Component supply system, control unit, component supply method, and program

Abstract

To shorten a time required for positioning a second table in a height direction.SOLUTION: A supply device 4 performs a work including at least one of a supply work and a recovery work. The supply work is a work of placing an article storage body 8 for storing an article used in a manufacturing step by a manufacturing facility 2, on a first table 32. The recovery work is a work of taking out the article storage body 8 after the article has been consumed from the first table 32. The supply device 4 has a storage rack 43 having one or more second tables 44 on which the article storage body 8 can be mounted, and a lifting device for lifting the storage rack 43. A control unit controls the lifting device so that the second table 44 as a work target is moved to the same height as the first table 32, on the basis of the height information of the storage rack 43 when the work is performed. The control unit 400 makes the supply device 4 execute the work, in a state in which the second table 44 as the work target is moved to the same height as the first table 32.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a component supply system, a control unit, a component supply method, and a program. More specifically, the present disclosure relates to a component supply system, a control unit, a component supply method, and a program that perform an operation including at least one of a collection operation and a supply operation of an item storage container that stores items. [Background technology]

[0002] Patent Document 1 discloses an article transport device that transports articles used in manufacturing equipment installed on a factory floor. The article transport device includes a base unit with wheels for traveling on the factory floor, a storage rack having a second table that holds an article container for storing articles, and a rack lifting device that raises and lowers the storage rack. The article transport device also includes a position detection unit that detects the vertical position of the storage rack, and a reference height detection unit that rises and falls together with the storage rack to detect a reference point set on the manufacturing equipment. The control unit of the article transport device operates the rack lifting device while the base unit is docked to the manufacturing equipment, and detects the reference point set on the manufacturing equipment with the reference height detection unit while changing the height of the reference height detection unit together with the rack lifting device. The control unit of the article transport device sets the position obtained by the position detection unit when the reference height detection unit detects the reference point as the reference height, and operates the rack lifting device based on the reference height to transfer the article container between the second table and the manufacturing equipment. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2022 / 104294 Summary of the Invention [Problem to be solved by the invention]

[0004] In the article transport device of Patent Document 1, the rack lifting device is operated with the base unit docked to the manufacturing equipment, and the reference height detection unit detects the reference point while moving the reference height detection unit together with the storage rack. Therefore, until the reference height detection unit detects the reference point, the storage rack must be moved slowly to avoid missing the reference point, and it takes a long time to align the manufacturing equipment and the second table in the vertical direction.

[0005] An object of the present disclosure is to provide a component supply system, a control unit, a component supply method, and a program that can reduce the time required to align the second table in the height direction. [Means for solving the problem]

[0006] A component supply system according to one aspect of the present disclosure includes a supply device and a control unit for controlling the supply device. The supply device performs at least one of a supply operation and a retrieval operation. The supply operation involves placing an item container containing items to be used in a manufacturing process by a manufacturing facility on a first table provided in the manufacturing facility for the transfer of the item container. The retrieval operation involves removing the item container from the first table after the items placed on the first table have been consumed. The supply device includes a storage rack having one or more second tables on which the item containers can be placed, and an elevator device for raising and lowering the storage rack. The control unit controls the elevator device to move a second table selected from the one or more second tables to the same height as the first table, based on height information acquired from a memory unit that stores height information about the storage rack when the operation is performed. The control unit then causes the supply device to perform the operation while the second table is moved to the same height as the first table.

[0007] A control unit according to one embodiment of the present disclosure includes a control unit for controlling a supply device and an acquisition unit. The supply device performs an operation including at least one of a supplying operation and a retrieving operation. The supplying operation is an operation of placing an item container containing items to be used in a manufacturing process by a manufacturing facility on a first table provided in the manufacturing facility for the transfer of the item container. The retrieving operation is an operation of removing the item container from the first table after the items placed on the first table have been consumed. The supply device includes a storage rack having one or more second tables on which the item container can be placed, and an elevator device for raising and lowering the storage rack. The acquisition unit acquires height information from a memory unit that stores height information about the storage rack when the operation is performed. The control unit controls the elevator device based on the height information acquired by the acquisition unit to move a second table selected from the one or more second tables to the same height as the first table. The control unit then causes the supply device to perform the operation with the second table selected from the one or more second tables moved to the same height as the first table.

[0008] An item supply method according to one aspect of the present disclosure is a component supply method in which a supply device performs at least one of a supply operation and a retrieval operation. The supply operation is an operation of placing an item container containing items to be used in a manufacturing process by a manufacturing facility on a first table provided in the manufacturing facility for the transfer of the item container. The retrieval operation is an operation of removing the item container from the first table after the items placed on the first table have been consumed. The supply device includes a storage rack having one or more second tables on which the item container can be placed, and an elevator device that raises and lowers the storage rack. The component supply method includes an acquisition step, an elevator control step, and an operation execution step. In the acquisition step, height information is acquired from a memory unit that stores height information about the storage rack when the operation is performed. In the elevator control step, the elevator device is controlled based on the height information acquired in the acquisition step so that a second table selected from the one or more second tables as a target for the operation is moved to the same height as the first table. In the work execution step, the work is executed in a state in which the second table to be worked on is moved to the same height as the first table.

[0009] A program according to one aspect of the present disclosure is a program for causing a computer system to execute the component supply method. [Effects of the Invention]

[0010] According to the present disclosure, it is possible to reduce the time required to align the second table in the height direction. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic system configuration diagram of a component supply system according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a side view showing a state in which a supplying device included in the component supply system performs a retrieval operation of retrieving an item storage body from a component stock device. [Figure 3]FIG. 3 is a side view showing a state in which the supplying device performs a supplying operation of putting an article container into the parts stock device. [Figure 4] FIG. 4 is a flowchart illustrating the operation of the above-mentioned component supply system. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, a component supply system according to an embodiment will be described in detail with reference to the drawings. However, each diagram described in the following embodiment is a schematic diagram, and the dimensional ratios of the sizes of the components do not necessarily reflect the actual dimensional ratios. Furthermore, the configurations described in the following embodiment are merely examples of the present disclosure. The present disclosure is not limited to the following embodiment, and various modifications are possible depending on the design, etc., as long as the effects of the present disclosure can be achieved.

[0013] (Embodiment) (1) Overview The component supply system 1 according to this embodiment includes a supply device 4 and a control unit 400 that controls the supply device 4, as shown in FIGS.

[0014] The replenishing device 4 performs operations including at least one of a supply operation and a recovery operation. The supply operation is an operation of placing an item storage body 8, which stores items to be used in the manufacturing process by the manufacturing equipment 2, on a first table 32 provided in the manufacturing equipment 2 for the transfer of the item storage body 8. The recovery operation is an operation of removing an item storage body 8, which has been placed on the first table 32 and from which the items have been consumed, from the first table 32.

[0015] The supply device 4 includes a storage rack 43 having one or more second tables 44 on which the article storage bodies 8 can be placed, and an elevator device 402 that raises and lowers the storage rack 43.

[0016] Based on the height information acquired from the memory unit 603, the control unit 400 controls the lifting device 402 so that the second table 44 to be worked on, selected from one or more second tables 44, moves to the same height as the first table 32. The memory unit 603 stores height information of the storage rack 43 when performing work (work including at least one of a supply work and a recovery work). The control unit 400 causes the supplying device 4 to perform the work in a state where the second table 44 to be worked on has moved to the same height as the first table 32.

[0017] Here, the manufacturing equipment 2 is installed in a facility such as a factory and used to manufacture products. The items used by the manufacturing equipment 2 in the manufacturing process are components and the like used to manufacture products. For example, if the manufacturing equipment 2 is a mounting device (a so-called mounter) that mounts electronic components on a circuit board, the components used by the manufacturing equipment 2 in the manufacturing process include electronic components such as IC chips, chip resistors, chip capacitors, and other chip-mounted components mounted on the board. The item storage body 8 is a container that stores the items used by the manufacturing equipment 2 in the manufacturing process. When the supply device 4 supplies plate-shaped trays 80 that store multiple items to the manufacturing equipment 8, the item storage body 8 may be the trays 80 themselves that store multiple components, or may be a box (a so-called magazine) that stores multiple trays 80 in a manner that allows them to be individually inserted and removed. In the following, an example will be described in which the item storage body 8 that stores items is a box that stores multiple trays 80.

[0018] Furthermore, the supplying work is the work of placing the item storage items 8 on the first table 32, but the replenishing device 4 may perform part of the supplying work of placing the item storage items 8 on the first table 32. The work performed by the replenishing device 4 may be, for example, the work of carrying the item storage items 8 to be placed on the first table 32 to the installation location of the manufacturing equipment 2 and providing it to the manufacturing equipment 2. In this case, the manufacturing equipment 2 places the item storage items 8 taken out from the replenishing device 4 on the first table 32, so the replenishing device 4 and the manufacturing equipment 2 perform the supplying work together. Note that the replenishing device 4 may perform all of the supplying work of placing the item storage items 8 on the first table 32.

[0019] Furthermore, the retrieval work is the work of removing the item storage items 8 placed on the first table 32 from the first table 32, but the supply device 4 may perform part of the retrieval work of removing the item storage items 8 from the first table 32. The work performed by the supply device 4 may also be the work of receiving the item storage items 8 placed on the first table 32 from the manufacturing equipment 2 and carrying them away. In this case, the manufacturing equipment 2 moves the item storage items 8 placed on the first table 32 to the supply device 4, so the supply device 4 and the manufacturing equipment 2 will perform the retrieval work together. Note that the supply device 4 may perform the entire retrieval work of removing the item storage items 8 placed on the first table 32 from the first table 32.

[0020] The first table 32 provided in the manufacturing equipment 2 is a place for placing the item storage units 8 supplied from the replenishing device 4 during a supply operation, or a place for placing the item storage units 8 to be collected by the replenishing device 4 during a collection operation. FIG. 2 shows a state in which an empty item storage unit 8 after items have been used in the manufacturing equipment 2 is placed on the first table 32. In this embodiment, the item storage unit 8 is a box that contains multiple trays 80, and an "empty item storage unit 8" is an item storage unit 8 that contains empty trays 80 after items have been used by the manufacturing equipment 2. Note that the "empty item storage unit 8" may also be an item storage unit 8 from which the trays 80 have been removed.

[0021] 2, the empty item storage unit 8 that the supply device 4 collects from the manufacturing equipment 2 is shown as item storage unit 8A, and the item storage unit 8 that the supply device 4 supplies to the manufacturing equipment 2 is shown as item storage unit 8B. In this case, the supply device 4 performs a collection operation of removing the item storage unit 8A from the first table 32, and then performs a supply operation of placing the item storage unit 8B containing items into the first table 32 (see FIG. 3). As a result, after the empty item storage unit 8A is removed from the first table 32 of the manufacturing equipment 2, the item storage unit 8B containing items is supplied to the first table 32 of the manufacturing equipment 2. Therefore, the manufacturing equipment 2 can manufacture products using the items stored in the item storage unit 8 supplied to the first table 32.

[0022] When the supplying device 4 performs a retrieval or supplying operation on the manufacturing equipment 2, it moves the target second table 44 among one or more second tables 44 to the same height as the first table 32 and then transfers the item storage unit 8. The target second table 44 is the second table 44 on which the item storage unit 8 retrieved by the retrieval operation is placed in the retrieval operation, and the target second table 44 is the second table 44 on which the item storage unit 8 to be supplied to the manufacturing equipment 2 is placed in the supplying operation. Here, the control unit 400 controls the lifting device 402 to move the target second table 44 to the same height as the first table 32 based on the height information acquired from the memory unit 603. In this case, the control unit 400 can move the second table 44 to the same height as the first table 32 more quickly than when the control unit 400 moves the second table 44 using the lifting device 402 while searching for the position of the first table 32 using a sensor or the like. Therefore, the component supplying system 1 of this embodiment can shorten the time required to align the second table 44 in the height direction.

[0023] (2) Details The component supply system 1 according to this embodiment will be described in detail below with reference to FIGS.

[0024] (2.1) Configuration As described above, the component supply system 1 includes the supply device 4 and the control unit 400. The component supply system 1 may further include a manufacturing facility 2. The component supply system 1 may further include a transport robot 5. The transport robot 5 is connectable to the supply device 4 and transports the supply device 4 while connected to the supply device 4. The component supply system 1 may further include a management system 6 that can communicate with the control unit 400. The management system 6 manages the operations of the supply device 4 and the transport robot 5. The component supply system 1 may further include a host system 7 that manages the overall manufacturing plan for the product by the manufacturing facility 2. The manufacturing facility 2, the transport robot 5, the management system 6, and the host system 7 are not essential components of the component supply system 1 and may be omitted as appropriate.

[0025] Below, we will explain each of the manufacturing equipment 2, supply device 4, transport robot 5, management system 6, and upper system 7 that are provided in the parts supply system 1. Note that while there is one manufacturing equipment 2 in Fig. 1, there may be multiple manufacturing equipment 2. Also, while there is one supply device 4 and one transport robot 5 in Fig. 1, there may be multiple supply devices 4 and multiple transport robots 5.

[0026] In the following description, the vertically downward direction is defined as "down" and the opposite direction as "up" when the manufacturing equipment 2 is installed on the moving surface G1 on which the transport robot 5 travels. In addition, in the following description, when the supply device 4 transported by the transport robot 5 and the manufacturing equipment 2 are facing each other as shown in Figures 2 and 3, the direction in which the manufacturing equipment 2 is located as viewed from the supply device 4 is defined as "front" and the direction in which the manufacturing equipment 2 is located as viewed from the supply device 4 is defined as "rear."

[0027] (2.1.1) Manufacturing equipment The manufacturing facility 2 is, for example, a component mounting system that mounts electronic components on a circuit board.

[0028] The manufacturing facility 2 includes a mounting device (so-called mounter) 3D that mounts electronic components on a circuit board, and a component supply unit 3A that supplies components to the mounting device 3D.

[0029] The component supply unit 3A includes a component supply device 3B and a component stock device 3C.

[0030] The parts stock device 3C transfers the item storage body 8 to the supply device 4. When the supply device 4 transported by the transport robot 5 is connected to the parts stock device 3C via a connector, the item storage body 8 can be transferred between the parts stock device 3C and the supply device 4.

[0031] The parts stock device 3C has a metal main body 31. The main body 31 is provided with a first table 32 on which the item storage body 8 to be transferred to and from the supply device 4 is placed, and a storage area 33 in which multiple trays 80 removed from the item storage body 8 are arranged vertically.

[0032] 1, the parts stock device 3C includes a control unit 300, a communication unit 301, and an in-and-out device 302. When the supply device 4 transported by the transport robot 5 is connected to the parts stock device 3C, the item storage body 8 is transferred between the parts stock device 3C and the supply device 4.

[0033] The communication unit 301 is in a state where it can communicate with the communication unit 401 of the supply device 4 when the parts stock device 3C and the supply device 4 are connected.

[0034] The control unit 300 mainly comprises, for example, a computer system having one or more processors and a memory. The functions of the control unit 300 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded and provided on a non-transitory recording medium such as a memory card. When the communication unit 301 receives a work instruction regarding the delivery work from the replenishment device 4, the control unit 300 controls the storage / retrieval device 302 to execute the delivery work.

[0035] The storing / retrieving device 302 receives control instructions from the control unit 300 and performs a transfer operation. The storing / retrieving device 302 has, for example, a slide table provided on the first table 32 so as to be able to slide back and forth along a direction parallel to the upper surface of the first table 32. The storing / retrieving device 302 moves the item storage unit 8 placed on the first table 32 to the second table 44 of the supply device 4 by driving the slide table with, for example, an air cylinder or the like. The storing / retrieving device 302 also moves the item storage unit 8 placed on the second table 44 of the supply device 4 to the first table 32 by driving the slide table with an air cylinder or the like. The storing / retrieving device 302 also removes the tray 80 from the item storage unit 8 placed on the first table 32 and stores it in the storage area 33. The storage / retrieval device 302 also performs the work of removing trays 80 from the storage area 33 and supplying them to the component supply device 3B, and receiving empty trays 80 after components have been consumed from the component supply device 3B and storing them in the storage area 33. The storage / retrieval device 302 also performs the work of removing empty trays 80 stored in the storage area 33 and loading the empty trays 80 into the item storage body 8 placed on the first table 32.

[0036] Furthermore, in parts stock device 3C, a sign 34 with a slit 35 is attached to first table 32 at a location facing replenishing device 4. Sign 34 is provided in a position where photoelectric sensor 45 can detect its presence when second table 44, which is the object of work, is moved to the same height as first table 32. The surface of sign 34 is a mirror that totally reflects the light output from photoelectric sensor 45.

[0037] The component supply device 3B supplies the trays 80 supplied from the component stock device 3C to the manufacturing equipment 2. The component supply device 3B also receives empty trays 80 from the manufacturing equipment 2 after components have been consumed in the manufacturing process, and transfers the empty trays 80 to the component stock device 3C.

[0038] The manufacturing facility 2, for example, removes components from trays 80 supplied by component supply device 3B and mounts them on circuit boards. After mounting all of the components stored on trays 80, the manufacturing facility 2 returns the empty trays 80 to component supply device 3B and receives trays 80 containing components from component supply device 3B. The component supply device 3B receives trays 80 stored in component stock device 3C from component stock device 3C and supplies them to the manufacturing facility 2, thereby preventing the manufacturing facility 2 from running out of components. Therefore, the manufacturing facility 2 can continuously mount electronic components on circuit boards.

[0039] The operation of transferring the tray 80 between the component stock device 3C, the component supply device 3B, and the manufacturing facility 2 is an example, and can be changed as appropriate.

[0040] Furthermore, the component supply unit 3A is configured with the component stock device 3C and the component supply device 3B, but the component stock device 3C and the component supply device 3B may be configured as a single device.

[0041] (2.1.2) Supply device As shown in FIGS. 2 and 3, the supply device 4 includes a base portion 40 having wheels 41 attached to the bottom thereof, and a part replacement unit 42 provided on the upper side of the base portion 40.

[0042] The component replacement unit 42 includes a storage rack 43 having two second tables 44, and an elevator device 402 for vertically moving (raising or lowering) the storage rack 43. The two second tables 44 are arranged one above the other. The upper second table 44 is a collection table 44A on which an item storage unit 8 collected from the component stock device 3C is placed during collection work. The lower second table 44 is a supply table 44B on which an item storage unit 8 to be placed in the component stock device 3C is placed during supply work. In this way, the storage rack 43 has multiple second tables 44. The multiple second tables 44 include a collection table 44A on which an item storage unit 8 removed from the first table 32 is placed, and a supply table 44B on which an item storage unit 8 to be placed on the first table 32 is placed.

[0043] The replenishing device 4 further includes a control unit 400, a communication unit 401, and a photoelectric sensor 45. In this embodiment, the replenishing device 4 includes the control unit 400.

[0044] When the supplying device 4 is coupled to the transport robot 5, the communication unit 401 is connected to the second communication unit 502 of the transport robot 5 via a wired communication path. The communication unit 401 has a communication function for communicating with the second communication unit 502 of the transport robot 5 via a serial communication method conforming to a communication protocol such as RS422 or RS485. Furthermore, when the connector of the supplying device 4 is connected to a connector of the parts stocking device 3C, the communication unit 401 is connected to the communication unit 301 of the parts stocking device 3C via a wired communication path. The communication unit 401 has a communication function for communicating with the communication unit 301 of the parts stocking device 3C via a serial communication method conforming to a communication protocol such as RS422 or RS485. Note that the communication unit 401 is not limited to a unit that communicates via a serial communication method, and may be a unit that communicates via a communication method conforming to a communication protocol such as TCP / IP.

[0045] The lifting device 402 receives a control command from the control unit 400 and moves (raises or lowers) the storage rack 43 in the vertical direction. The lifting device 402 includes, for example, a rack gear formed in the vertical direction on the surface of the storage rack 43, and a motor having a pinion gear on its output shaft that meshes with the rack gear. The control unit 400 controls the direction and amount of rotation of the motor, allowing the lifting device 402 to move the storage rack 43 to a desired height. Note that the lifting device 402 may also be one that raises and lowers the storage rack 43 using an actuator such as a cylinder, and the configuration of the lifting device 402 can be modified as appropriate.

[0046] The photoelectric sensor 45 is a photoelectric sensor for detecting the presence or absence of the marker 34 provided on the parts stock device 3C, and is provided on the storage rack 43. The photoelectric sensor 45 is attached to the second table 44. More specifically, when the replenishing device 4 is connected to the parts stock device 3C, the photoelectric sensor 45 is attached to the end (front end) of the second table 44 that faces the parts stock device 3C. In this embodiment, one photoelectric sensor 45 is attached to each of the two second tables 44 (the recovery table 44A and the supply table 44B). Hereinafter, the photoelectric sensor 45 attached to the recovery table 44A may be referred to as a recovery photoelectric sensor 45A, and the photoelectric sensor 45 attached to the supply table 44B may be referred to as a supply photoelectric sensor 45B.

[0047] The photoelectric sensor 45 has a light-emitting element such as an LED that emits light and a light-receiving element such as a photodiode that receives light. When the light emitted by the light-emitting element of the photoelectric sensor 45 is reflected by an object, the reflected light from the object is received by the light-receiving element. Therefore, the photoelectric sensor 45 detects whether an object is present in front of the photoelectric sensor 45 based on whether the light-receiving element receives the reflected light. The sign unit 34 provided on the parts stock device 3C has a slit 35. When light from the photoelectric sensor 45 hits a portion of the surface of the sign unit 34 where the slit 35 is not provided, the light from the photoelectric sensor 45 is reflected by the sign unit 34 and enters the light-receiving element, causing the photoelectric sensor 45 to detect the presence of an object and output an object detection signal to the control unit 400. On the other hand, when light from photoelectric sensor 45 passes through slit 35 provided in sign unit 34, no reflected light is incident on the light receiving portion of photoelectric sensor 45, so photoelectric sensor 45 enters a state in which it has not detected an object and outputs an object non-detection signal to control unit 400. Here, sign unit 34 is installed so that slit 35 provided in sign unit 34 is positioned slightly below photoelectric sensor 45 when second table 44, which is the work target, is moved to the same height as first table 32.

[0048] The state in which second table 44 to be worked on has moved to the same height as first table 32 refers to a state in which the upper surfaces of second table 44 to be worked on and first table 32 are positioned at the same height. The state in which the upper surfaces of second table 44 to be worked on and first table 32 are at the same height may include a state in which there is an error of the order of a manufacturing error between the height of the upper surface of second table 44 to be worked on and the height of the upper surface of first table 32.

[0049] The control unit 400 mainly comprises a computer system having one or more processors and a memory. The functions of the control unit 400 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, provided via a telecommunications line such as the Internet, or provided by being recorded on a non-transitory recording medium such as a memory card. The control unit 400 has the functions of a control unit 403 and an acquisition unit 404. Note that the control unit 403 and the acquisition unit 404 merely indicate the functions realized by the control unit 400 and do not necessarily indicate actual configurations.

[0050] The acquiring unit 404 acquires height information from the memory unit 603 that stores height information of the storage rack 43 when work is performed. The acquiring unit 404 acquires height information of the storage rack 43 when work (collection work and supply work) is performed from the memory unit 603 of the management system 6 via the transfer robot 5. In this embodiment, when the transfer robot 5 is connected to the replenishment device 4, the communication unit 401 can communicate with the first communication unit 501 of the transfer robot 5. Since the transfer robot 5 can communicate with the management system 6, the communication unit 401 can communicate with the management system 6 via the transfer robot 5. The acquiring unit 404 acquires height information from the memory unit 603 of the management system 6 by the communication unit 401 communicating with the management system 6 via the transfer robot 5. Note that the memory unit 603 of the management system 6 stores height information associated with position information of the manufacturing equipment 2, so the acquiring unit 404 acquires height information associated with the position information of the manufacturing equipment 2 that is the target of work from the memory unit 603. In other words, the control unit 400 acquires the height information associated with the position information of the manufacturing equipment 2 to be worked on from the storage unit 603. The manufacturing equipment 2 to be worked on is the manufacturing equipment 2 on which the supply device 4 is to perform the collection or supply operation of the item storage body 8.

[0051] For example, when the communication unit 401 receives a work instruction from the management system 6, the control unit 403 controls the lifting device 402 based on the height information acquired by the acquisition unit 404 to move the second table 44, which is the target of the work, to the same height as the first table 32. In other words, when the control unit 400 receives a work instruction from the management system 6, it controls the lifting device 402 based on the height information to move the second table 44, which is the target of the work, to the same height as the first table 32. The height information includes information on the collection height H1 (see FIG. 2), which is the height of the storage rack 43 when the collection work is performed, and information on the supply height H2 (see FIG. 3), which is the height of the storage rack 43 when the supply work is performed, and therefore the control unit 403 controls the lifting device 402 to move the second table 44 to the position indicated by the height information.

[0052] The control unit 403 can also control the lifting device 402 to move (raise or lower) the second table 44 while the photoelectric sensor 45 detects the presence or absence of the marker 34. In this case, the control unit 403 controls the lifting device 402 by feeding back the detection result of the photoelectric sensor 45. Therefore, the movement speed of the second table 44 is slower than when the second table 44 (storage rack 42) is moved to the position indicated by the height information. In other words, in this embodiment, the control unit 403 controls the lifting device 402 based on the height information acquired by the acquisition unit 404, and moves the second table 44 (storage rack 42) to the position indicated by the height information. Therefore, the second table 44 can be moved faster than when the second table 44 (storage rack 42) is moved while feeding back the detection result of the photoelectric sensor 45. Therefore, in the component supply system 1 of this embodiment, the time required to align the second table 44 in the height direction can be reduced.

[0053] (2.1.3) Transport robot The transfer robot 5 is an autonomous mobile robot (AMR) used for transport work to transport the supply device 4 in, for example, a factory, but may also be an automatic guided vehicle (AGV) or the like. The transfer robot 5 moves by running on a moving surface G1, for example, on one or more wheels 51. The moving surface G1 is the surface on which the transfer robot 5 moves; when the transfer robot 5 moves within a facility such as a factory, the moving surface G1 is the floor of the facility, etc., and when the transfer robot 5 moves outdoors, the moving surface G1 is the ground, etc.

[0054] 1, the transport robot 5 includes a control unit 500, a first communication unit 501, a second communication unit 502, and a drive system 503. The transport robot 5 also includes a battery and operates on power stored in the battery. The transport robot 5 also includes a main body 50 that includes the control unit 500, the first communication unit 501, the second communication unit 502, and the drive system 503.

[0055] As shown in FIGS. 2 and 3 , the main body 50 is formed in a rectangular parallelepiped shape. A connecting portion 52 that can be connected to the supply device 4 is provided on the front surface of the main body 50 (the surface facing the supply device 4). The transfer robot 5 transfers the supply device 4 by traveling with the connecting portion 52 connected to the supply device 4. A setup work area is provided on the moving surface G1 where the supply device 4 performs setup work of removing an empty tray 80 from an item storage unit 8 collected from the manufacturing equipment 2 and loading the item storage unit 8 containing multiple trays 80 loaded with parts onto the supply device 4. The transfer robot 5 performs work such as transporting the supply device 4 loaded with an item storage unit 8 containing multiple trays 80 loaded with parts from the setup work area to an installation position of the manufacturing equipment 2. When the transfer robot 5 transports the supply device 4, the transfer robot 5 and the supply device 4 travel side by side in the direction of travel. For example, the transport robot 5 travels at the front, towing the supply device 4, or the transport robot 5 travels with the supply device 4 at the front, pushing the supply device 4 from behind. When connecting the supply device 4 to the manufacturing equipment 2, the supply device 4 is connected to the manufacturing equipment 2 by connecting the supply device 4 at the front, and the transport robot 5 travels with the supply device 4 pushing the supply device 4 from behind.

[0056] A plurality of wheels 51 are provided on the underside of the main body 50. The plurality of wheels 51 includes a plurality of drive wheels driven by a drive system 503 and a plurality of driven wheels, which are free-wheeling wheels whose rotation axes can rotate 360 ​​degrees in a plane parallel to the moving plane G1. The drive system 503 changes the rotation direction and rotation speed of the plurality of drive wheels based on a control command from the control unit 400, thereby allowing the transport robot 5 to travel in any direction.

[0057] The control unit 500 is mainly composed of a computer system having one or more processors and a memory. The functions of the control unit 500 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0058] The transport robot 5 is also equipped with a range sensor such as LiDAR (Light Detection and Ranging) that detects surrounding objects. The transport robot 5 is also equipped with a memory that stores electronic map data of the moving surface G1. The control unit 500 estimates the current position using the SLAM (Simultaneous Localization and Mapping) method that uses the range sensor, and controls the drive system 503 to move autonomously to the destination.

[0059] The first communication unit 501 communicates with the management system 6. The first communication unit 501 may communicate directly with the management system 6 or indirectly via a repeater or the like. In this embodiment, the first communication unit 501 communicates with the repeater or the management system 6 by wireless communication using radio waves as a medium. Here, wireless communication conforming to standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power radio (specified low-power radio) that does not require a communication license is adopted for communication between the repeater or the management system 6 and the first communication unit 501.

[0060] The second communication unit 502 is connected to the communication unit 401 of the supply device 4 via a wired communication path when the transport robot 5 is connected to the supply device 4. The second communication unit 502 has a communication function for communicating with the communication unit 401 of the supply device 4 using a serial communication method conforming to a communication protocol such as RS422 or RS485.

[0061] The transport robot 5 includes a first communication unit 501 capable of communicating with the management system 6 and a second communication unit 502 capable of communicating with the supply device 4. In this embodiment, the supply device 4 includes the control unit 400, and therefore the transport robot 5 can communicate with the management system 6 and the control unit 400.

[0062] (2.1.4) Management Systems The management system 6 manages the transport work of the replenishment device 4 performed by the transport robot 5. The management system 6 receives control commands for controlling the replenishment device 4 and the transport robot 5 based on the manufacturing plan from a host system 7 that manages the manufacturing plan by the manufacturing system. The management system 6 controls the transport work of the transport robot 5 and the replenishment work of the replenishment device 4 based on the control commands received from the host system 7.

[0063] The management system 6 includes a control unit 600 , a first communication unit 601 , a second communication unit 602 , and a storage unit 603 .

[0064] The first communication unit 601 communicates with the transport robot 5. The first communication unit 601 may communicate directly with the transport robot 5 or indirectly via a repeater or the like. In this embodiment, the first communication unit 601 communicates with the repeater or the management system 6 by wireless communication using radio waves as a medium. Here, wireless communication conforming to standards such as Wi-Fi, Bluetooth, ZigBee, or low-power radio (specified low-power radio) that does not require a communication license is adopted for communication between the repeater or the transport robot 5 and the first communication unit 601.

[0065] The second communication unit 602 communicates with the host system 7 via a wide area network (WAN) such as the Internet. The second communication unit 602 receives information related to the manufacturing plan from the host system 7, for example.

[0066] The storage unit 603 includes an electrically rewritable nonvolatile memory such as an EEPROM (Electrically Erasable and Programmable Read Only Memory). The storage unit 603 stores, for example, height information associated with position information regarding the installation position of the manufacturing equipment 2. The position information regarding the installation position of the manufacturing equipment 2 is, for example, coordinate information representing the installation position in a two-dimensional Cartesian coordinate system with a predetermined position on the moving plane G1 as the origin. The coordinate information includes an X coordinate Px and a Y coordinate Py of the installation position. The height information includes, for example, a collection height H1 (see FIG. 2) of the storage rack 43 when the collection table 44A has moved to the same height as the first table 32, and a supply height H2 (see FIG. 3) of the storage rack 43 when the supply table 44B has moved to the same height as the first table 32. When there are multiple pieces of manufacturing equipment 2, the storage unit 603 stores, for each of the multiple pieces of manufacturing equipment 2, coordinate information (X coordinate Px and Y coordinate Py) of the installation position of the manufacturing equipment 2 and height information (return height H1 and supply height H2) in association with each other. Each of the multiple pieces of manufacturing equipment 2 is assigned a serial number, and the storage unit 603 stores coordinate information and height information in association with each serial number of the multiple pieces of manufacturing equipment 2 (see Table 1). In other words, the storage unit 603 stores height information in association with coordinate information for each of the multiple pieces of manufacturing equipment 2. Note that for manufacturing equipment 2 for which height information is undetermined, only coordinate information (X coordinate Px and Y coordinate Py) is stored in association with the serial number of the manufacturing equipment 2, and the height information is a null value. In Table 1, the return height H1 and supply height H2 are displayed as "-" indicating that the return height H1 and supply height H2 are a null value.

[0067] [Table 1]

[0068] The control unit 600 is primarily configured as a computer system having one or more processors and memory. The functions of the control unit 600 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, provided via a telecommunications line such as the Internet, or provided by being recorded on a non-transitory recording medium such as a memory card. The control unit 600 has the functions of a work instruction unit 604 and a data management unit 605. Note that the work instruction unit 604 and the data management unit 605 merely indicate functions realized by the control unit 600 and do not necessarily indicate actual configurations.

[0069] The work instruction unit 604 generates a work instruction for causing the supply device 4 to perform a task (collection or supply task) based on the manufacturing plan or the like received by the second communication unit 602 from the higher-level system 7. That is, the management system 6 has the work instruction unit 604 that transmits a work instruction for causing the supply device 4 to perform a task to the control unit 400. The work instruction includes, for example, identification information assigned to the supply device 4 that performs the collection or supply task, current location information regarding the current location of the supply device 4, and location information regarding the installation location of the manufacturing equipment 2 on which the supply device 4 will perform the task. The work instruction unit 604 causes the first communication unit 601 to transmit a work instruction including the identification information and location information of the supply device 4 that performs the collection or supply task and the location information regarding the installation location of the manufacturing equipment 2 to the transfer robot 5. Based on the work instruction from the management system 6, the transfer robot 5 moves to the current location of the supply device 4, connects with the supply device 4, and transports the supply device 4 to the installation location of the manufacturing equipment 2 on which the task is to be performed. When the transport robot 5 is connected to the supply device 4, the second communication unit 502 and the communication unit 401 can communicate with each other. Thereafter, the transport robot 5 transports the supply device 4 to the installation position of the manufacturing equipment 2 to be worked on and connects the supply device 4 to the manufacturing equipment 2 to be worked on. The control unit 400 of the supply device 4 acquires height information from the memory unit 603 of the management system 6 via the transport robot 5 and performs a collection operation or a supply operation based on the height information. That is, when the transport robot 5 is connected to the supply device 4, the operation instruction unit 604 transmits an operation instruction to the control unit 400 via the transport robot 5, and the control unit 400 of the supply device 4 performs the operation based on the operation instruction.

[0070] The data management unit 605 updates the height information stored in the memory unit 603. If the collection height H1 or supply height H2 stored in the memory unit 603 differs from the actual height, the replenishment device 4 transmits the actual collection height H1 or supply height H2 to the management system 6 via the transfer robot 5. When the first communication unit 601 receives the actual collection height H1 or supply height H2 from the transfer robot 5, the data management unit 605 updates the value of the collection height H1 or supply height H2 stored in association with the position information of the manufacturing equipment 2 to be worked on. Also, if the collection height H1 or supply height H2 is not stored in the memory unit 603, the replenishment device 4 transmits the actual collection height H1 or supply height H2 to the management system 6 via the transfer robot 5. When the first communication unit 601 receives the actual collection height H1 or supply height H2 from the transfer robot 5, the data management unit 605 updates the value of the collection height H1 or supply height H2 stored in association with the position information of the manufacturing equipment 2 to be worked on.

[0071] (2.2) Operation explanation The operation of the component supply system 1 of this embodiment will be described with reference to Fig. 4 etc. Note that the flowchart shown in Fig. 4 is merely an example of a component supply method performed by the component supply system 1, and the order of processes may be changed as appropriate, and processes may be added or omitted as appropriate.

[0072] The work instruction unit 604 of the management system 6 creates a work instruction including the identification information and current location information of the supply device 4 to be transported and the location information of the manufacturing facility 2 to which the device is to be transported, based on the manufacturing plan or the like, and causes the first communication unit 601 to transmit the work instruction to the transport robot 5. When the first communication unit 501 of the transport robot 5 receives the work instruction from the management system 6, the control unit 500 transports the supply device 4 to be transported to the installation position of the manufacturing facility 2 based on the work instruction, and connects the supply device 4 to the parts stock device 3C (S1).

[0073] When the control unit 400 detects that the supply device 4 is connected to the parts stock device 3C because communication between the communication unit 401 and the communication unit 301 has become possible, the control unit 400 transmits a transmission request requesting transmission of height information from the communication unit 401 to the transfer robot 5. When the second communication unit 502 of the transfer robot 5 receives the transmission request from the supply device 4, the control unit 400 transmits a transmission request for the position information of the manufacturing equipment 2 and the height information from the first communication unit 501 to the management system 6. When the first communication unit 601 of the management system 6 receives the transmission request for the position information of the manufacturing equipment 2 and the height information from the transfer robot 5, the work instruction unit 604 acquires height information associated with the position information of the manufacturing equipment 2 from the storage unit 603 and transmits the acquired height information from the first communication unit 601 to the transfer robot 5. When the first communication unit 501 of the transfer robot 5 receives the height information from the work instruction unit 604, the control unit 500 controls the second communication unit 502 to transmit the height information to the supply device 4.

[0074] When the communication unit 401 of the supply device 4 receives the height information from the transport robot 5, the acquisition unit 404 of the control unit 400 acquires the height information received from the transport robot 5. When the acquisition unit 404 acquires the height information, the control unit 403 determines whether the height information is a null value (S2).

[0075] If the height information is not a null value (S2: No), the control unit 403 controls the lifting device 402 to move the storage rack 43 to the collection height H1 included in the height information (S3). Once the storage rack 43 has moved to the collection height H1, the control unit 403 determines whether or not the storage rack 43 has passed through the slit 35 of the sign unit 34 based on the detection result of the collection photoelectric sensor 45A provided on the collection table 44A (S4). If the control unit 403 receives an object detection signal from the collection photoelectric sensor 45A, followed by an object non-detection signal, and then receives an object detection signal again, it determines that the storage rack 43 has passed through the slit 35.

[0076] If it is detected in step S4 that the item has passed through the slit 35 of the label unit 34 (S4: Yes), the control unit 403 determines that the recovery table 44A has moved to the same height as the first table 32, and causes the storage / retrieval device 302 of the parts stock device 3C to perform the task of recovering the item storage item 8 (S5). In the parts stock device 3C, the storage / retrieval device 302 performs the task of moving the empty item storage item 8A placed on the first table 32 to the recovery table 44A.

[0077] When the storing / retrieving device 302 has completed its collection operation of the item storage bodies 8, the control unit 403 controls the lifting device 402 to move the storage rack 43 to the supply height H2 included in the height information (S6). When the storage rack 43 has moved to the supply height H2, the control unit 403 determines whether or not the storage rack 43 has passed through the slit 35 of the sign unit 34 based on the detection result of the supply photoelectric sensor 45B provided on the supply table 44B (S7). The control unit 403 determines that the storage rack 43 has passed through the slit 35 when it receives an object non-detection signal after receiving an object detection signal from the supply photoelectric sensor 45A, and then receives an object detection signal again.

[0078] If it is detected in step S7 that the item has passed through the slit 35 (S7: Yes), the control unit 403 determines that the supply table 44B has moved to the same height as the first table 32, and causes the storing / retrieving device 302 of the parts stock device 3C to perform the task of supplying the item storage unit 8 (S8). In the parts stock device 3C, the storing / retrieving device 302 performs the task of moving the item storage unit 8B placed on the supply table 44B to the first table 32.

[0079] When the supply work by the loading / unloading device 302 is completed, the control unit 400 causes the communication unit 401 to send notification information notifying the completion of the work to the transport robot 5. When the second communication unit 502 of the transport robot 5 receives the notification information of the completion of the work from the replenishment device 4, the control unit 500 controls the drive system 503 to move the main body 50, thereby removing the replenishment device 4 from the manufacturing equipment 2 and transporting it to a predetermined waiting location. The control unit 500 also causes the first communication unit 501 to send notification information notifying that the work of the replenishment device 4 has been completed to the management system 6. The management system 6 can recognize that the work of the replenishment device 4 has been completed based on the notification information received from the replenishment device 4 via the transport robot 5.

[0080] If the height information is null in step S2 (S2: Yes), the control unit 400 adjusts the height of the recovery table 44A (i.e., the height of the storage rack 42) based on the detection result of the recovery photoelectric sensor 45A so that the height of the recovery table 44A matches the height of the first table 32 (S9). The control unit 400 controls the lifting device 402 to slowly lift the storage rack 43, while detecting whether the storage rack 43 has passed through the slit 35 of the sign unit 34 based on the detection result of the recovery photoelectric sensor 45A. When the control unit 400 detects that the storage rack 43 has passed through the slit 35 of the sign unit 34 based on the detection result of the recovery photoelectric sensor 45A, it controls the lifting device 402 to stop the storage rack 43. The control unit 400 stores the height of the storage rack 43 at this time in memory as the recovery height H1. Then, with the collecting table 44A moved to the same height as the first table 32, the control unit 403 causes the storing / retrieving device 302 of the parts stock device 3C to perform the work of collecting the item storage unit 8 (S10).

[0081] When the collection operation in step S10 is completed, the control unit 400 adjusts the height of the supply table 44B (i.e., the height of the storage rack 42) based on the detection result of the supply photoelectric sensor 45B so that the height of the supply table 44B matches the height of the first table 32 (S11). The control unit 400 controls the lifting device 402 to slowly lift the storage rack 43, while detecting whether the storage rack 43 has passed the slit 35 of the sign unit 34 based on the detection result of the supply photoelectric sensor 45B. When the control unit 400 detects that the slit 35 of the sign unit 34 has been detected based on the detection result of the supply photoelectric sensor 45B, it controls the lifting device 402 to stop the storage rack 43. The control unit 400 stores the height of the storage rack 43 at this time in memory as the supply height H2. Then, with the supply table 44B moved to the same height as the first table 32, the control unit 403 causes the storage / retrieval device 302 of the parts stock device 3C to perform the supply work of the item storage container 8 (S12).

[0082] When the supply work in step S12 is completed, the control unit 400 causes the communication unit 401 to transmit the position information of the manufacturing equipment 2 and the information on the recovery height H1 and the supply height H2 to the management system 6 via the transfer robot 5. When the first communication unit 601 of the management system 6 receives the position information of the manufacturing equipment 2 and the information on the recovery height H1 and the supply height H2 via the transfer robot 5, the data management unit 605 registers the information on the recovery height H1 and the supply height H2 in the storage unit 603 in association with the position information of the manufacturing equipment 2. As a result, if the information on the recovery height H1 and the supply height H2 has not been registered in association with the position information of the manufacturing equipment 2, the information on the recovery height H1 and the supply height H2 can be stored in the storage unit 603 in association with the position information of the manufacturing equipment 2.

[0083] Furthermore, when the supply work by the loading / unloading device 302 is completed, the control unit 400 causes the communication unit 401 to send notification information notifying the completion of the work to the transport robot 5. When the second communication unit 502 of the transport robot 5 receives the notification information of the completion of the work from the replenishment device 4, the control unit 500 controls the drive system 503 to move the main body 50, thereby removing the replenishment device 4 from the manufacturing equipment 2 and transporting it to a predetermined waiting location. Furthermore, the control unit 500 causes the first communication unit 501 to send notification information notifying that the work of the replenishment device 4 has been completed to the management system 6. The management system 6 can recognize that the work of the replenishment device 4 has been completed based on the notification information received from the replenishment device 4 via the transport robot 5.

[0084] Meanwhile, if it is not detected in step S4 that the storage rack 43 has passed through the slit 35 of the sign section 34 (S4: No), the control unit 400 determines that the height of the recovery table 44A does not match the height of the first table 32. In this case, the control unit 400 performs an operation to adjust the height of the recovery table 44A (i.e., the height of the storage rack 42) based on the detection result of the recovery photoelectric sensor 45A so that the height of the recovery table 44A matches the height of the first table 32 (S9). The control unit 400 controls the lifting device 402 to move (raise or lower) the storage rack 43 at a low speed, while detecting whether the storage rack 43 has passed through the slit 35 of the sign section 34 based on the detection result of the recovery photoelectric sensor 45A. When the control unit 400 detects that the slit 35 of the sign portion 34 has been detected based on the detection result of the recovery photoelectric sensor 45A, it stops the storage rack 43 at that position and then causes the inventory entry / exit device 302 of the parts stock device 3C to perform the recovery operation (S10). The processing from step S10 onwards is as described above, so its description will be omitted.

[0085] Furthermore, if the control unit 400 does not detect that the storage rack 43 has passed through the slit 35 of the marker unit 34 in step S7 (S7: No), the control unit 400 determines that the height of the supply table 44B does not match the height of the first table 32. In this case, the control unit 400 adjusts the height of the supply table 44B (i.e., the height of the storage rack 42) based on the detection result of the supply photoelectric sensor 45B so that the height of the supply table 44B matches the height of the first table 32 (S11). The control unit 400 controls the lifting device 402 to move (raise or lower) the storage rack 43 at a low speed, while detecting whether the storage rack 43 has passed through the slit 35 of the marker unit 34 based on the detection result of the supply photoelectric sensor 45B. When the control unit 400 detects that the storage rack 43 has passed through the slit 35 of the marker unit 34 based on the detection result of the supply photoelectric sensor 45B, the control unit 400 stops the storage rack 43 at that position and then executes the supply operation (S12). The processing from step S12 onwards is as described above, and therefore the description thereof will be omitted.

[0086] As described above, when performing a collection operation, the control unit 400 controls the lifting device 402 so that the collection table 44A moves to the same height as the first table 32, and then causes the supplying device 4 to perform the collection operation. When performing a supplying operation, the control unit 400 controls the lifting device 402 so that the supplying table 44B moves to the same height as the first table 32, and then causes the supplying device 4 to perform the supplying operation. Therefore, in this embodiment, one supplying device 4 can perform both the collection operation and the supplying operation.

[0087] Furthermore, when the photoelectric sensor 45 does not detect the presence of the marker 34 in a state where the lifting device 402 has moved the second table 44 to the same height as the first table 32, the control unit 400 controls the lifting device 402 to raise or lower the storage rack 43 and stops the storage rack 43 at a position where the photoelectric sensor 45 detects the presence of the marker 34. The state where the photoelectric sensor 45 detects the presence of the marker 34 may include a state where the photoelectric sensor 45 detects a portion of the marker 34 where no slit 35 is provided, and a state where the photoelectric sensor 45 detects that light emitted from the photoelectric sensor 45 has passed through the slit 35 provided in the marker 34. When the height information stored in the memory unit 603 differs from the actual height, even if the control unit 400 controls the lifting device 402 to move the second table 44 to the same height as the first table 32 based on the height information, the photoelectric sensor 45 may not be able to detect the presence of the marker 34. In this case, the control unit 400 controls the lifting device 402 to raise and lower the storage rack 43, and stops the storage rack 43 at a position where the photoelectric sensor 45 detects the presence of the sign portion 34 (i.e., the position where it has passed through the slit 45), so that the collection or supply work can be performed with the second table 44, which is the work target, moved to the same height as the first table 32.

[0088] Then, when the control unit 400 controls the lifting device 402 to raise and lower the storage rack 43 and stops the storage rack 43 at a position where the photoelectric sensor 45 detects the presence of the sign 34, the data management unit 605 stores the height of the storage rack 43 when the photoelectric sensor 45 detects the presence of the sign 34 as height information in the memory unit 603. This allows the data management unit 605 to update the height information stored in the memory unit 603 to the actual value.

[0089] (3) Variations The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. Hereinafter, the above embodiment may also be referred to as a basic configuration.

[0090] The same function as the component supply system 1 may be embodied as a component supply method, a computer program, or a non-transitory recording medium on which the program is recorded. One aspect of the component supply method is a component supply method in which a supply device 4 performs operations including at least one of a supply operation and a retrieval operation. The supply operation is an operation of placing an item storage container 8, which stores items to be used in the manufacturing process of the manufacturing equipment 2, on a first table 32 provided in the manufacturing equipment 2 for the purpose of transferring the item storage container 8. The retrieval operation is an operation of removing an item storage container 8, which has been placed on the first table 32 after the items have been consumed, from the first table 32. The supply device 4 includes a storage rack 43 having one or more second tables 44 on which the item storage container 8 can be placed, and an elevator 402 that raises and lowers the storage rack 43. The component supply method includes an acquisition step, an elevator control step, and an operation execution step. The acquisition step acquires height information from a memory unit 603 that stores height information of the storage rack 43 when the operation is performed. In the lifting control step, the lifting device 402 is controlled based on the height information acquired in the acquisition step so that the second table 44 to be worked on, selected from one or more second tables 44, moves to the same height as the first table 32. In the work execution step, the work is executed in a state in which the second table 44 to be worked on has moved to the same height as the first table 32. A (computer) program according to one aspect is a program for causing a computer system to execute a component supply method.

[0091] The following are examples of modifications of the above embodiment. The basic configuration and modifications described above, and the modifications themselves, can be combined as appropriate and applied.

[0092] The executing entity of the component supply system 1 or the component supply method of the present disclosure includes a computer system. The computer system is primarily composed of a processor and memory as hardware. The processor executes a program stored in the memory of the computer system to realize the functions of the executing entity of the component supply system 1 or the component supply method of the present disclosure. The program may be pre-stored in the memory of the computer system, provided via a telecommunications line, or provided in a non-transitory recording medium readable by the computer system, such as a memory card, optical disk, or hard disk drive. The processor of the computer system is composed of one or more electronic circuits, including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs and LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integrations (VLSIs), or ultra-large-scale integrations (ULSIs). Furthermore, field-programmable gate arrays (FPGAs), which are programmable after the LSI is manufactured, or logic devices capable of reconfiguring the connections within the LSI or the circuit partitions within the LSI, can also be used as processors. The electronic circuits may be integrated into one chip or distributed across multiple chips. The chips may be integrated into one device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0093] Furthermore, it is not essential for the component supply system 1 that multiple functions are concentrated in one housing, and the components of the component supply system 1 may be distributed across multiple housings. Furthermore, at least some of the functions of the component supply system 1 may be realized by the cloud (cloud computing) or the like.

[0094] Conversely, in the first embodiment, at least some of the functions of the component supply system 1 that are distributed among multiple devices may be integrated into one housing.

[0095] In the above embodiment, the replenishing device 4 includes one collection table 44A and one supply table 44B, but may include a plurality of collection tables 44A and supply tables 44B. Furthermore, the replenishing device 4 may include only one of the collection table 44A and the supply table 44B.

[0096] In the above embodiment, the supply device 4 has the function of the control unit 400, but the transport robot 5 may also have the function of the control unit 400. When the transport robot 5 has the function of the control unit 400, the control unit included in the transport robot may control the lifting device 402 of the supply device 4 while the transport robot 5 is connected to the supply device 4.

[0097] In the above embodiment, the height information is stored in the memory unit 603 of the management system 6 in association with the position information of the manufacturing equipment 2, but the height information may also be stored in the memory unit of the transport robot 5 in association with the position information of the manufacturing equipment 2.

[0098] Furthermore, in the above embodiment, the management system 6 and the host system 7 are configured as separate servers, but the management system 6 and the host system 7 may be configured as a single server.

[0099] (summary) The above-described embodiments and the like disclose the following aspects.

[0100] The component supply system (1) of the first aspect includes a supply device (4) and a control unit (400) that controls the supply device (4). The supply device (4) performs at least one of a supply operation and a recovery operation. The supply operation is an operation of placing an item storage container (8) that stores items used in the manufacturing process of a manufacturing facility (2) on a first table (32) provided in the manufacturing facility (2) for the transfer of the item storage container (8). The recovery operation is an operation of removing an item storage container (8) from the first table (32) after the items placed on the first table (32) have been consumed. The supply device (4) includes a storage rack (43) having one or more second tables (44) on which the item storage container (8) can be placed, and an elevator (402) that raises and lowers the storage rack (43). The control unit (400) controls the lifting device (402) based on height information acquired from a memory unit (603) that stores height information of the storage rack (43) when work is performed, so that the second table (44) to be worked on, selected from one or more second tables (44), moves to the same height as the first table (32). The control unit (400) causes the supply device (4) to perform work in a state in which the second table (44) to be worked on has moved to the same height as the first table (32).

[0101] According to this aspect, when the supplying device 4 performs a retrieval or supplying operation on the manufacturing equipment 2, it moves the target second table 44, among the one or more second tables 44, to the same height as the first table 32 before transferring the item storage unit 8. The control unit 400 controls the lifting device 402 to move the target second table 44 to the same height as the first table 32 based on the height information acquired from the storage unit 603. In this case, the control unit 400 can move the second table 44 to the same height as the first table 32 more quickly than when the control unit 400 moves the second table 44 using the lifting device 402 while searching for the position of the first table 32 using a sensor or the like. Therefore, the component supplying system 1 of this aspect can shorten the time required to align the second table 44 in the height direction.

[0102] The component supply system (1) of the second aspect is the same as that of the first aspect, but further includes a management system (6) capable of communicating with the control unit (400). The management system (6) has a work instruction section (604) that transmits a work instruction to the control unit (400) to cause the supply device (4) to perform a work. Upon receiving the work instruction from the management system (6), the control unit (400) controls the lifting device (402) based on the height information so that the second table (44), which is the work target, moves to the same height as the first table (32).

[0103] According to this aspect, the control unit (400) can receive a work instruction from the management system (6) and perform a work including at least one of a collection work and a supply work.

[0104] The component supply system (1) of the third aspect is the same as that of the second aspect, but further includes a transport robot (5) that can be connected to the supply device (4) and transports the supply device (4) while connected to the supply device (4). The supply device (4) has a control unit (400). The transport robot (5) can communicate with the management system (6) and the control unit (400). With the transport robot (5) connected to the supply device (4), a work instruction unit (604) transmits a work instruction to the control unit (400) via the transport robot (5).

[0105] According to this embodiment, the work instruction unit (604) transmits a work instruction to the control unit (400) via the transport robot (5) while the transport robot (5) is connected to the supply device (4). Therefore, the supply device (4) does not need to be provided with a communication function that enables direct communication with the management system (6), and the manufacturing cost of the supply device (4) can be reduced.

[0106] In the component supply system (1) of the fourth aspect, in the third aspect, the storage unit (603) stores height information in association with position information on the installation position of the manufacturing equipment (2). The control unit (400) acquires the height information associated with the position information of the manufacturing equipment (2) to be worked on from the storage unit (603).

[0107] According to this aspect, the height information is stored in the storage unit 603 in association with the position information regarding the installation position of the manufacturing equipment 2, and the control unit 400 can acquire the height information based on the position information of the manufacturing equipment 2. Therefore, the control unit 400 does not need to include a detection unit that detects identification information, etc., assigned to the manufacturing equipment 2 to be operated, thereby reducing the manufacturing cost of the component supply system 1.

[0108] In the component supply system (1) of the fifth aspect, a photoelectric sensor (45) that detects the presence or absence of a marker (34) provided on the first table (32) is provided on the storage rack (43) in the fourth aspect. The marker (34) is provided at a position where the photoelectric sensor (45) can detect its presence when the second table (44) to be worked on has moved to the same height as the first table (32). When the photoelectric sensor (45) does not detect the presence of the marker (34) when the lifting device (402) has moved the second table (44) to the same height as the first table (32), the control unit (400) controls the lifting device (402) to raise or lower the storage rack (43) and stops the storage rack (43) at a position where the photoelectric sensor (45) detects the presence of the marker (34).

[0109] According to this aspect, if the height information stored in the memory unit (603) differs from the actual height, even if the control unit (400) controls the lifting device (402) based on the height information to move the second table (44) to the same height as the first table (32), the photoelectric sensor (45) may not be able to detect the presence of the marker (34). In this case, the control unit (400) controls the lifting device (402) to raise or lower the storage rack (43) and stops the storage rack (43) at a position where the photoelectric sensor (45) detects the presence of the marker (34). Therefore, the collection or supply operation can be performed with the second table (44) to the same height as the first table (32).

[0110] In the component supply system (1) of the sixth aspect, in the fifth aspect, when the control unit (400) controls the lifting device (402) to lift and lower the storage rack (43) and stops the storage rack (43) at a position where the photoelectric sensor (45) detects the presence of the sign (34), the control unit (400) stores the height of the storage rack (43) at the time when the photoelectric sensor (45) detects the presence of the sign (34) as height information in the memory unit (603).

[0111] According to this aspect, the height information stored in the storage unit (603) can be updated.

[0112] In a seventh aspect of the component supply system (1), in any one of the first to sixth aspects, the storage rack (43) has a plurality of second tables (44). The plurality of second tables (44) include a recovery table (44A) on which the item storage unit (8) removed from the first table (32) is placed, and a supply table (44B) on which the item storage unit (8) to be placed on the first table (32) is placed. When performing a recovery operation, the control unit (400) controls the lifting device (402) so that the recovery table (44A) moves to the same height as the first table (32), and causes the supplying device (4) to perform the recovery operation. When performing a supply operation, the control unit (400) controls the lifting device (402) so that the supplying table (44B) moves to the same height as the first table (32), and causes the supplying device (4) to perform the supply operation.

[0113] According to this aspect, both the collection operation and the supply operation can be performed.

[0114] The control unit (400) of the eighth aspect includes a control unit (403) that controls the supply device (4) and an acquisition unit (404). The supply device (4) performs operations including at least one of a supply operation and a recovery operation. The supply operation is an operation of placing an item storage container (8) that stores items used in the manufacturing process of the manufacturing equipment (2) on a first table (32) provided in the manufacturing equipment (2) for the transfer of the item storage container (8). The recovery operation is an operation of removing an item storage container (8) that has been placed on the first table (32) after the items have been consumed from the first table (32). The supply device (4) includes a storage rack (43) having one or more second tables (44) on which the item storage container (8) can be placed, and an elevator (402) that raises and lowers the storage rack (43). The acquisition unit (404) acquires height information from a memory unit (603) that stores height information of the storage rack (43) when work is performed. The control unit (403) controls the lifting device (402) based on the height information acquired by the acquisition unit (404) so ​​that a second table (44) to be worked on, selected from one or more second tables (44), moves to the same height as the first table (32). The control unit (403) causes the supply device (4) to perform work in a state in which the second table (44) to be worked on has moved to the same height as the first table (32).

[0115] According to this aspect, when the supplying device 4 performs a collection or supply operation on the manufacturing equipment 2, it moves one of the one or more second tables 44 to the same height as the first table 32, and then transfers the container 8 to the manufacturing equipment 2. The control unit 403 controls the lifting device 402 to move the second table 44 to the same height as the first table 32, based on the height information acquired from the storage unit 603. In this case, the control unit 403 can move the second table 44 to the same height as the first table 32 more quickly than when the control unit 403 moves the second table 44 using the lifting device 402 while searching for the position of the first table 32 using a sensor or the like. Therefore, the control unit 400 of this aspect can shorten the time required to align the second table 44 in the height direction.

[0116] A ninth aspect of the component supply method is a component supply method performed by a supply device (4) that performs at least one of a supply operation and a collection operation. The supply operation is an operation of placing an item storage container (8) containing items used in a manufacturing process by a manufacturing facility (2) on a first table (32) provided in the manufacturing facility (2) for the purpose of transferring the item storage container (8). The collection operation is an operation of removing an item storage container (8) from the first table (32) after the items have been consumed. The supply device (4) includes a storage rack (43) having one or more second tables (44) on which the item storage container (8) can be placed, and an elevator (402) that raises and lowers the storage rack (43). The component supply method includes an acquisition step, an elevator control step, and an operation execution step. The acquisition step acquires height information from a memory unit (603) that stores height information of the storage rack (43) when the operation is performed. In the lifting control step, the lifting device (402) is controlled based on the height information acquired in the acquisition step so that the second table (44) to be worked on, selected from one or more second tables (44), moves to the same height as the first table (32). In the work execution step, the work is executed in a state in which the second table (44) to be worked on has moved to the same height as the first table (32).

[0117] According to this aspect, when the supplying device (4) performs a collection operation or a supply operation on the manufacturing equipment (2), it moves the target second table (44) among the one or more second tables (44) to the same height as the first table (32) and then transfers the item storage container (8). Here, in the lifting / lowering control step, the lifting device (402) is controlled to move the target second table (44) to the same height as the first table (32) based on the height information acquired from the storage unit (603). In this case, the second table (44) can be moved to the same height as the first table (32) more quickly than when the lifting device (402) moves the second table (44) while searching for the position of the first table (32) using a sensor or the like in the lifting / lowering control step. Therefore, the time required to align the second table (44) in the height direction can be shortened.

[0118] A program according to a tenth aspect is a program for causing a computer system to execute the component supply method according to the ninth aspect.

[0119] According to this aspect, similar to the ninth aspect, it is possible to reduce the time required to align the second table (44) in the height direction.

[0120] Not limited to the above aspects, various configurations (including modified examples) of the component supply system (1) according to the embodiment can be embodied as a component supply method, a (computer) program, or a non-transitory recording medium on which a program is recorded, etc.

[0121] The configurations according to the second to seventh aspects are not essential for the component supply system (1) and can be omitted as appropriate. [Explanation of symbols]

[0122] 1. Parts supply system 4 Supply device 5. Transport robot 6 Management System 8. Item storage unit 32 Table 1 34 Sign section 43 Storage Rack 44 Table 2 44A Retrieval Table 44B Supply Table 45 Photoelectric Sensor 400 Control Unit 402 Lifting device 403 Control Unit 404 Acquisition Department 603 Storage section 604 Work instruction department

Claims

1. a supply device that performs at least one of a supply operation of placing an item storage body that stores items used in a manufacturing process by a manufacturing facility on a first table provided in the manufacturing facility for the purpose of transferring the item storage body, and a recovery operation of removing the item storage body that has been placed on the first table from the first table after the items have been consumed; a control unit for controlling the replenishing device, The supply device is a storage rack having one or more second tables on which the item storage body can be placed; a lifting device for lifting and lowering the storage rack, The control unit controlling the lifting device so that a second table to be worked on, selected from the one or more second tables, moves to the same height as the first table, based on the height information acquired from a memory unit that stores height information of the storage rack when the work is performed; causing the supplying device to perform the work in a state in which the second table to be worked on is moved to the same height as the first table; Parts supply system.

2. a management system capable of communicating with the control unit; the management system includes a work instruction unit that transmits a work instruction to the control unit to cause the replenishment device to perform the work, When the control unit receives the work instruction from the management system, the control unit controls the lifting device based on the height information so that the second table of the work object moves to the same height as the first table. The parts supply system according to claim 1 .

3. a transport robot that can be connected to the supply device and transports the supply device while connected to the supply device, the replenishing device has the control unit; the transport robot is capable of communicating with the management system and the control unit; the work instruction unit transmits the work instruction to the control unit via the transport robot while the transport robot is connected to the supply device; The parts supply system according to claim 2 .

4. the storage unit stores the height information in association with position information relating to an installation position of the manufacturing equipment; the control unit acquires, from the storage unit, the height information associated with the position information of the manufacturing equipment that is the work target; The parts supply system according to claim 3 .

5. a photoelectric sensor for detecting the presence or absence of a sign provided on the first table is provided on the storage rack; the marking unit is provided at a position where the photoelectric sensor can detect the presence of the second table of the work object when the second table is moved to the same height as the first table, When the photoelectric sensor does not detect the presence of the sign portion in a state in which the lifting device has moved the second table of the work object to the same height as the first table, the control unit controls the lifting device to raise and lower the storage rack and stops the storage rack at a position where the photoelectric sensor detects the presence of the sign portion. The parts supply system according to claim 4 .

6. when the control unit controls the lifting device to lift and lower the storage rack and stops the storage rack at a position where the photoelectric sensor detects the presence of the sign, the control unit stores the height of the storage rack at the time the photoelectric sensor detects the presence of the sign as the height information in the memory unit. The parts supply system according to claim 5 .

7. the storage rack has a plurality of the second tables, the second tables include a collection table on which the item storage body removed from the first table is placed, and a supply table on which the item storage body to be placed on the first table is placed, The control unit When performing the recovery operation, the lifting device is controlled so that the recovery table is moved to the same height as the first table, and the supplying device is caused to perform the recovery operation. When the supplying operation is performed, the lifting device is controlled so that the supplying table is moved to the same height as the first table, and the replenishing device is caused to perform the supplying operation. The parts supply system according to claim 1 .

8. a control unit that controls a supply device that performs at least one of a supply operation of placing an item storage body that stores items used in a manufacturing process by a manufacturing facility on a first table provided in the manufacturing facility for the purpose of transferring the item storage body, and a recovery operation of removing the item storage body from the first table after the items placed on the first table have been consumed; an acquisition unit; The supply device is a storage rack having one or more second tables on which the item storage body can be placed; a lifting device for lifting and lowering the storage rack, the acquisition unit acquires the height information from a storage unit that stores height information of the storage rack when the work is performed, The control unit controlling the lifting device so that a second table to be worked on, selected from the one or more second tables, moves to the same height as the first table, based on the height information acquired by the acquisition unit; causing the supplying device to perform the work in a state in which the second table to be worked on is moved to the same height as the first table; Control unit.

9. A parts supply method in which a supply device performs at least one of a supply operation of placing an item container that stores items used in a manufacturing process by a manufacturing facility on a first table provided in the manufacturing facility for the purpose of transferring the item container, and a recovery operation of removing the item container that has been placed on the first table from the first table after the items have been consumed, The supply device is a storage rack having one or more second tables on which the item storage body can be placed; a lifting device for lifting and lowering the storage rack, The component supply method includes: an acquisition step of acquiring height information from a storage unit that stores height information of the storage rack when the work is performed; a lifting control step of controlling the lifting device based on the height information acquired in the acquisition step so that a second table to be worked on, selected from the one or more second tables, moves to the same height as the first table; a work execution step of performing the work in a state where the second table to be worked on is moved to the same height as the first table, Parts supply method.

10. In the computer system, To execute the component supply method according to claim 9, program.

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