Conveyance robot operation method and conveyance system

Abstract

To suppress production efficiency deterioration.SOLUTION: A conveyance robot operation method includes travelling on a predefined travel route to convey a member required for a production system and also performing limited travel upon detecting a surrounding obstacle during the travel. The method includes storing a position of the conveyance robot upon the detection of an obstacle by the conveyance robot and providing a report for prompting the removal of an obstacle when the conveyance robot detects the obstacle at the same position or within a predetermined range a plurality of times.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] This specification discloses an operation method of a transfer robot and a transfer system.

Background Art

[0002] Conventionally, a production system has been proposed that includes a plurality of component mounting machines, an exchange robot that exchanges feeders between the component mounting machines, and a management device (for example, Patent Document 1). In this production system, the exchange robot stops when it detects an obstacle on the travel route. Further, the management device measures the elapsed time since the exchange robot stopped traveling and calculates the remaining time based on the elapsed time. The remaining time is the time until the exchange robot has to resume moving in order to complete the feeder exchange operation by the scheduled time. Further, when the remaining time is shorter than a predetermined time, the management device gives a notification in a manner corresponding to the remaining time.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, among the exchange robots applied to the production system, there is also a type that performs restricted travel when it detects an obstacle. Although such a type of exchange robot can perform the feeder exchange operation even when it detects an obstacle, it takes time to exchange the feeder by repeatedly detecting an obstacle and performing restricted travel, and there is a risk that the production efficiency of the entire production system will decrease.

[0005] The main object of the present disclosure is to suppress a decrease in production efficiency.

Means for Solving the Problems

[0006] The present disclosure has adopted the following means to achieve the above main object.

[0007] The operation method of the transport robot of the present disclosure is a method of operating a transport robot that travels along a predetermined travel route to transport members necessary for a production system and performs restricted travel when an obstacle around it is detected during travel, stores the position of the transport robot when the transport robot detects an obstacle, and performs notification to prompt removal of the obstacle when the transport robot detects the obstacle multiple times at the same position or within a predetermined range. This is the gist.

[0008] According to this operation method of the transport robot, notification is performed to prompt removal of an obstacle when the transport robot detects the obstacle multiple times at the same position or within a predetermined range. By prompting removal of the obstacle that causes restricted travel, a decrease in production efficiency can be suppressed. Also, since notification is not performed if the obstacle is not detected multiple times at the same position or within a predetermined range, it is possible not to notify for temporary detections such as detections by an operator.

[0009] The transport system of the present disclosure is provided with a sensor capable of detecting surrounding obstacles, and includes a transport robot that travels along a predetermined travel route to transport members necessary for a production system and performs restricted travel when surrounding obstacles are detected by the sensor during travel, a position acquisition unit that acquires the position of the transport robot with respect to the travel route, a storage unit that stores the position of the transport robot when an obstacle is detected by the sensor, and a notification unit that performs notification to prompt removal of the obstacle when the sensor detects the obstacle multiple times at the same position or within a predetermined range. This is the gist of the present disclosure.

[0010] This conveying system has the same effects as the operation method of the conveying robot of the present disclosure.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Embodiments for Carrying Out the Invention

[0012] Next, embodiments for carrying out the present disclosure will be described with reference to the drawings.

[0013] FIG. 1 is a schematic configuration diagram of the component mounting system 10. FIG. 2 is a schematic configuration diagram of the component mounter 20. FIG. 3 is a schematic configuration diagram of the exchange robot 50. FIG. 4 is a block diagram showing the electrical connection relationship of the component mounting system 10. Note that the left - right direction (X - axis direction), the front - rear direction (Y - axis direction), and the up - down direction (Z - axis direction) are as shown in FIGS. 1 to 3.

[0014] The component mounting system 10 produces a substrate S on which components are mounted. As shown in FIG. 1, the component mounting system 10 includes a production line L, a management device 80, and a replacement robot 50. On the production line L, a printing device 12 for printing solder on the substrate S, a printing inspection device 14 for inspecting the state of the solder printed by the printing device 12, a feeder storage 60 for storing used feeders 30 and feeders 30 scheduled for use, and a plurality of component mounters 20 for mounting the components supplied from the feeder 30 on the substrate S are arranged in this order along the substrate conveyance direction (left - right direction).

[0015] As shown in FIG. 2, the component mounter 20 includes a substrate conveyance device 22 for conveying the substrate S, a mounting head 25 that is fixed (mounted) to a slider 24 and picks up the components supplied to the component supply position by the feeder 30 and mounts them on the substrate S, a head movement device 23 that moves the mounting head 25 in the front - rear direction and the left - right direction (XY direction) together with the slider 24, and a mounting control device 26 (see FIG. 4). The substrate conveyance device 22, the head movement device 23, and the mounting head 25 are arranged in a housing 21a provided on a base 21b. The mounting head 25 includes a suction nozzle for sucking components and a lifting device (not shown) for lifting and lowering the suction nozzle.

[0016] The mounting control device 26 is configured as a computer having a CPU, ROM, RAM, a storage (e.g., HDD or SSD), etc. The mounting control device 26 outputs drive signals to the substrate conveyance device 22, the head movement device 23, the mounting head 25, etc.

[0017] Feeder 30 is a rectangular cassette-type tape feeder that can be attached to and detached from component mounter 20. Feeder 30 includes a tape reel around which a tape is wound, a tape feeding mechanism that pulls out a predetermined amount of tape from the tape reel and feeds it to the component supply position, a connector, and a supply control device. Cavities capable of accommodating components are formed at predetermined intervals along the longitudinal direction of the tape. These components are protected by a film covering the surface of the tape. The components accommodated in the tape are exposed at the component supply position after the film is peeled off in front of the component supply position and are adsorbed by the suction nozzle. The supply control device outputs a drive signal to the tape feeding mechanism.

[0018] Exchange robot 50 transports and exchanges feeder 30 to be used and used feeder 30 between feeder storage 60 and component mounter 20. As shown in FIG. 3, exchange robot 50 includes a robot moving mechanism 51, a feeder transfer mechanism 53, a camera 56, an encoder 57 (see FIG. 4), a first detection sensor 58, a second detection sensor 59, and a robot control device 70 (see FIG. 4).

[0019] Robot moving mechanism 51 moves the self-machine along X-axis rail 16 (see FIG. 1), and includes an X-axis motor 52a such as a servo motor that drives a drive belt, and a guide roller 52b that guides the movement of exchange robot 50 along X-axis rail 16. Feeder transfer mechanism 53 transfers feeder 30 to component mounter 20 or feeder storage 60. Feeder transfer mechanism 53 includes a clamp portion 54 that clamps feeder 30, a Y-axis slider 55 that moves clamp portion 54 along Y-axis guide rail 55b, and a Y-axis motor 55a. Feeder transfer mechanism 53 exchanges feeder 30 with feeder storage 60 or component mounter 20 by moving clamp portion 54 in the clamped state of feeder 30 in the front-rear direction (Y-axis direction) by driving Y-axis motor 55a.

[0020] The camera 56 images objects existing around the replacement robot 50. The camera 56 is configured as, for example, a color camera capable of imaging a color image of an object. The camera 56 is provided in front of the replacement robot 50. Therefore, the camera 56 can image objects existing in a relatively wide range around the replacement robot 50.

[0021] The encoder 57 is for detecting the position (orthogonal coordinate value) in the left - right direction (X - axis direction) of the replacement robot 50 with respect to the production line L. The encoder 57 is configured as, for example, a linear encoder that detects the amount of movement displacement of the replacement robot 50.

[0022] The first detection sensor 58 is a sensor that detects the presence or absence of an obstacle (including an operator) in the first detection area Q1 on the substrate transfer direction side (right side in FIG. 1) of the replacement robot 50 facing the production line L. The second detection sensor 59 is a sensor that detects the presence or absence of an obstacle in the second detection area Q2 on the side opposite to the substrate transfer direction of the replacement robot 50 (left side in FIG. 1). The first detection sensor 58 is provided at the lower end on the production line side of the side surface on the substrate transfer direction side (right side in FIGS. 2 and 3) of the replacement robot 50. The second detection sensor 59 is provided at the lower end on the production line side of the side surface on the side opposite to the substrate transfer direction of the replacement robot 50 (left side in FIGS. 2 and 3). The first detection sensor 58 and the second detection sensor 59 are radar sensors capable of detecting the distance and angle (polar coordinate value) from the own device to the obstacle. When the replacement robot 50 moves in the substrate transfer direction (left to right in this embodiment) with respect to the production line L, the first detection sensor 58 detects the obstacle. On the other hand, when the replacement robot 50 moves in the direction opposite to the substrate transfer direction (right to left in this embodiment) with respect to the production line L, the second detection sensor 59 detects the obstacle.

[0023] The robot control device 70 is responsible for controlling the entire replacement robot 50. As shown in FIG. 4, the robot control device 70 is configured as a computer having a CPU 71, a ROM 72, a RAM 73, and a storage 74. The robot control device 70 inputs an image signal from the camera 56, a pulse signal from the encoder 57, detection signals from the first detection sensor 58 and the second detection sensor 59, and the like. Further, the robot control device 70 outputs drive signals to the X-axis motor 52a of the robot movement mechanism 51, the Y-axis motor 55a of the feeder transfer mechanism 53, the camera 56, and the like.

[0024] Further, the first detection area Q1 includes a first stop area Q12 near the replacement robot 50 and a first restriction area Q11 set around the first stop area Q12. The second detection area Q2 includes a second stop area Q22 near the replacement robot 50 and a second restriction area Q21 set around the second stop area Q22. The first stop area Q12 and the second stop area Q22 are areas that stop the replacement robot 50 due to the entry of obstacles into the area. The first restriction area Q11 and the second restriction area Q21 are areas that decelerate the replacement robot 50 due to the entry of obstacles into the area.

[0025] As shown in FIG. 4, the management device 80 is configured as a computer having a CPU 81, a ROM 82, a RAM 83, a storage 84, a timing unit 85, and the like. The timing unit 85 acquires the current time. The timing unit 85 acquires the current time by, for example, a real-time clock (RTC). A display device 86 such as a liquid crystal display or an organic EL display and an input device 87 such as a keyboard or a mouse are connected to the management device 80. The storage 84 stores production information determined regarding which components are to be mounted on which substrates S at which positions on the substrates and in which order, and how many substrates S are to be produced in this way in the component mounter 20. Further, the storage 84 stores the remaining number of components for each feeder 30 set in the component mounter 20.

[0026] The management device 80 is communicably connected to the component mounter 20 (mounting control device 26), the replacement robot 50 (robot control device 70), and the feeder storage 60, and exchanges various types of information. Further, the management device 80 is communicably connected to the feeder 30 (supply control device) set in the component mounter 20 via each component mounter 20 (mounting control device 26), and also exchanges various types of information with the feeder 30.

[0027] When it is predicted that the components of the feeder 30 set in the component mounter 20 will run out, or when the type of the substrate S to be produced is changed and a setup change is performed, the management device 80 instructs the replacement robot 50 to replace the feeder 30. The replacement robot 50 executes the movement process described later, moves to the front of the component mounter 20 where the used feeder 30 is set, sets the feeder 30 scheduled for use for the component mounter 20, and collects the used feeder 30.

[0028] Next, the movement process executed by the CPU 71 of the robot control device 70 will be described. This process starts after receiving an instruction to replace the feeder 30 from the management device 80. FIG. 5 is a flowchart showing an example of the movement process.

[0029] In the movement process, the CPU 71 of the robot control device 70 first acquires the position (orthogonal coordinate value) of its own machine based on the production line L from the pulse signal from the encoder 57 (S100). Next, the CPU 71 determines whether an obstacle has been detected in the stop area (the first stop area Q12 when the exchange robot 50 is traveling in the substrate transfer direction (from left to right in this embodiment), and the second stop area Q22 when the exchange robot 50 is traveling in the direction opposite to the substrate transfer direction, etc. (from right to left in this embodiment)) (S102). When the CPU 71 determines that an obstacle has been detected in the stop area, it controls the robot movement mechanism 51 to stop the travel (S104) and returns to S100. In this way, when the CPU 71 detects an obstacle in the stop area, it repeatedly executes the processes of S100 to S104 until the obstacle is removed by the operator. Note that when the CPU 71 detects an obstacle in the stop area, it may notify an error to prompt the operator to remove the obstacle.

[0030] On the other hand, when the CPU 71 determines that no obstacle has been detected in the stop area, it determines whether an obstacle has been detected in the restricted area (the first restricted area Q11 when the exchange robot 50 is traveling in the substrate transfer direction (from left to right in this embodiment), and the second restricted area Q21 when the exchange robot 50 is traveling in the direction opposite to the substrate transfer direction (from right to left in this embodiment)) (S106). When the CPU 71 determines that no obstacle has been detected in the restricted area, it operates the exchange robot 50 in the normal mode (S108). Here, the normal mode is an operation mode in which the speed of the exchange robot 50 is not limited to the maximum speed.

[0031] When the CPU 71 determines that an obstacle has been detected in the restricted area, it acquires the position of the obstacle relative to the replacement robot 50 (the distance and angle (polar coordinate values) from the first detection sensor 58 or the second detection sensor 59 to the obstacle) from the first detection sensor 58 or the second detection sensor 59 (S110). Next, the CPU 71 converts the position of the obstacle relative to the replacement robot 50 to a position relative to the production line L (S112). Specifically, the CPU 71 converts the polar coordinate values of the position of the obstacle relative to the replacement robot 50 to rectangular coordinate values, and adds the rectangular coordinate values of the position of the obstacle relative to the replacement robot 50 to the position (rectangular coordinate values) of the replacement robot 50 relative to the production line L obtained in S100. Then, the CPU 71 determines whether the position of the obstacle relative to the production line L coincides with the non-informing area within a predetermined range (S114). The non-informing area is pre-registered by an operator when there is an immovable obstacle such as a part of the production facility (e.g., a pillar). When the CPU 71 determines that the position of the obstacle relative to the production line L coincides with the non-informing area within a predetermined range, it operates the replacement robot 50 in the normal mode (S108).

[0032] As described above, when the position of the obstacle relative to the production line L coincides with the non-detection area within a predetermined range, the CPU 71 operates the replacement robot 50 in the normal mode. Therefore, even when there is an immovable obstacle around the production line L, the replacement robot 50 moves without decelerating. That is, the replacement robot 50 is less likely to decelerate when traveling, and it is less likely to take extra time for the replacement of the feeder 30. Thus, it is possible to suppress a decrease in the production efficiency of the entire component mounting system 10.

[0033] On the other hand, when the CPU 71 determines in S114 that the position of the obstacle based on the production line L does not match within the non-notification area and the predetermined range, it determines that a removable obstacle has been detected, and determines whether the previous operation mode is the normal mode (S116). When the CPU 71 determines that the previous operation mode is not the normal mode (is the speed limit mode), it proceeds to S124. When the CPU 71 determines that the previous operation mode is the normal mode, it controls the camera 56 to capture the surrounding image Im (S118). Then, the CPU 71 transmits the position of its own machine based on the production line L acquired in S100 and the surrounding image Im to the management device 80 (S120).

[0034] After the CPU 71 determines in S116 that the previous operation mode is not the normal mode (is the speed limit mode) or after S120, it operates the exchange robot 50 in the speed limit mode (S122). The speed limit mode is an operation mode in which the upper limit speed during the movement of the exchange robot 50 is set to a speed (limit speed) lower than the upper limit speed (maximum speed) in the normal mode.

[0035] The running state of the exchange robot 50 in this case is shown in FIG. 6. As shown in FIG. 6(a), when the exchange robot 50 moves in the substrate transfer direction (from left to right in this embodiment), it detects the obstacle O in the first restriction area Q11. Therefore, the CPU 71 operates in the speed limit mode. Thus, as shown in FIG. 6(b), the exchange robot 50 decelerates to the upper limit speed (limit speed) in the speed limit mode. Then, when the CPU 71 no longer detects the obstacle O in the first restriction area Q11, it operates the exchange robot 50 in the normal mode again.

[0036] After S108 or after S122, the CPU 71 determines whether it has reached the destination based on the position of its own machine based on the production line L acquired in S100 (S124). When the CPU 71 determines that its own machine has not reached the destination, it returns to S100 again. On the other hand, when the CPU 71 determines that its own machine has reached the destination, it controls the robot movement mechanism 51 to stop the running (S126) and ends the movement process.

[0037] In this way, when the CPU 71 detects an obstacle in the restricted area and determines that the position of the obstacle does not match within a predetermined range with the non-informing area, it operates in the speed limit mode. Therefore, when the replacement robot 50 reaches the position where the obstacle O is left without being removed, it decelerates each time it reaches that position. As a result, the replacement robot 50 requires extra time for movement and extra time for replacing the feeder 30. Thus, the production efficiency of the entire component mounting system 10 decreases. Therefore, in the present embodiment, a notification process for prompting an operator to remove the obstacle O is performed.

[0038] FIG. 8 is a flowchart showing an example of the notification process. The notification process is executed by the CPU 81 of the management device 80 at regular intervals (e.g., several ms).

[0039] First, the CPU 81 of the management device 80 determines whether it has received the position of the replacement robot 50 with respect to the production line L and the image Im (S200). If the CPU 81 determines that it has not received the position of the replacement robot 50 with respect to the production line L and the image Im, it ends the notification process. On the other hand, if the CPU 81 determines that it has received the position of the replacement robot 50 with respect to the production line L and the image Im, it determines whether the received position is the same as the position stored in the storage 84 in the past (S202). Here, the same position is a range that can be regarded as the same position based on the resolution of the encoder 57, the first detection sensor 58, and the second detection sensor 59, etc. If the CPU 81 determines that the received position is not the same as the position stored in the storage 84 in the past, it stores the received position in the storage 84 (S204) and ends the notification process.

[0040] On the other hand, when the CPU 81 determines that the received position is the same as the position stored in the storage 84 in the past, it increments the value of the counter C by 1 (S206). The value of the counter C represents the number of times the replacement robot 50 has detected the obstacle O at the same position, and the initial value is 0. Next, the CPU 81 determines whether the value of the counter C is equal to or greater than a specified number Cref (S208). Here, the specified number Cref is a predetermined number, which is 2 in this embodiment. When the CPU 81 determines that the value of the counter C is less than the specified number Cref, it ends the notification process. On the other hand, when the CPU 81 determines that the value of the counter C is equal to or greater than the specified number Cref, as shown in FIG. 8, it causes the display device 86 to display the image Im and a message prompting the operator to remove the obstacle O (S210), and then ends the notification process. When the operator checks the screen displayed on the display device 86, the operator removes the obstacle O.

[0041] In this way, when the CPU 81 of the management device 80 detects that the obstacle O is at the same position a specified number Cref or more times, it prompts the operator to remove the obstacle O. Therefore, if the operator removes the obstacle O, it is possible to prevent a situation where the replacement robot 50 repeatedly operates (decelerates) at the same position in the speed limit mode, and it is possible to suppress a decrease in the production efficiency of the entire component mounting system 10.

[0042] In addition, when the CPU 81 of the robot control device 70 determines that the position of the obstacle based on the production line L in S116 of the movement process (FIG. 7) coincides within a predetermined range with the non-notification area, the CPU 81 ends the notification process. This is because the CPU 81 does not receive the image Im and the position of the replacement robot 50 and makes a negative determination in S200. Therefore, it is possible to prevent a situation where the operator is notified until the replacement robot 50 detects an obstacle that cannot be removed.

[0043] In addition, the CPU 81 causes the display device 86 to display the image Im of the obstacle O. Therefore, the operator can easily identify the obstacle O to be removed.

[0044] Here, the correspondence between the main elements of the present embodiment and the main elements of the present disclosure will be described. That is, the component mounting system 10 of the present embodiment corresponds to the conveying system of the present disclosure, the first detection sensor 58 and the second detection sensor 59 correspond to the sensors, the replacement robot 50 corresponds to the conveying robot, the encoder 57 corresponds to the position acquisition unit, the storage 84 corresponds to the storage unit, and the CPU 81 of the management device 80 that executes the notification process corresponds to the notification unit.

[0045] It should be noted that the present disclosure is not limited to the above-described embodiments, and it goes without saying that various embodiments can be implemented as long as they belong to the technical scope of the present disclosure.

[0046] For example, in the above-described embodiment, when the number of times the CPU 81 of the management device 80 receives the position from the replacement robot 50 is equal to or greater than the specified number Cref, the CPU 81 causes the display device 86 to display the image Im and a message prompting the removal of the obstacle O. However, when the obstacle O is left in the same place for a long time, the CPU 81 may cause the display device 86 to display the image Im and a message prompting the removal of the obstacle O. The flowchart of the notification process in this case is shown in FIG. 9. In FIG. 9, for the same processes as those in FIG. 5, the same step numbers are assigned, and detailed descriptions thereof are omitted. The CPU 81 determines whether it has received the image Im and the position of the replacement robot 50 with respect to the production line L (S200), and determines whether the position is the same as the position stored in the past (S202). When the CPU 81 makes a negative determination in S202, it acquires the current time T1 from the timer unit 85, stores the time T1, the received position of the replacement robot 50, and the image Im in the storage 84 (S300), and ends the notification process. On the other hand, when the CPU 81 makes an affirmative determination in S202, it acquires the current time T2 from the timer unit 85 (S302). Next, the CPU 81 subtracts the time T1 from the time T2 to calculate the elapsed time ΔT (S304). That is, the elapsed time ΔT is the time from when the replacement robot 50 first detects the obstacle O to when it next detects the obstacle O. Subsequently, the CPU 81 determines whether the elapsed time ΔT is equal to or greater than the specified time Tref (S306). When the CPU 81 determines that the elapsed time ΔT is less than the specified time Tref, it ends the notification process. On the other hand, when the CPU 81 determines that the elapsed time ΔT is equal to or greater than the specified time Tref, as shown in FIG. 8, it causes the display device 86 to display the image Im and a message prompting the operator to remove the obstacle O (S210), and ends the notification process. Note that the elapsed time ΔT may be the time from when the replacement robot 50 most recently detected the obstacle O to when it next detects the obstacle O.

[0047] In the notification process of the embodiment shown in FIG. 7 and the notification process of the modification shown in FIG. 9 described above, the CPU 81 of the management device 80 notifies the operator when the replacement robot 50 detects an obstacle O at the same position a specified number of times Cref or more. However, the CPU 81 may notify the operator when the replacement robot 50 detects an obstacle O within a predetermined range a specified number of times Cref or more. In this case, the predetermined range may be set to a range having a predetermined width on both the left and right sides centered on the position where the replacement robot 50 first detects the obstacle O. Also, in this case, when the CPU 71 of the robot control device 70 detects an obstacle within the predetermined range, the CPU 71 may transmit the position of its own device with respect to the production line L when the obstacle is detected within the predetermined range to the management device 80. Further, in this case, the CPU 81 of the management device 80 may determine whether or not the received position is included within a predetermined range having a predetermined width on both the left and right sides centered on the position first stored in S202 of the notification process.

[0048] In the above-described embodiment, the replacement robot 50 was provided with the camera 56. However, the camera 56 may be omitted.

[0049] In the above-described embodiment, the CPU 81 of the management device 80 performs the notification process. However, the CPU 71 of the robot control device 70 may perform the notification process.

[0050] In the above-described embodiment, when the CPU 71 of the robot control device 70 detects an obstacle in the restricted area and determines that the position of the obstacle coincides within the non-notification area and the predetermined range, the replacement robot 50 is operated in the normal mode. However, the CPU 71 may operate the replacement robot 50 in the speed limit mode. Also, in this case as well, similar to the above-described embodiment, the CPU 71 of the robot control device 70 does not transmit the position of its own device with respect to the production line L to the management device 80, and the CPU 81 of the management device 80 makes a negative determination in S200 of the notification process and ends the notification process. Therefore, no notification is made.

[0051] In the above-described embodiment, the transport robot of the present disclosure has been described as the replacement robot 50. However, the transport robot of the present disclosure may be an unmanned transport vehicle such as an AMR (Autonomous Mobile Robot) or an AGV (Automatic Guided Vehicle).

[0052] In the above-described embodiment, the CPU 81 of the management device 80 causes the display device 86 to display the image Im and a message prompting the operator to remove the obstacle O, thereby notifying the operator. However, the CPU 81 may transmit the image Im and a message prompting the removal of the obstacle O to the operator's mobile terminal. Alternatively, the CPU 81 may emit a notification sound from a speaker (not shown).

[0053] According to the operation method of the transport robot of the present disclosure described in detail above, when the transport robot detects an obstacle a plurality of times at the same position or within a predetermined range, notification is made to prompt the removal of the obstacle. By prompting the removal of the obstacle that causes restricted travel, a decrease in production efficiency can be suppressed. In addition, since notification is not made if the obstacle is not detected a plurality of times at the same position or within a predetermined range, it is possible not to notify the operator of temporary detections such as the operator's detection.

[0054] Further, in the operation method of the transport robot of the present disclosure, when the transport robot detects an obstacle a plurality of times at the same position or within the predetermined range at intervals of a predetermined time or more, the notification may be made. By setting the predetermined time to an appropriate time, it is possible to notify the operator to remove the obstacle when the obstacle is left at the same position or within the predetermined range for a long time.

[0055] Further, in the operation method of the transport robot of the present disclosure, even if the transport robot detects an obstacle within a preset non-notification range, the notification may not be made. By setting the range for detecting obstacles that cannot be removed as the non-notification range, unnecessary notification to the operator can be prevented.

[0056] Also, in the operation method of the transport robot of the present disclosure, a camera capable of imaging the surrounding image may be provided on the transport robot, and when the transport robot detects an obstacle, an image of the obstacle captured by the camera may be displayed. By doing so, an operator can easily grasp the obstacle to be removed.

[0057] Also, in the operation method of the transport robot of the present disclosure, the restricted travel may be decelerated travel. In decelerated travel, although it is possible to transport the members necessary for the production system, by repeatedly performing decelerated travel, the transport of the members necessary for the production line is delayed and the production efficiency decreases. Therefore, the significance of applying the present disclosure is great.

[0058] Also, the present disclosure may be in the form of a transport system.

[0059] Note that in this specification, the technical idea of changing "the operation method of the transport robot according to claim 1 or 2" to "the operation method of the transport robot according to any one of claims 1 to 3" in claim 4 at the time of filing the application, and the technical idea of changing "the operation method of the transport robot according to claim 1 or 2" to "the operation method of the transport robot according to any one of claims 1 to 4" in claim 5 at the time of filing the application are also disclosed.

Industrial Applicability

[0060] The present disclosure can be used in the manufacturing industry of component mounting systems and the like.

Explanation of Signs

[0061] 10 Component mounting system, 12 Printing device, 14 Printing inspection device, 16 X-axis rail, 20 Component mounter, 21 Mounter main body, 21a Housing, 21b Base, 22 Substrate transfer device, 23 Head movement device, 24 Slider, 25 Mounting head, 26 Mounting control device, 30 Feeder, 50 Exchange robot, 51 Robot movement mechanism, 52a X-axis motor, 52b Guide roller, 53 Feeder transfer mechanism, 54 Clamp part, 55 Y-axis slider, 55a Y-axis motor, 55b Y-axis guide rail, 56 Camera, 57 Encoder, 58 First detection sensor, 59 Second detection sensor, 60 Feeder storage, 70 Robot control device, 71 CPU, 72 ROM, 73 RAM, 74 Storage, 80 Management device, 81 CPU, 82 ROM, 83 RAM, 84 Storage, 85 Timing unit, 86 Display device, 87 Input device, Im Image, L Production line, O Obstacle, Q1 First detection area, Q11 First restriction area, Q12 First stop area, Q2 Second detection area, Q21 Second restriction area, Q22 Second stop area, S Substrate.

Claims

1. An operation method of a transport robot that travels along a pre-determined travel route to transport members necessary for a production system and performs restricted travel when detecting surrounding obstacles during travel, comprising: storing the position of the transport robot when the transport robot detects an obstacle; performing notification to prompt removal of the obstacle when the transport robot detects the obstacle multiple times at the same position or within a predetermined range; An operation method of a transport robot.

2. The operation method of a transport robot according to Claim 1, comprising: performing the notification when the transport robot detects the obstacle multiple times at the same position or within the predetermined range with a time interval of a predetermined time or more; An operation method of a transport robot.

3. The operation method of a transport robot according to Claim 1 or 2, comprising: not performing the notification even if the transport robot detects an obstacle within a preset non-notification range; An operation method of a transport robot.

4. The operation method of a transport robot according to Claim 1 or 2, comprising: providing a camera capable of imaging the surrounding image on the transport robot; displaying an image of the obstacle captured by the camera when the transport robot detects an obstacle; An operation method of a transport robot.

5. The operation method of a transport robot according to Claim 1 or 2, wherein the restricted travel is decelerated travel; An operation method of a transport robot.

6. A transport robot provided with a sensor capable of detecting surrounding obstacles, traveling along a pre-determined travel route to transport members necessary for a production system, and performing restricted travel when surrounding obstacles are detected by the sensor during travel, a position acquisition unit that acquires the position of the transport robot with respect to the travel route; a storage unit that stores the position of the transport robot when an obstacle is detected by the sensor; a notification unit that performs notification to prompt removal of the obstacle when the sensor detects the obstacle multiple times at the same position or within a predetermined range; A transport system comprising the above.

Images