Work device

Abstract

To allow a work to be done near a component placed on a movement path.SOLUTION: A detection unit has a first detection range, and a second detection range that includes an area outside the first detection range in a direction of travel of a work device main body. A light receiver is capable of receiving light from a light emitter installed on a member provided on a movement path of the work device main body, and has a third detection range between the light emitter and the light receiver. When an interfering object is not detected within the second detection area, the work device sets the periphery of the work device main body as the first detection range. Then, when an interfering object is detected within the first detection range, the work device restricts the movement of the work device main body. On the other hand, when an interfering object is detected within the second detection range, the work device sets a range around the work device main body that does not include the third detection range, as the first detection range. Then, when an interfering object is detected within the first detection range or an interfering object is detected in the third detection range by the light receiver, the movement of the work device main body is restricted.SELECTED DRAWING: Figure 11

Description

[Technical Field]

[0001] This specification discloses a work device and a mounting system. [Background technology]

[0002] Conventionally, a production line with multiple component mounting devices has been proposed that includes a loader (working device) that moves along the line to replenish the tape feeders needed by each component mounting device and collect used tape feeders (see, for example, Patent Document 1). The component mounting device has a tape feeder removably attached by the loader, and a tray feeder removably attached so as to protrude forward from the component mounting device and block the loader's travel path. The loader is equipped with a monitoring sensor (laser scanner) that detects interfering objects around the loader and a light receiver. The light receiver, in combination with a light emitter installed on the tray feeder, forms a safety curtain and monitors the presence or absence of interfering objects between the light emitter and the light receiver. The loader determines whether the light receiver detects light from the light emitter (safety curtain), and if the safety curtain is not detected, sets the sensor monitoring area of ​​the monitoring sensor to Area 1 around the loader. If the loader detects an interfering object within Area 1 while traveling, it stops traveling until the interfering object is no longer detected. On the other hand, when the loader determines that the safety curtain has been detected, it calculates the distance between the loader and the tray feeder, and if the calculated distance is less than a predetermined distance, it sets the sensor monitoring area to Area 2, which is narrower than Area 1, so that the monitoring sensor will not detect the tray feeder when the loader approaches the tray feeder. Then, if the loader detects an interfering object either in Area 2 or inside the safety curtain while traveling, it stops traveling until the interfering object is no longer detected. This allows the loader to properly detect interfering objects on its travel path and to approach the tray feeder to perform necessary work. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2019 / 016924 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above-mentioned system, in order to switch the sensor monitoring area, in addition to determining whether the safety curtain has been detected by the receiver, it is necessary to obtain the position of the tray feeder via communication and calculate the distance between the loader and the tray feeder, which complicates the processing.

[0005] A main object of the present disclosure is to enable work near components installed on a movement path while monitoring the presence or absence of obstructions in the surrounding area through simple processing. [Means for solving the problem]

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

[0007] The working device of the present disclosure is A work apparatus that performs work on a mounting apparatus in a mounting line where a plurality of mounting apparatuses are lined up, A working device body, a moving device that moves the working device body; a detection unit provided on the work device body, having a first detection range and a second detection range that includes at least an area outside the first detection range in the traveling direction of the work device body, and that detects the presence or absence of an interfering object within each of the first and second detection ranges; a light-receiver provided on the working device body and capable of receiving light from a light-emitter installed on a member provided on a movement path of the working device body, the light-receiver detecting the presence or absence of an interfering object based on a light-receiving state within a third detection range defined between the light-emitter and the light-receiver; a control unit that controls the movement device so that the work device main body moves, and when the detection unit does not detect an interfering object within the second detection area, sets the periphery of the work device main body as the first detection range, and restricts the movement of the work device main body when the detection unit detects an interfering object within the first detection range, and when the detection unit detects an interfering object within the second detection range, sets the range around the work device main body that does not include the third detection range as the first detection range, and restricts the movement of the work device main body when the detection unit detects an interfering object within the first detection range or the light receiver detects an interfering object within the third detection range; The gist of the project is to provide the following:

[0008] The work device disclosed herein includes a detector and a receiver on the work device body. The detector has a first detection range and a second detection range that includes at least an area outside the first detection range in the direction of travel of the work device body. The receiver is capable of receiving light from a projector attached to a member disposed on a path of movement of the work device body, and has a third detection range between the projector and the receiver. When the detector does not detect an interfering object within the second detection range, the work device sets the periphery of the work device body as the first detection range. When the detector detects an interfering object within the first detection range, the work device restricts movement of the work device body. On the other hand, when the detector detects an interfering object within the second detection range, the work device sets the first detection range to a range around the work device body that does not include the third detection range. When the detector detects an interfering object within the first detection range or the receiver detects an interfering object in the third detection range, the work device restricts movement of the work device body. This makes it possible to perform work near members that are placed on the movement path of the work device body while monitoring the presence or absence of obstructions in the surrounding area through simple processing.

[0009] The mounting system of the present disclosure includes: A mounting line with multiple mounting devices, a working device that has a working device body and a moving device that moves the working device body and performs work on the mounting device; a projector installed on a member provided on a movement path of the working device body; Equipped with The working device is a detection unit provided on the work device body, having a first detection range and a second detection range that includes at least an area outside the first detection range in the traveling direction of the work device body, and that detects the presence or absence of an interfering object within each of the first and second detection ranges; a light receiver provided in the working device body and capable of receiving light from the light transmitter, the light receiver detecting the presence or absence of an interfering object based on a light receiving state within a third detection range defined between the light transmitter and the light receiver; a control unit that controls the movement device so that the work device main body moves, and when the detection unit does not detect an interfering object within the second detection area, sets the periphery of the work device main body as the first detection range, and restricts the movement of the work device main body when the detection unit detects an interfering object within the first detection range, and when the detection unit detects an interfering object within the second detection range, sets the range around the work device main body that does not include the third detection range as the first detection range, and restricts the movement of the work device main body when the detection unit detects an interfering object within the first detection range or the light receiver detects an interfering object within the third detection range; The gist of the project is to provide the following:

[0010] The mounting system of the present disclosure is equipped with the above-described working device of the present disclosure, and therefore is capable of performing work near components installed in the movement path of the working device main body while monitoring the presence or absence of obstructions in the surrounding area through simple processing. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic configuration diagram of a component mounting system. [Figure 2] FIG. 2 is a schematic configuration diagram of a component mounter and a feeder table. [Figure 3] FIG. 2 is a schematic diagram of a feeder. [Figure 4] FIG. 2 is a schematic diagram illustrating the configuration of a loader. [Figure 5] FIG. 2 is a schematic configuration diagram of a component mounter and a tray feeder. [Figure 6] FIG. 2 is a block diagram showing the electrical connection relationship of the component mounting system. [Figure 7] FIG. 2 is an explanatory diagram illustrating areas monitored by a monitoring sensor (protection area A, warning area B). [Figure 8] 4 is a flowchart illustrating an example of a work process executed by a loader control device. [Figure 9] 10A and 10B are explanatory diagrams showing the operation of a loader near a tray feeder. [Figure 10] 10A and 10B are explanatory diagrams showing the operation of a loader near a tray feeder. [Figure 11] 10A and 10B are explanatory diagrams showing the operation of a loader near a tray feeder. [Figure 12] 10A and 10B are explanatory diagrams showing the operation of a loader near a tray feeder. [Figure 13] 10A and 10B are explanatory diagrams showing the operation of a loader near a reflow furnace. [Figure 14] 10A and 10B are explanatory diagrams showing the operation of a loader near a reflow furnace. [Figure 15] 10A and 10B are explanatory diagrams showing the operation of a loader near a reflow furnace. [Figure 16] 10A and 10B are explanatory diagrams showing the operation of a loader near a reflow furnace. DETAILED DESCRIPTION OF THE INVENTION

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

[0013] FIG. 1 is a schematic diagram of a component mounting system. FIG. 2 is a schematic diagram of a component mounter and a feeder table. FIG. 3 is a schematic diagram of a feeder. FIG. 4 is a schematic diagram of a loader. FIG. 5 is a schematic diagram of a component mounter and a tray feeder. FIG. 6 is a block diagram showing the electrical connection relationship of the component mounting system. In FIGS. 1, 2, 4, and 5, the left-right direction is the X-axis direction, the front-back direction is the Y-axis direction, and the up-down direction is the Z-axis direction.

[0014] The component mounting system 10 produces boards S on which components are mounted, and as shown in FIG. 1, includes a printing device 12, a print inspection device 14, multiple (five) component mounting devices 20 (20A-20E), a mounting inspection device (not shown), a reflow oven 16, a loader 50, multiple (two) feeder storage cabinets 70, and a management device 90 that manages the entire system. The printing device 12 prints solder on the surface of the board S. The print inspection device 14 inspects the condition of the solder printed by the printing device 12. The component mounting device 20 picks up components with a suction nozzle (picking member) and mounts them on the board S. The mounting inspection device inspects the mounting condition of the components mounted by the component mounting device 20. The reflow oven 16 heats the board S to melt the solder on the board S and solder the mounted components. In this embodiment, the reflow oven 16 is installed so as to protrude forward from the component mounting device 20. The printing device 12, print inspection device 14, multiple component mounting devices 20, mounting inspection device, and reflow furnace 16 are aligned in this order from upstream along the conveyance direction of the board S to form a mounting line (production line).

[0015] 2, component mounting apparatus 20 includes component supply unit 21 that supplies components, board transport device 22 that transports board S from left to right, head 25 that picks up components supplied from component supply unit 21 and mounts them on board S, head moving device 24 that moves head 25 horizontally (in the X and Y axis directions), and mounting control device 29 (see FIG. 6). Head 25 includes a suction nozzle that picks up components and an elevator device that raises and lowers the suction nozzle, although these are not shown. Head moving device 24 includes a slider 24a to which head 25 is attached and a motor (e.g., a linear motor) that moves slider 24a horizontally (in the X and Y directions).

[0016] Component supply unit 21 is provided at the front of component mounting apparatus 20, and a tape feeder 30 (see FIG. 3) and a tray feeder 80 (see FIG. 5) are detachably attached to component supply unit 21. As shown in FIGS. 3 and 6, tape feeder 30 has a reel 32 around which a tape containing components at predetermined intervals is wound, and supplies components by drawing out and feeding the tape from reel 32 using tape feeding mechanism 33. Tray feeder 80 has trays on which components are arranged in an orderly fashion, and supplies components by drawing out the trays using a tray feeding mechanism.

[0017] The component mounting device 20 also includes a mark camera 26, a parts camera 27, and a nozzle stocker 28. The mark camera 26 takes an image of a reference mark attached to the board S from above in order to detect the position of the board S. The parts camera 27 takes an image of a component picked up by a suction nozzle from below in order to detect suction errors or suction deviations. The nozzle stocker 28 stocks a plurality of suction nozzles of different sizes.

[0018] The mounting control device 29 is composed of a well-known CPU 29a, ROM 29b, RAM 29c, storage device 29d, etc. The mounting control device 29 inputs image signals from the mark camera 26 and the parts camera 27. The mounting control device 29 also outputs drive signals to the substrate transport device 22, the head 25, the head moving device 24, etc.

[0019] Furthermore, the mounting control device 29 is communicatively connected to a feeder control device 39 of the tape feeder 30 attached to the feeder table 40 via connectors 35, 45. When the tape feeder 30 is attached, the mounting control device 29 receives feeder information such as the feeder ID, component type, and remaining component count contained in the feeder control device 39 of the tape feeder 30 from the feeder control device 39. Furthermore, the mounting control device 29 transmits the received feeder information and the attachment position (slot number) where the tape feeder 30 is attached to the management device 90.

[0020] The CPU 29a of the mounting control device 29 executes a mounting process for mounting components on the board S. In the mounting process, the CPU 29a controls the head moving device 24 to move the head 25 above the component supply position of the tape feeder 30. Next, the CPU 29a controls the elevator device to lower the suction nozzle so that the component is picked up by the suction nozzle. The CPU 29a controls the head moving device 24 to move the component picked up by the suction nozzle above the part camera 27, and causes the part camera 27 to capture an image of the component. The CPU 29a processes the captured image of the component, measures the amount of suction deviation of the component, and corrects the mounting position of the component on the board S. The CPU 29a then controls the head moving device 24 to move the component picked up by the nozzle to above the corrected mounting position, and controls the elevator device to lower the suction nozzle so that the component is mounted on the board S.

[0021] The multiple feeder storage cabinets 70 are all incorporated into the mounting line (between the component mounting device 20 located most upstream in the board conveyance direction among the multiple component mounting devices 20 and the print inspection device 14), and are storage locations for temporarily storing multiple tape feeders 30. For example, one feeder storage cabinet 70 stores tape feeders 30 to be used by each component mounting device 20, and the other feeder storage cabinet 70 stores used tape feeders 30 that have been used by each component mounting device 20. Replenishment of the feeder storage cabinet 70 with tape feeders 30 to be used and collection of used tape feeders 30 are performed by workers or automated guided vehicles (AGVs).

[0022] Each feeder storage 70 is provided with a feeder table having a plurality of slots 42 and connectors 45 similar to the feeder table 40 provided in the component mounting device 20. When a tape feeder 30 is attached to the connector 45 of the feeder storage 70, feeder information such as the feeder ID, component type, and remaining component count of the tape feeder 30, as well as the attachment position (slot number) where the tape feeder 30 is attached, are transmitted to the management device 90.

[0023] 1, the loader 50 moves along the front of the component mounting system 10 (mounting line), taking out tape feeders 30 to be used from the feeder storage 70 and supplying them to each component mounting device 20, and collecting used tape feeders 30 from each component mounting device 20 and carrying them to the feeder storage 70. As shown in FIGS. 4 and 6, the loader 50 includes a loader main body 50a, a loader moving device 51, a feeder transfer device 53, and a loader control device 59.

[0024] The loader moving device 51 moves the loader main body 50a along the guide rail 18 arranged in front of the mounting line. This loader moving device 51 has an X-axis motor 52a that drives a drive belt for moving the loader main body 50a, and a guide roller 52b that rolls on the guide rail 18 to guide the movement of the loader 50.

[0025] The feeder transfer device 53 transfers the tape feeder 30 between the loader 50 and one of the component mounting devices 20 when the loader 50 is positioned opposite the component mounting device 20, or transfers the tape feeder 30 between the feeder storage 70 and the loader 50 when the loader 50 is positioned opposite the feeder storage 70. The feeder transfer device 53 includes a clamp unit 54 that clamps the tape feeder 30, and a Y-axis slider 55 that moves the clamp unit 54 along a Y-axis guide rail 55b. The Y-axis slider 55 includes a Y-axis motor 55a, and moves the clamp unit 54 in the front-to-rear direction (Y-axis direction) when driven by the Y-axis motor 55a.

[0026] The loader control device 59 is composed of a well-known CPU 59a, ROM 59b, RAM 59c, etc. The loader control device 59 receives detection signals from a position sensor 61, two monitoring sensors 62 on the left and right, a light receiver 63, etc. The loader control device 59 also outputs drive signals to the loader moving device 51 and the feeder transfer device 53.

[0027] The position sensor 61 is an encoder and detects the position P of the loader main body 50a on the movement path.

[0028] The two left and right monitoring sensors 62 monitor the periphery of the loader main body 50a as a monitoring area and monitor the presence or absence of interfering objects within the monitoring area. The monitoring sensors 62 are configured, for example, as laser scanners having a light-emitting unit 62a and a light-receiving unit 62b as sensor units. The light-emitting unit 62a emits laser light, and the light-receiving unit 62b receives light reflected from the interfering objects, thereby detecting the presence or absence of interfering objects within the monitoring area. The left monitoring sensor 62 is attached to the left side of the loader main body 50a (the side opposite to the substrate transport direction) and can mainly detect interfering objects to the left of the loader main body 50a. The right monitoring sensor 62 is attached to the right side of the loader main body 50a (the side in the substrate transport direction) and can mainly detect interfering objects to the right of the loader 50a.

[0029] 7 is an explanatory diagram illustrating the areas monitored by the monitoring sensor 62. As shown in the figure, the monitored area includes a protection area A and a warning area B. The protection area A is an area in which movement of the loader 50 is prohibited (restricted) if an interfering object is detected, and is set as a substantially semicircular area around the loader 50. On the other hand, the warning area B is an area for monitoring the approach of an interfering object to the protection area A, and is set as a rectangular area extending outward in the left-right direction from both sides of the loader 50 beyond the protection area A.

[0030] In this embodiment, the light receiver 63 is installed on the loader body 50a so as to face the light emitter 83 (see FIG. 5) installed on the tray feeder 80 when the tray feeder 80 is installed in one of the component mounters 20, and also face the light emitter 17 (see FIG. 1) installed on the side of the forward protrusion of the reflow furnace 16. The light receiver 63 and the light emitters 17, 83 form a safety curtain SC, each of which has multiple light receiving elements and multiple light emitter elements arranged horizontally (front-to-back) facing each other. The multiple light receiving elements normally receive light from their respective light emitter elements, and if the light from the light emitter element is blocked by an interfering object, the light cannot be received. This allows the safety curtain SC to monitor the presence or absence of an interfering object between the light receiver 63 and the light emitters 17, 83 based on the light reception state of the light receiver 63.

[0031] The management device 90 is a general-purpose computer, and as shown in FIG. 6 , includes a CPU 91, a ROM 92, a RAM 93, and a storage device 94. An input device 95 such as a keyboard or a mouse, and a display 96 such as a liquid crystal display device, are electrically connected to the management device 90. The storage device 94 stores production plans, feeder holding information, job information, status information, and the like. This information is managed for each component mounting device 20. Here, the production plan is a plan that determines which components are to be mounted in which order in each component mounting device 20, and how many boards S (products) mounted in this manner are to be manufactured (produced). The feeder holding information is information regarding the tape feeders 30 held by each component mounting device 20 and the feeder storage 70. The feeder holding information includes feeder information such as the feeder ID, component type, and remaining component count, as well as location information such as the device that holds the tape feeder 30 (component) (which component mounting device 20 or which feeder storage 70) and the installation position (slot number) of the tape feeder 30. The job information is information about the mounting process (job) to be executed by each component mounting device 20. This job information includes the type of board to be produced, the type of component to be mounted, the mounting position for each component, the components to be mounted by each component mounting device 20, etc. The status information is information that indicates the operating status of each component mounting device 20. This status information includes statuses such as in production, during setup, and when an error occurs.

[0032] The management device 90 is communicatively connected to the mounting control device 29 via a wired connection, and exchanges various types of information with each component mounting device 20 in the component mounting system 10. The management device 90 receives operating status information from each component mounting device 20 and updates the status information to the latest information. The management device 90 is also communicatively connected to the feeder control device 39 of the tape feeder 30 attached to the feeder table 40 of each component mounting device 20 via the mounting control device 29. When a tape feeder 30 is removed from or attached to a component mounting device 20 or feeder storage 70, the management device 90 receives the attachment / detachment status from the corresponding component mounting device 20 or feeder storage 70 and updates the feeder holding information to the latest information.

[0033] Furthermore, the management device 90 is connected to the loader control device 59 so as to be able to communicate wirelessly, and also manages the operation of the loader 50. That is, the CPU 91 of the management device 90 searches the feeder holding information in the feeder storage 70 for components required for the production of the next variety in each component mounting device 20 based on the production plan, and sends a replenishment command to the loader 50 so that the tape feeder 30 containing the relevant components is replenished to the corresponding component mounting device 20. The CPU 91 also sends a collection command to the loader 50 so that the used tape feeder 30 generated in each component mounting device 20 is collected.

[0034] 8 is a flowchart showing an example of work processing executed by the loader control device 59. This processing is executed when a work command (the above-mentioned replenishment command or recovery command) is received from the management device 90. When a tray feeder 80 is installed in front of any of the multiple component mounting devices 20, in order to prevent interference between the loader 50 and the tray feeder 80, a work position is specified within the range from the feeder storage 60 to just in front of the tray feeder 80 within the travellable range of the loader 50, and a work command is transmitted to the loader 50.

[0035] When the work process is executed, the CPU 59a of the loader control device 59 first controls the loader moving device 51 to start moving toward the work position (step S100). Next, the CPU 59a determines whether or not there is an interfering object within the warning area B (step S110). If the CPU 59a determines that there is no interfering object within the warning area B, it sets the protection area A to the first area A1 (step S120). Next, the CPU 59a determines whether or not there is an interfering object within the protection area A (first area A1) (step S130). If the CPU 59a determines that there is an interfering object within the protection area A (first area A1), it controls the loader moving device 51 to stop the movement of the loader 50 (emergency stop) (step S140), and returns to step S110. When the CPU 59a determines in step S130 that there is no interfering object in the protection area A (first area A1), it determines whether or not an emergency stop is being performed (step S150), and if it determines that an emergency stop is being performed, it resumes movement (step S160). Note that if the CPU 59a determines that an emergency stop is not being performed, it is in movement, so it continues movement.

[0036] When the CPU 59a determines in step S110 that there is an obstruction within the warning area B, it sets the safety curtain SC and sets the protection area A to the second area A2 (step S170). This processing is performed to prevent the loader 50 from making an emergency stop before the work position when the loader 50 detects the tray feeder 80 or the reflow furnace 16 (front protrusion) as an obstruction in the protection area A (first area A1) when moving to the work position, in the case where the work position is specified near the tray feeder 80 or the reflow furnace 16, which are components (system components) of the component mounting system 10. When the tray feeder 80 is detected in the warning area B, the second area A2 is set to an area in which a part of the first area A1 is cut out to the size of the tray feeder 80 so that the tray feeder 80 will not be detected in the protection area A even if the loader 50 moves closer to the tray feeder 80. Furthermore, when the reflow furnace 16 (forward protrusion) is detected in the warning area B, the second area A2 is set as an area in which a part of the first area A1 is cut out to the size of the forward protrusion of the reflow furnace 16 so that the reflow furnace 16 will not be detected in the protection area A even if the loader 50 approaches the reflow furnace 16 further. Thus, in this embodiment, the second area A2 is set as an area in which a part of the first area A1 is cut out to a different size depending on the detection position in the warning area B. When the tray feeder 80 is detected in the warning area B, the safety curtain SC is set so that its effective range is between the light receiver 63 provided on the side of the loader main body 50a and the light projector 83 provided on the side of the tray feeder 80. In addition, when a reflow furnace 16 (forward protrusion) is detected in the warning area B, the safety curtain SC is set to have an effective range between the light receiver 63 and the light projector 17 provided on the side of the forward protrusion of the reflow furnace 16.

[0037] In this way, by changing the protection area A of the monitoring sensor 62 from the first area A1 to the second area A2, the loader 50 can move to the work position without detecting the tray feeder 80 or the reflow furnace 16 as an obstruction, even if the work position is near the tray feeder 80 or the reflow furnace 16. However, in this case, there is a blind spot between the loader 50 and the tray feeder 80 or between the loader 50 and the reflow furnace 16, and if another obstruction enters this blind spot, the loader 50 will not be able to detect the obstruction and may come into contact with the obstruction. Therefore, in this embodiment, by covering the blind spot created by changing the protection area A with a safety curtain SC, even if another obstruction enters there, the loader 50 will be able to detect the obstruction through the safety curtain SC.

[0038] Next, the CPU 59a determines whether or not there is an interfering object within the protection area A (second area A2) (step S180) and whether or not there is an interfering object within the safety curtain SC (step S190). In the processing of step S190, the presence or absence of an interfering object within the effective range is detected based on whether or not a light-receiving element included in the effective range among the multiple light-receiving elements of the light-receiver 63 receives light from the light-emitter. When the CPU 59a determines that there is an interfering object within the protection area A (second area A2) or the safety curtain SC, it controls the loader moving device 51 to stop the movement of the loader 50 (emergency stop) (step S200), and returns to step S110. If the CPU 59a determines in steps S180 and S190 that there is no obstruction in either the protection area A (second area A2) or the safety curtain SC, it determines whether or not an emergency stop is being performed (step S210), and if it determines that an emergency stop is being performed, it resumes traveling (step S220). Note that if the CPU 59a determines that an emergency stop is not being performed, the vehicle is moving, so it continues moving.

[0039] Here, even if a worker or the like is detected in the warning area B instead of a system component such as the tray feeder 80 with the light projector 83 or the reflow furnace 16 with the light projector 17, the CPU 59a sets the safety curtain SC and sets the protection area A to the second area A2 in step S170. In this case, even if the safety curtain SC is set, the light receiver 63 does not actually receive light from the light projectors 17 and 83, so the CPU 59a determines that there is an obstruction inside the safety curtain SC and stops the movement of the loader 50 (emergency stop). After bringing the loader 50 to an emergency stop, the CPU 59a returns to step S110. Therefore, when the worker leaves the warning area B and no interfering object is detected in the warning area B ("YES" in step S110), the CPU 59a cancels the setting of the safety curtain SC in step S120 and returns the protection area A to the first area A1. As a result, if no interfering object such as a worker is detected in the protection area A (first area A1), the movement of the loader 50 resumes.

[0040] Then, the CPU 59a acquires the movement position P from the position sensor 61 (step S230) and determines whether or not the work position has been reached based on the acquired movement position P (step S240). If the CPU 59a determines that the work position has not been reached, the process returns to step S110 and the loader 50 continues to move. On the other hand, if the CPU 59a determines that the work position has been reached, the CPU 59a controls the loader movement device 51 to stop the movement of the loader 50 (step S250), executes the above-mentioned work related to the work command (step S260), and ends the work processing.

[0041] 9 to 12 are explanatory diagrams showing the operation of the loader near the tray feeder 80. The illustrated example shows a case where the tray feeder 80 is installed in the component mounting apparatus 20C and the tape feeder 30 is transported from the feeder storage 70 to the component mounting apparatus 20B adjacent to the component mounting apparatus 20C. As shown in the figures, while the loader 50 is moving, the presence or absence of an obstruction is basically monitored by the protection area A (first area A1) and the warning area B (see FIG. 9). When the loader 50 detects the tray feeder 80 in the warning area B while moving to the work position, the protection area A is changed to a second area A2 in which a portion of the first area A1 is cut out so that the tray feeder 80 is not detected in the protection area A (see FIGS. 10 and 11). This makes it possible to avoid the tray feeder 80 being detected in the protection area A and causing the loader 50 to make an emergency stop. When the protection area A is changed to the second area A2, the area between the loader 50 and the tray feeder 80 becomes a blind spot in the protection area A, so the loader 50 monitors the blind spot using a safety curtain SC instead of the protection area A (see FIG. 12). Then, when the loader 50 arrives in front of the component mounting apparatus 20C, it performs work such as replacing or recovering the tape feeder 30.

[0042] 13 to 16 are explanatory diagrams showing the operation of a loader near a reflow furnace. The illustrated example shows a case where a tape feeder 30 is transported to a component mounting apparatus 20E in which a reflow furnace 16 is installed downstream. As shown in the figures, when the loader 50 moves near the reflow furnace 16, if the first area A1 is set in the protection area A, the loader 50 detects the forward protrusion of the reflow furnace 16 as an obstruction and makes an emergency stop. In this embodiment, when the loader 50 detects the forward protrusion of the reflow furnace 16 in the warning area B while moving to the operation position (see FIGS. 13 and 14), the loader 50 changes the protection area A to a second area A2 in which a portion of the first area A1 is cut out so that the forward protrusion is not detected in the protection area A (see FIG. 15). This makes it possible to avoid an emergency stop of the loader 50 caused by the reflow furnace 16 being detected in the protection area A. When the protection area A is changed to the second area A2, the area between the loader 50 and the reflow furnace 16 (forward protrusion) becomes a blind spot of the protection area A, so the loader 50 monitors the blind spot using a safety curtain SC instead of the protection area A (see FIG. 16). Then, when the loader 50 arrives in front of the component mounting apparatus 20E, it performs work such as replacing or recovering the tape feeder 30.

[0043] Here, the correspondence between the main elements of this embodiment and the main elements described in the claims will be explained. That is, in this embodiment, the loader main body 50a corresponds to the working device main body, the loader moving device 51 corresponds to the moving device, the monitoring sensor 62 corresponds to the detection unit, the light receiver 63 corresponds to the light receiver, the protection area A corresponds to the first detection range, the warning area B corresponds to the second detection range, the safety curtain SC corresponds to the third detection range, and the loader control device 59 corresponds to the control unit. Also, the component mounting devices 20A to 20E correspond to multiple mounting devices, and the light projectors 17 and 83 correspond to the light projectors.

[0044] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be embodied in various forms as long as they fall within the technical scope of the present disclosure.

[0045] For example, in the above-described embodiment, the working device of the present disclosure is applied to the loader 50, but it may also be applied to an automated guided vehicle (AVG).

[0046] As described above, the work apparatus disclosed herein includes a detector and a receiver on the work apparatus body. The detector has a first detection range and a second detection range that includes at least an area outside the first detection range in the direction of travel of the work apparatus body. The receiver is capable of receiving light from a projector attached to a member disposed on a path of movement of the work apparatus body, and has a third detection range between the projector and the receiver. When the detector does not detect an interfering object within the second detection range, the work apparatus sets the periphery of the work apparatus body as the first detection range. When the detector detects an interfering object within the first detection range, the work apparatus restricts the movement of the work apparatus body. On the other hand, when the detector detects an interfering object within the second detection range, the work apparatus sets the first detection range to a range around the work apparatus body that does not include the third detection range. When the detector detects an interfering object within the first detection range or the receiver detects an interfering object in the third detection range, the work apparatus restricts the movement of the work apparatus body. This makes it possible to perform work near members that are placed on the movement path of the work device body while monitoring the presence or absence of obstructions in the surrounding area through simple processing.

[0047] In the work device disclosed herein, when the detection unit detects an interfering object within the second detection range, the control unit may set the first detection range and the third detection range according to the detected position of the interfering object within the second detection range. In this way, even when multiple members of different sizes are installed on the movement path of the work device body, it is possible to approach these members while ensuring safety.

[0048] In the present disclosure, the embodiment is in the form of a work device, but it may also be in the form of a mounting system. [Industrial Applicability]

[0049] The present disclosure is applicable to the manufacturing industry for work devices, mounting systems, and the like. [Explanation of symbols]

[0050] 10 Component mounting system, 12 Printing device, 14 Printing inspection device, 16 Reflow oven, 17 Light projector, 18 Guide rail, 20, 20A, 20B, 20C, 20D, 20E Component mounting device, 21 Component supply unit, 22 Board transport device, 24 Head moving device, 24a Slider, 25 Head, 26 Mark camera, 27 Parts camera, 28 Nozzle stocker, 29 Mounting control device, 29a CPU, 29b ROM, 29c RAM, 29d Storage device, 30 Tape feeder, 32 Reel, 33 Tape feeding mechanism, 35 Connector, 39 Feeder control device, 40 Feeder table, 42 Slot, 45 Connector, 50 Loader, 50a Loader body, 51 Loader moving device, 52a X-axis motor, 52b Guide roller, 53 Feeder transfer device, 54 Clamp unit, 55 Y-axis slider, 55a Y-axis motor, 55b Y-axis guide rail, 59 loader control device, 59a CPU, 59b ROM, 59c RAM, 60 feeder storage, 61 position sensor, 62 monitoring sensor, 62a light-emitting unit, 62b light-receiving unit, 63 light-receiving unit, 70 feeder storage, 80 tray feeder, 83 light-emitting unit, 90 management device, 91 CPU, 92 ROM, 93 RAM, 94 storage device, 95 input device, 96 display, A protection area, A1 first area, A2 second area, B warning area, SC safety curtain.

Claims

1. A work apparatus that performs work on a mounting apparatus in a mounting line where a plurality of mounting apparatuses are lined up, A working device body, a moving device that moves the working device body; a detection unit provided on the work device body, the detection unit having a first detection range and a second detection range that includes at least an area outside the first detection range in the traveling direction of the work device body, and that detects the presence or absence of an interfering object within each of the first and second detection ranges; a light-receiver provided on the working device body and capable of receiving light from a light-emitter installed on a member provided on a movement path of the working device body, the light-receiver detecting the presence or absence of an interfering object based on a light-receiving state within a third detection range defined between the light-emitter and the light-receiver; a control unit that controls the movement device so that the work device main body moves, and when the detection unit does not detect an interfering object within the second detection area, sets the periphery of the work device main body as the first detection range, and restricts the movement of the work device main body when the detection unit detects an interfering object within the first detection range, and when the detection unit detects an interfering object within the second detection range, sets the range around the work device main body that does not include the third detection range as the first detection range, and restricts the movement of the work device main body when the detection unit detects an interfering object within the first detection range or the light receiver detects an interfering object within the third detection range; A working device comprising:

2. The working device according to claim 1, When an interfering object is detected within the second detection range by the detection unit, the control unit sets the first detection range and the third detection range according to a detected position of the interfering object within the second detection range. Working equipment.

3. A mounting line with multiple mounting devices, a working device that has a working device body and a moving device that moves the working device body and performs work on the mounting device; a floodlight attached to a member provided on a movement path of the working device body; Equipped with The working device is a detection unit provided on the work device body, the detection unit having a first detection range and a second detection range that includes at least an area outside the first detection range in the traveling direction of the work device body, and that detects the presence or absence of an interfering object within each of the first and second detection ranges; a light receiver provided in the working device body and capable of receiving light from the light transmitter, the light receiver detecting the presence or absence of an interfering object based on a light receiving state within a third detection range between the light transmitter and the light receiver; a control unit that controls the movement device so that the work device main body moves, and when the detection unit does not detect an interfering object within the second detection area, sets the periphery of the work device main body as the first detection range, and restricts the movement of the work device main body when the detection unit detects an interfering object within the first detection range, and when the detection unit detects an interfering object within the second detection range, sets the range around the work device main body that does not include the third detection range as the first detection range, and restricts the movement of the work device main body when the detection unit detects an interfering object within the first detection range or the light receiver detects an interfering object within the third detection range; An implementation system including:

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