634b that indicates a reference for the horizontal position. When the top surface of the gripped portion 625b is viewed in plan, the window 633b and the air bubble 631b can be seen.

[0155] Fig. 26 is a block diagram showing a control configuration of a tape cassette supplying device 40b according to the third embodiment. As shown in Fig. 26, the tape cassette supplying device 40b includes an imaging unit 403b and a detection unit 410b. The imaging unit 403b is installed in, for example, the holding unit 43, and is capable of capturing an image of a level 630b of a tape cassette 60b held by the holding unit 43. The image captured by the imaging unit 403b includes an air bubble 631b and a scale 634b of the level 630b. Note that the imaging unit may be disposed at any position in the tape cassette supplying device 40b, or may be disposed in a component mounting device, as long as it can capture an image of the level 630b of the tape cassette 60b held by the holding unit 43.

[0156] The detection unit 410b detects the inclination of the tape cassette 60b held by the holding unit 43 based on the image captured by the imaging unit 403b, and outputs the result to the control unit 402. Specifically, the detection unit 410b detects the first rotation angle and the second rotation angle by analyzing the amount of deviation between the air bubble 631b and the scale 634b in the image by image processing. Since the third rotation angle cannot be detected in this embodiment, it is preferable to correct the third rotation angle to zero by employing a pair of rollers 412 in each arm unit 41 exemplified in the second embodiment.

[0157] As described above, according to this embodiment, the tilt of the tape cassette 60b is detected based on the image obtained by the imaging section 403b capturing an image of the tape cassette 60b, so that the actual tilt of the tape cassette 60b can be detected.

[0158] Since the imaging unit 403b is provided in the tape cassette supplying device 40b, the imaging unit 403b can be disposed in a position close to the tape cassette 60b held by the holding unit 43. Therefore, the tape cassette 60b, including the inclination, can be accurately photographed, and as a result, the accuracy of correction can be improved.

[0159] Since the inclination is detected based on an image obtained by capturing an image of the air bubble 631b inside the level 630b provided in the tape cassette 60b, the inclination of the tape cassette 60b can be easily detected.

[0160] In the present embodiment, the case where the tilt of the tape cassette 60b is detected by the image obtained by the imaging unit 403b capturing an image of the air bubble 631b of the level 630b has been exemplified. However, the object captured by the imaging unit does not have to be the level. For example, the imaging unit can capture an image of the entire outer shape of the tape cassette to detect the tilt of the tape cassette. Specifically, the tilt of the tape cassette can be detected by comparing an outer shape image of a tape cassette that is not tilted with an outer shape image of a tape cassette that is tilted.

[0161] (Embodiment 4) A fourth embodiment will be described. Portions equivalent to those in the third embodiment will be given the same reference numerals and the description thereof will be omitted. In the fourth embodiment, a case will be described in which the imaging unit includes a visible camera and a TOF camera that capture an image of the tape cassette 60.

[0162] Fig. 27 is a plan view showing the positional relationship between the imaging unit 403c and the tape cassette 60 according to the fourth embodiment. As shown in Fig. 27, the imaging unit 403c includes a visible camera 404c and a TOF (Time of flight) camera 405c. The visible camera 404c is disposed at a position facing the tape cassette 60 held by the holding unit 43 in the Y-axis direction. The visible camera 404c captures an image of the entire tape cassette 60 to obtain a first image. The control unit 402 detects a first rotation angle of the tape cassette 60 by analyzing the first image by image processing.

[0163] On the other hand, the TOF camera 405c is disposed at a position facing the tape cassette 60 held by the holding unit 43 in the Y-axis direction. The TOF camera 405c captures an image of at least the upper end and the lower end of the tape cassette 60 to obtain a second image. The control unit 402 detects a second rotation angle of the tape cassette 60 by analyzing the second image through image processing. In this way, the control unit 402 detects the rotation angles around two different directions based on the first image and the second image.

[0164] According to this embodiment, it is possible to detect rotation angles around two different directions based on a first image captured by the visible camera 404c and a second image captured by the TOF camera 405c.

[0165] (Embodiment 5) A fifth embodiment will be described. Portions equivalent to those in the first embodiment will be given the same reference numerals and their description may be omitted. In the first embodiment, the case where the detection unit 438 is provided in the tape cassette supplying device 40 is illustrated. In the fifth embodiment, the case where the detection unit is provided in the transport vehicle will be described.

[0166] FIG. 28 is a block diagram showing a control configuration of a component mounting system 10D according to the fifth embodiment. As shown in FIG. 28, in the component mounting system 10D, the tape cassette supplying device 40d does not include a detection unit, and the transporting vehicle 490d includes a detection unit 494d consisting of an IMU. If the transporting vehicle 490d is tilted depending on the tilt of the floor surface, the tilt is also transmitted to the tape cassette supplying device 40. In other words, the tape cassette 60 held by the holding unit 43 of the tape cassette supplying device 40 has the same tilt as the transporting vehicle 490d. Since the detection unit 494d detects the tilt of the transporting vehicle 490d itself, it can be said that the detection unit 494d detects the tilt of the tape cassette 60 held by the holding unit 43. The tilts (first rotation angle, second rotation angle, and third rotation angle) detected by the detection unit 494d are output to the tape cassette supplying device 40d via the communication unit 491. The control unit 402 of the tape cassette supplying device 40d corrects each target position based on the input tilt.

[0167] In this way, the detection unit 494d is provided on the transport vehicle 490d that runs on the floor surface, which is also a cause of tilting of the tape cassette 60. Many transport vehicles 490d are equipped with a sensor for detecting tilt as standard, so this can be implemented without incurring additional costs.

[0168] The control unit 492 of the transport vehicle 490d may correct each target position based on the inclination detected by the detection unit 494d. That is, the control unit 492 is an example of a correction unit. In this case, each target position is input from the tape cassette supply device 40d to the transport vehicle 490d before correction, and is output from the transport vehicle 490d to the tape cassette supply device 40d after correction.

[0169] In this way, the transport vehicle 490d is provided with the detection unit 494d, and the control unit 492 corrects each target position, so that tilt detection and correction can be completed by the transport vehicle 490d.

[0170] Furthermore, the tilt detected by the detector 494d may be output to the management computer 100, and the control unit 102 of the management computer 100 may correct each target position based on the tilt detected by the detector 494d. In other words, the control unit 102 is an example of a correction unit. In this case, each target position is input from the tape cassette supplying device 40d to the management computer 100 before correction, and is output from the management computer 100 to the tape cassette supplying device 40d after correction.

[0171] (others) Although the component mounting system 10 according to the embodiment of the present invention has been described above, the present invention is not limited to this embodiment. In other words, the embodiment disclosed herein is illustrative in all respects, and the scope of the present invention includes all modifications within the meaning and scope of the claims.

[0172] For example, in the above-mentioned first embodiment, the case where the detection unit 438 is provided in the holding unit 43 has been exemplified. However, the tag of the tape cassette may include the detection unit. In this case, the reading unit of the holding unit acquires the tilt detected by the detection unit when reading the information stored in the tag. According to this, for a tag including a detection unit, the reading unit also acquires the tilt detected by the detection unit when reading the information, so that reading of the tag information and acquisition of the tilt can be performed simultaneously. Also, the tilt can be detected at a position close to the tape cassette. This allows for more accurate tilt detection.

[0173] Furthermore, configurations constructed by arbitrarily combining the components included in each of the above embodiments and their modifications are also included within the scope of the present invention. [Industrial Applicability]

[0174] The present invention can be applied to a component mounting system including a tape cassette supplying device and a component mounting device. [Explanation of symbols]

[0175] 10, 10D Component Placement System 10D Component Placement System 20 Component placement device 20a Component mounting device body 21 Head 22 Substrate transport section 23 Positioning device 30 Carts 31 Parts supply unit 32 Cart body 33 Caster 34 Retaining wall 35 Support stand 36 Adjustment part 37 Fixtures 38 First Receptor 39 Second Receptor 40, 40a, 40b, 40c Tape cassette supply device 41 Arm section 42 Support part 43 Holding part 44 Support moving mechanism 45 Moving mechanism 46 Notification Department 50 Substrates 60, 60b tape cassette 61 First Tape Cassette 62 First Storage Section 65 Second Tape Cassette 66 Second Storage Section 70 First tape cassette support portion 71 Slots 72 Legs 73, 364 Beam section 80 Roll body 81 First roll body 82 Second roll body 83 Carrier Tape 84 Parts Pocket 85 Tape body 86 Cover Tape 87 parts 88 holes 93 First tape feed section 94 First slide support 100 Management Computers 101, 201, 301, 401, 491 Communications Department 102, 202, 302, 402, 492 Control unit 230 First positioning part 231 Guide stand 231a Guideway 232 Rail section 234 First slope 235 Second slope 236 Stopper 237 Convex strip 239 Wall 240 Adjustable legs 293 Second tape feed section 294 Second slide support 300 pedestal 310 Cart location member 311 Feeder 312 Unit holder 313, 412 Laura 315 Second positioning part 319 Rear end detection unit 320 Tape insertion slot 321 Support shaft 351, 352 pillar 353 First Roller 354 Second Roller 359 Shaft body 361 Standing Wall 362 First link member 363 Second link member 381, 391 aperture 382, 392 Locking piece 403b, 403c Imaging unit 404c Visible Camera 405c TOF Camera 411 Cart position detection unit 421 Second tape cassette support part 422 Placement table 430 Holding body part 431 Chuck part 432 Drive unit 433 Positioning part 434 First Sensor 435 Second Sensor 436 Third Sensor 437 Reading Unit 438, 410b, 494d Detector 490, 490d transport vehicle 493 Drive unit 611, 651 top surface 611a, 651a identification shape 611b, 651b Recess 612, 652 proximal surface 621 First frame body 621a, 621b Leaf spring 622 First cover body 623 Aperture 624 Falling prevention part 625, 625b Grasped part 626 Tags 630b Level 631b Bubbles 632b liquid 633b Window 634b Scale 661 Second Frame Body 662 Second cover body 663 Aperture 711 Fixed part 721 Upper limb 722 Lower limbs D1 Distance D2 distance H1 First storage space H2 Second storage space

Claims

1. a component mounting device having a tape cassette support portion for supporting a tape cassette in which a carrier tape is stored; a tape cassette supplying device that supplies the tape cassette to the component mounting device; a detection unit that detects an inclination of the tape cassette caused by an inclination of a floor surface on which the tape cassette supplying device is installed; A correction unit, The tape cassette supply device includes: a holder for holding the tape cassette; a moving mechanism that moves the holding unit relative to the component mounting device to transfer the tape cassette held by the holding unit to the tape cassette support unit; A control unit that controls the movement mechanism, the correction unit corrects a target position of the holding unit with respect to the tape cassette support unit based on the tilt detected by the detection unit; The control unit controls the moving mechanism based on the corrected target position. Parts mounting system.

2. the detection unit detects, as the inclination, a rotation angle about at least one of a first direction that is an arrangement direction of the tape cassette supplying device and the component mounting device, a second direction that is perpendicular to the first direction in a horizontal plane, and a third direction that is a vertical direction. The component mounting system according to claim 1 .

3. the detection unit detects two of a first rotation angle that is a rotation angle about the first direction, a second rotation angle that is a rotation angle about the second direction, and a third rotation angle that is a rotation angle about the third direction, The correction unit corrects the target position based on the two rotation angles detected by the detection unit. The component mounting system according to claim 2 .

4. a guide portion that guides movement of the tape cassette supplying device in the first direction, the tape cassette supplying device includes a guided portion that is guided by the guide portion and whose position in the second direction relative to the component mounting device is determined, The guided portion is guided by the guide portion, whereby the third rotation angle in the inclination is corrected.

4. The component mounting system according to claim 3.

5. The detection unit is provided in the tape cassette supply device.

3. The component mounting system according to claim 1 or 2.

6. The detection unit is provided in the holding unit.

6. The component mounting system according to claim 5.

7. an automated guided vehicle that travels on the floor surface and transports the tape cassette supply device; The detection unit is provided in the automatic guided vehicle.

3. The component mounting system according to claim 1 or 2.

8. an imaging unit that images the tape cassette held by the holding unit, The detection unit detects the inclination based on an image captured by the imaging unit.

3. The component mounting system according to claim 1 or 2.

9. the imaging unit is provided in the tape cassette supply device, The component mounting system according to claim 8.

10. The tape cassette includes a level, The imaging unit images an image of an air bubble in the level, The detection unit detects the inclination based on the image of the bubble captured by the imaging unit. The component mounting system according to claim 8.

11. the imaging unit includes a visible camera and a TOF camera for imaging the tape cassette, The detection unit detects rotation angles around two different directions based on a first image captured by the visible camera and a second image captured by the TOF camera. The component mounting system according to claim 8.

12. the tape cassette includes a tag including the detection unit, the holding unit includes a reading unit that reads the information stored in the tag, the reading unit acquires the tilt detected by the detection unit when reading the information.

3. The component mounting system according to claim 1 or 2.

13. A tape cassette supplying device that supplies a tape cassette to a component mounting device having a tape cassette supporting portion that supports a tape cassette having a carrier tape stored therein, a holder for holding the tape cassette; a moving mechanism that moves the holding unit relative to the component mounting device to transfer the tape cassette held by the holding unit to the tape cassette support unit; a detection unit that detects an inclination of the tape cassette caused by an inclination of a floor surface on which the tape cassette supplying device is installed; a correction unit that corrects a target position of the holding unit with respect to the tape cassette support unit based on the inclination detected by the detection unit; a control unit that controls the moving mechanism based on the corrected target position, Tape cassette supply device.

14. An automated guided vehicle that transports a tape cassette supplying device that supplies a tape cassette to a component mounting device having a tape cassette supporting portion that supports a tape cassette having a carrier tape stored therein, The tape cassette supply device includes: a holder for holding the tape cassette; a moving mechanism that moves the holding unit relative to the component mounting device to transfer the tape cassette held by the holding unit to the tape cassette support unit; A control unit that controls the movement mechanism, The automated guided vehicle is a detection unit that detects an inclination of the tape cassette caused by an inclination of a floor surface on which the tape cassette supplying device is placed, the detection unit outputs the inclination to a correction unit that corrects a target position of the holding unit with respect to the tape cassette support unit; the control unit controls the moving mechanism based on the target position corrected by the correction unit. Automated guided vehicle.

15. The correction unit is provided.

15. An automated guided vehicle according to claim 14.

16. a component mounting device having a tape cassette support portion for supporting a tape cassette in which a carrier tape is stored; a tape cassette supplying device that supplies the tape cassette to the component mounting device; a detection unit that detects an inclination of the tape cassette caused by an inclination of a floor surface on which the tape cassette supplying device is installed; and a management device that manages the detection unit, The tape cassette supply device includes: a holder for holding the tape cassette; a moving mechanism that moves the holding unit relative to the component mounting device to transfer the tape cassette held by the holding unit to the tape cassette support unit; A control unit that controls the movement mechanism, The management device includes: a correction unit that corrects a target position of the holding unit with respect to the tape cassette support unit based on the inclination detected by the detection unit, the control unit controls the moving mechanism based on the target position corrected by the correction unit. Management device.

17. 1. A tape cassette supplying method for supplying a tape cassette having a carrier tape stored therein to a component mounting device having a tape cassette supporting portion for supporting the tape cassette by a tape cassette supplying device, comprising: The tape cassette supply device includes: a holder for holding the tape cassette; a moving mechanism that moves the holding unit relative to the component mounting device to transfer the tape cassette held by the holding unit to the tape cassette support unit, The tape cassette supply method includes: detecting an inclination of the tape cassette caused by an inclination of a floor surface on which the tape cassette supplying device is installed; correcting a target position of the holding portion with respect to the tape cassette supporting portion based on the detected tilt; controlling the moving mechanism based on the corrected target position; Tape cassette supply method.

Images