Operation device

Abstract

To increase operation rates while ensuring safety.SOLUTION: An operation device performs work on a mounting device in a mounting line where multiple mounting devices are arranged side by side. The operation device includes a moving device that moves the operation device main body in a low-speed movement mode or a high-speed movement mode that is faster than the low-speed movement mode, a monitoring sensor that is provided on the operation device main body and detects the presence or absence of an interfering object within a monitoring area around the operation device, and a control device. When an interfering object is detected within the monitoring area, the control device controls the moving device by switching from the high-speed movement mode to the low-speed movement mode.SELECTED DRAWING: Figure 10

Description

[Technical Field]

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

[0002] Conventionally, a working machine that moves along an arrangement of multiple production machines that make up a production line has been proposed that is equipped with a monitoring unit that monitors whether a person has entered a surrounding monitoring area (see, for example, Patent Document 1). When the monitoring unit detects that a person or object has entered the monitoring area, this working machine performs an emergency stop by cutting off the power supply to the motor to avoid a collision. The monitoring unit continues to monitor for the entry of a person or object into the monitoring area even during the emergency stop, and when the working machine detects that a person or object has left the monitoring area, it resumes movement. The size of the monitoring area can be changed as desired by the user. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2020-119578 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-mentioned work device performs an emergency stop when a person or object enters the monitoring area, so if the monitoring area is widened, the device's operating rate drops and work efficiency deteriorates. On the other hand, if the monitoring area is narrowed by the user, the frequency of emergency stops can be reduced and the operating rate can be increased, but it becomes difficult to ensure safety.

[0005] A primary object of the present disclosure is to provide a work device that can increase the availability rate while ensuring safety. [Means for solving the problem]

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

[0007] The working device of the present disclosure is A work apparatus that performs work on a mounting apparatus in a mounting line in which a plurality of mounting apparatuses are arranged side by side, a moving device that moves the working device body in a low-speed moving mode or a high-speed moving mode that is faster than the low-speed moving mode; a monitoring sensor provided on the work device body, which detects whether or not there is an obstruction within a monitoring area around the work device; a control device that switches a movement mode of the mobile device from a high-speed movement mode to a low-speed movement mode when an interfering object is detected within the monitoring area; The gist of the project is to provide the following:

[0008] The work device disclosed herein has two travel modes: a low-speed mode for slow movement and a high-speed mode for fast movement. The work device is equipped with a monitoring sensor that detects the presence or absence of an obstruction within a monitoring area around the work device. When an obstruction is detected within the monitoring area, the travel mode of the mobile device is switched from the high-speed mode to the low-speed mode. By switching to the low-speed mode, it is possible to further increase the availability of the work device while ensuring safety. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic configuration diagram of a component mounting system. [Figure 2] FIG. 2 is a schematic configuration diagram of a component mounter and a feeder. [Figure 3] FIG. 2 is a schematic diagram of a feeder. [Figure 4] FIG. 2 is a schematic diagram of a loader. [Figure 5] FIG. 2 is a block diagram showing the electrical connection relationship of the component mounting system. [Figure 6] 4 is a flowchart illustrating an example of a work process executed by a loader control device. [Figure 7]FIG. 1 is an explanatory diagram showing monitoring areas (protection areas, warning areas) during a stoppage. [Figure 8] FIG. 1 is an explanatory diagram showing a monitoring area (protection area) during low-speed movement. [Figure 9] FIG. 1 is an explanatory diagram showing a monitoring area (protection area) during high-speed movement. [Figure 10] FIG. 10 is an explanatory diagram showing a state in which the loader starts moving in high-speed movement mode and moves to a work destination. [Figure 11] FIG. 10 is an explanatory diagram showing a state in which the loader starts moving in a low-speed movement mode and moves to a work destination. [Figure 12] FIG. 4 is an explanatory diagram showing the operation of a bumper sensor. DETAILED DESCRIPTION OF THE INVENTION

[0010] Next, embodiments of the present disclosure will be described with reference to the drawings.

[0011] FIG. 1 is a schematic diagram of a component mounting system. FIG. 2 is a schematic diagram of a component mounter and a feeder table. FIG. 3 is a schematic diagram of a feeder. FIG. 4 is a schematic diagram of a loader. FIG. 5 is a block diagram showing the electrical connection relationship of the component mounting system. In FIGS. 1, 2, and 4, the left-right direction is the X-axis direction, the front-back direction is the Y-axis direction, and the up-down direction is the Z-axis direction.

[0012] The component mounting system 10 produces boards S on which components are mounted, and as shown in FIG. 1, includes a printing device 12, a print inspection device 14, multiple (five) component mounters 20 (20A-20E), a mounting inspection device (not shown), a loader 50, multiple (two) feeder storage cabinets 70, and a management device 80 that manages the entire system. The printing device 12 prints solder on the surface of the board S. The print inspection device 14 inspects the condition of the solder printed by the printing device 12. The component mounters 20 pick up components supplied from the feeders 30 with suction nozzles (picking members) and mount them on the board S. The mounting inspection device inspects the mounting condition of the components mounted by the component mounters 20. The printing device 12, the print inspection device 14, the multiple component mounters 20, and the mounting inspection device are aligned in this order from upstream along the transport direction of the board S to form a mounting line (production line).

[0013] 2, the component mounter 20 includes a mount unit 21 on which a feeder 30 is mounted, a board transport device 22 that transports the board S in the X-axis direction, a head 25 that picks up components from the feeder 30 and mounts them on the board S, a head moving device 24 that moves the head 25 horizontally (in the X- and Y-axis directions), and a mounting control device 29 (see FIG. 5). Although not shown, the head 25 has a suction nozzle that picks up the components and an elevator device that raises and lowers the suction nozzle. The head moving device 24 has a slider 24a to which the head 25 is attached, and moves the slider 24a horizontally (in the X- and Y-axis directions) using, for example, a linear motor.

[0014] As shown in FIG. 3, feeder 30 is a cassette-type tape feeder and includes tape reel 32, tape feeding mechanism 33, connector 35, and feeder control device 39 (see FIG. 5). Tape containing components is wound around tape reel 32. The components are protected by a film covering the surface of the tape. Tape feeding mechanism 33 pulls out the tape from tape reel 32 and feeds it to the component supply position. The film is peeled off just before the component supply position, so that the components contained on the tape are exposed at the component supply position and are picked up by head 25 (suction nozzle). Feeder control device 39 is composed of a well-known CPU, ROM, RAM, etc., and outputs a drive signal to tape feeding mechanism 33 (feed motor).

[0015] The mounter 21 is provided on the front side (front section) of the mounter 20 and has two areas, upper and lower, where feeders 30 can be set. The upper area is a supply area 21A where the feeder 30 can supply components to a position (component supply position) from which the head 25 can pick up components, and the lower area is a buffer area 21B where the feeder 30 is temporarily stored. A feeder table 40 is installed in each of the areas 21A and 21B. As shown in FIG. 2, the feeder table 40 in each of the areas 21A and 21B has multiple slots 42 to which the feeders 30 can be attached and detached, and multiple connectors 45 that are electrically connected to the connectors 35 of the feeders 30 attached to the corresponding slots 42. The feeder 30 containing components to be used in the currently executed job is attached to the supply area 21A. The buffer area 21B is used to temporarily store feeders 30 containing components to be used in subsequent jobs, or to temporarily store used feeders 30.

[0016] The component mounter 20 also includes a mark camera 26 and a parts camera 27. The mark camera 26 captures an image of a reference mark attached to the board S from above in order to detect the position of the board S. The parts camera 27 captures an image of a component picked up by the suction nozzle from below in order to detect suction errors or suction deviations.

[0017] The mounting control device 29 is composed of a well-known CPU 29a, ROM 29b, HDD 29c, RAM 29d, etc. The mounting control device 29 inputs image signals from the mark camera 26 and the parts camera 27. The mounting control device 29 also outputs drive signals to the substrate transport device 22, the head 25, the head moving device 24, etc.

[0018] Furthermore, the mounting control device 29 is communicatively connected to a feeder control device 39 of the feeder 30 mounted on the feeder table 40 via connectors 35, 45. When the feeder 30 is mounted, the mounting control device 29 receives feeder information such as the feeder ID, component type, and remaining component count contained in the feeder control device 39 of the feeder 30 from the feeder control device 39. Furthermore, the mounting control device 29 transmits the received feeder information and the mounting position (slot number) where the feeder 30 is mounted to the management device 80.

[0019] The CPU 29a of the mounting control device 29 executes a mounting process for mounting a component on the board S. The CPU 29a controls the head moving device 24 to move the head 25 above the component supply position of the feeder 30. Next, the CPU 29a controls the elevator device to lower the suction nozzle so that the component is picked up by the suction nozzle. The CPU 29a controls the head moving device 24 to move the component picked up by the suction nozzle above the part camera 27, and the part camera 27 captures an image of the component. The CPU 29a processes the captured image of the component, measures the amount of suction deviation of the component, and corrects the mounting position of the component on the board S. The CPU 29a then controls the head moving device 24 to move the component picked up by the nozzle above the corrected mounting position, and controls the elevator device to lower the suction nozzle so that the component is mounted on the board S.

[0020] Each of the multiple feeder storages 70 is incorporated into the mounting line and serves as a storage location for temporarily storing multiple feeders 30. For example, one feeder storage 70 stores the feeders 30 scheduled for use by each component mounter 20, while the other feeder storage 70 stores the used feeders 30 that have been used by each component mounter 20. Replenishment of the feeders 30 scheduled for use in the feeder storage 70 and collection of used feeders 30 are performed by workers or automated guided vehicles (AGVs).

[0021] Each feeder storage 70 is provided with a feeder table equipped with a plurality of slots 42 and connectors 45 similar to the feeder table 40 of the component mounter 20. When a feeder 30 is attached to a connector 45 of the feeder storage 70, feeder information such as the feeder ID, component type, and remaining component count of the feeder 30, as well as the attachment position (slot number) where the feeder 30 is attached, are transmitted to the management device 80.

[0022] 1, the loader 50 moves along the front of the component mounting system 10 (mounting line), taking out feeders 30 to be used from the feeder storage 70 and supplying them to each component mounter 20, or collecting used feeders 30 from each component mounter 20 and carrying them to the feeder storage 70. As shown in FIG. 4, the loader 50 includes a loader moving device 51, a feeder transfer device 53, and a loader control device 59 (see FIG. 5).

[0023] The loader moving device 51 moves the loader main body 50a along the guide rail 18 arranged in front of the mounting line. This loader moving device 51 has an X-axis motor 52a that drives a drive belt for moving the loader main body 50a, and a guide roller 52b that rolls on the guide rail 18 to guide the movement of the loader 50.

[0024] The feeder transfer device 53 transfers the feeder 30 between the loader 50 and one of the component mounters 20 when the loader 50 is positioned opposite the component mounter 20, or transfers the feeder 30 between the feeder storage 70 and the loader 50 when the loader 50 is positioned opposite the feeder storage 70. The feeder transfer device 53 has a Y-axis slider 55 and a Z-axis motor 56a that moves the Y-axis slider 55 along a Z-axis guide rail 56b. The Y-axis slider 55 includes a clamp unit 54 that clamps the feeder 30 and a Y-axis motor 55a that moves the clamp unit 54 along the Y-axis guide rail 55b. The Y-axis slider 55 moves up and down by being driven by the Z-axis motor 56a. Feeder transfer device 53 raises Y-axis slider 55 so that Y-axis slider 55 faces feeder table 40 in supply area 21A of component mounter 20 or feeder table 40 in feeder storage 70, and in this state clamps feeder 30 with clamp unit 54 and moves it in the Y-axis direction by Y-axis slider 55, thereby transferring feeder 30 to supply area 21A or feeder storage 70. Furthermore, feeder transfer device 53 lowers Y-axis slider 55 so that Y-axis slider 55 faces buffer area 21B of component mounter 20, and in this state clamps feeder 30 with clamp unit 54 and moves it in the Y-axis direction by Y-axis slider 55, thereby transferring feeder 30 to buffer area 21B.

[0025] The loader control device 59 is composed of a well-known CPU 59a, ROM 59b, RAM 59c, etc. The loader control device 59 receives detection signals from a position sensor 61, a bumper sensor 62, a monitoring sensor 63, etc. The loader control device 59 also outputs drive signals to the loader moving device 51 and the feeder transfer device 53.

[0026] The position sensor 61 is an encoder and detects the movement position P of the loader main body 50a. The loader control device 59 also calculates the movement speed V of the loader 50 based on the movement position P of the loader 50 detected by the position sensor 61.

[0027] The bumper sensors 62 detect contact with an obstructing object. In this embodiment, the bumper sensors 62 are arranged on both side surfaces of the loader body 50a in the traveling direction thereof so as to extend vertically over the entire height of the loader body 50a, as shown in FIG. 4, in order to detect when a part of a person's body (such as a hand) has become caught between the loader body 50a and a machine on the mounting line.

[0028] The monitoring sensor 63 detects the presence or absence of an interfering object in a monitoring area around the loader body 50a. In this embodiment, the monitoring sensor 63 is configured as a laser scanner having a light-emitting unit 63a and a light-receiving unit 63b as a sensor unit. The light-emitting unit 63a emits laser light, and the light-receiving unit 63b receives light reflected from an obstacle, thereby detecting the presence or absence of an interfering object in the monitoring area. In this embodiment, the monitoring sensor 63 is installed at the bottom of the loader body 50a so that the optical axes of the light-emitting unit 63a and the light-receiving unit 63b point diagonally downward. As a result, the monitoring sensor 63 has a monitoring area from the floor to a predetermined height, and can mainly detect the feet of a person (worker) as an interfering object. In addition, the monitoring sensors 63 are installed on both sides of the traveling direction (left and right directions) of the loader 50 so that they can detect interfering objects on both sides in the traveling direction.

[0029] The management device 80 is a general-purpose computer, and as shown in FIG. 5, includes a CPU 81, a ROM 82, a HDD 83 (storage device), and a RAM 84. An input device 85, such as a keyboard or a mouse, and a display 86 are electrically connected to the management device 80. The HDD 83 stores production plans, feeder possession information, job information, status information, and the like. This information is managed for each mounter 20. The production plan is a plan that determines which components are to be mounted in which order in each mounter 20, and how many boards S (products) mounted in this order are to be produced (manufactured). The feeder possession information is information about the feeders 30 held by each mounter 20 and feeder stocker 70. The feeder possession information includes feeder information such as the feeder ID, component type, and remaining component count, as well as location information such as the device that holds the feeder 30 (component) (which mounter 20 or which feeder stocker 70) and the installation location (slot number) of the feeder 30. The job information is information relating to the mounting process (job) to be executed by each mounter 20. This job information includes the type of board to be produced, the type of components to be mounted, the mounting position for each component, and the placement position (placement position information) of the components to be placed in the supply area 21A for each job. The status information is information indicating the operating status of each mounter 20. This status information includes information such as in production, in changeover, and in abnormality.

[0030] The management device 80 is communicatively connected to the mounting control device 29 via a wired connection, and exchanges various information with each mounter 20 in the component mounting system 10. The management device 80 receives operating status information from each mounter 20 and updates the status information to the latest information. The management device 80 is also communicatively connected to the feeder control device 39 of the feeder 30 attached to the feeder table 40 of each mounter 20 via the mounting control device 29. When a feeder 30 is removed from or attached to a mounter 20 or feeder storage 70, the management device 80 receives the attachment / detachment status from the corresponding mounter 20 or feeder storage 70 and updates the feeder holding information to the latest information.

[0031] Furthermore, the management device 80 is connected to the loader control device 59 so as to be able to communicate wirelessly, and also manages the operation of the loader 50. That is, the CPU 81 of the management device 80 searches the feeder possession information in the feeder storage 70 for components required for the production of the next variety in each mounter 20 based on the production plan, and sends a replenishment command to the loader 50 so that the feeder 30 containing the relevant components is replenished to the target mounter 20. The CPU 81 also sends a collection command to the loader 50 so that the loader 50 collects any used feeders 30 generated in each mounter 20.

[0032] 6 is a flowchart showing an example of work processing executed by the loader control device 59. When the work processing is executed, the CPU 59a of the loader control device 59 first determines whether or not a work command (the above-mentioned replenishment command or recovery command) has been received from the management device 80 (step S100). If it determines that a work command has not been received, the work processing ends. On the other hand, if the CPU 59a determines that a work command has been received, it determines whether or not there is an interfering object within the protection area A1 (first area) based on a detection signal from the monitoring sensor 63 (step S110). If the CPU 59a determines that there is an interfering object within the protection area A1, it returns to step S110 and waits until the interfering object within the protection area A1 is removed. If it determines that there is no interfering object within the protection area A1, it further determines whether or not there is an interfering object within the warning area A2 (step S120).

[0033] FIG. 7 is an explanatory diagram showing the monitoring area when the loader 50 (loader main body 50a) is stopped. As shown in the figure, the monitoring area when the loader 50 (loader main body 50a) is stopped includes a protection area A1 and a warning area A2. The protection area A1 is a rectangular area extending outward in the X-axis direction from both side surfaces of the loader 50. Specifically, the protection area A1 has a width X1 in the X-axis direction from the side surface of the loader 50 of 213 mm, and a width Y1 in the Y-axis direction of 793 mm, which is approximately the same as the width of the loader 50 in the Y-axis direction. On the other hand, the warning area A2 is a fan-shaped area that extends to surround the loader 50 and the protection area A1. Specifically, the warning area A2 has a width X2 in the X-axis direction from the side surface of the loader 50 of 1988 mm, and a width Y2 in the Y-axis direction of 1881 mm.

[0034] When the CPU 59a determines that there is no interfering object within the warning area A2, it controls the loader movement device 51 to start moving the loader 50 in high-speed movement mode toward the work destination related to the work command (step S130). On the other hand, when the CPU 59a determines that there is an interfering object within the warning area A2, it controls the loader movement device 51 to start moving the loader 50 in low-speed movement mode toward the work destination (step S140). The maximum speed VHmax in the high-speed movement mode is higher than the maximum speed VLmax in the low-speed movement mode. Specifically, the maximum speed VHmax in the high-speed movement mode is 400 [mm / s], and the maximum speed VLmax in the low-speed movement mode is 275 [mm / s]. When there is no interfering object in the vicinity, the loader 50 moves in high-speed movement mode, thereby shortening the time required to arrive at the work destination. On the other hand, when there is an obstruction in the vicinity, the loader 50 can move in a low-speed movement mode to avoid a collision with the obstruction or reduce the impact that would be applied in the event of a collision, thereby ensuring sufficient safety.

[0035] When the loader 50 starts moving, the CPU 59a determines whether the loader 50 is in high-speed movement mode (step S150). If the CPU 59a determines that the loader 50 is in low-speed movement mode rather than high-speed movement mode, the process proceeds to S200. On the other hand, if the CPU 59a determines that the loader 50 is in high-speed movement mode, the CPU 59a acquires a movement speed V calculated based on the movement position P detected by the position sensor 61 (step S160) and determines whether the acquired movement speed V is equal to or less than a threshold value Vref (step S170). Here, in this embodiment, the threshold value Vref is set to a speed equal to or greater than the maximum speed VLmax of the low-speed movement mode. If the CPU 59a determines that the movement speed V is equal to or less than the threshold value Vref, the CPU 59a sets the protection area A1 to a first area that is the same as when the loader 50 is stopped (step S180). If the CPU 59a determines that the movement speed V exceeds the threshold value Vref, the CPU 59a sets the protection area A1 to a second area that is larger than the first area (step S190). As described above, the threshold value Vref is set to a speed equal to or greater than the maximum speed VLmax in the low-speed movement mode, so the movement speed V does not exceed the threshold value Vref during the low-speed movement mode. The protection area A1 during the low-speed movement mode is always set to the first area. In this embodiment, when the loader 50 is moving, regardless of the movement mode or movement speed V, the monitoring area is only the protection area A1, and the warning area A2 is not set.

[0036] FIG. 8 is an explanatory diagram showing the monitoring area (protected area) during low-speed movement, and FIG. 9 is an explanatory diagram showing the monitoring area (protected area) during high-speed movement. In low-speed movement mode, or even in high-speed movement mode when the movement speed V is equal to or less than the threshold Vref, the protection area A1 is the first area (narrow area) as in the stopped state, as shown in FIG. 8. On the other hand, when the movement speed V exceeds the threshold Vref in high-speed movement mode, the protection area A1 is switched from the first area to the second area, as shown in FIG. 9. The second area is wide on the same side as the traveling direction of the loader 50 and narrow on the opposite side as the traveling direction of the loader 50. In this embodiment, the second area is set to be as large as the warning area A2 on the same side as the traveling direction of the loader 50 and as large as the first area on the opposite side as the traveling direction of the loader 50.

[0037] Next, the CPU 59a determines whether or not there is an interfering object within the protection area A1 (step S200). If the CPU 59a determines that there is no interfering object within the protection area A1, it acquires the movement position P detected by the position sensor 61 (step S210) and determines whether or not the work destination has been reached based on the acquired movement position P (step S220). If the CPU 59a determines that the work destination has not been reached, it returns to step S150 and continues moving the loader 50. On the other hand, if the CPU 59a determines that the work destination has been reached, it controls the loader movement device 51 to stop the movement of the loader 50 (step S230), and performs the above-mentioned work related to the work command received in step S100 (step S240), and ends the work processing.

[0038] If the CPU 59a determines in step S200 that an interfering object is present within the protection area A1, it controls the loader movement device 51 to make an emergency stop of the loader 50 (step S250). Subsequently, the CPU 59a sets the protection area A1 to the first area (narrow area) (step S260) and waits until the interfering object is removed from the protection area A1 (step S270). If the CPU 59a determines that the interfering object has been removed from the protection area A1, it controls the loader movement device 51 to resume movement of the loader 50 in the low-speed movement mode (step S280) and returns to step S200. In this way, if an interfering object enters the protection area A1 during movement, the loader 50 makes an emergency stop to prevent a collision with the interfering object and to reduce the impact of the collision, and sets the protection area A1 to the first area (narrow area). Once the interfering object leaves the protection area A1, the loader 50 immediately resumes movement in the low-speed movement mode. This makes it possible to ensure safety while further increasing the availability rate.

[0039] FIG. 10 is an explanatory diagram showing a state in which a loader starts moving in high-speed movement mode and moves to a work destination. The example in FIG. 10 shows a case in which a feeder 30 is transported from a feeder storage 70 to a component mounter 20E. As shown in FIG. 10, since there is no worker (person) in the warning area A2 while the loader 50 is stopped, the loader starts moving in high-speed movement mode toward the component mounter 20E, which is the work destination. When the movement speed V of the loader 50 exceeds the threshold Vref, the protection area A1 is expanded from the first area (narrow area) to the second area (wide area). When the loader 50 detects that a worker (person) has entered the protection area A1 (second area), it makes an emergency stop. Then, the loader 50 returns the protection area A1 to the first area, and when the worker leaves the protection area A1, it resumes movement in low-speed movement mode. When the loader 50 arrives in front of the target component mounter 20E, it attaches the carried feeder 30 to the feeder table 40 of the component mounter 20E.

[0040] FIG. 11 is an explanatory diagram showing the loader starting to move in low-speed movement mode and moving to the work destination. As shown in FIG. 11, because a worker (person) is present in the warning area A2 while the loader 50 is stopped, the loader starts to move in low-speed movement mode toward the target component mounter 20E, which is the work destination. In low-speed movement mode, the movement speed V does not exceed the threshold Vref, so the protection area A1 remains the first area (narrow area). When the loader 50 detects that a worker (person) has entered the protection area A1 (first area), it makes an emergency stop. Then, when the worker leaves the protection area A1, the loader 50 resumes movement. When the loader 50 arrives in front of the target component mounter 20E, it attaches the carried feeder 30 to the feeder table 40 of the component mounter 20E.

[0041] In this way, the loader 50 has a high-speed movement mode and a low-speed movement mode as movement modes, and by switching between the high-speed movement mode and the low-speed movement mode, it is possible to narrow the protection area A1 for emergency stops while ensuring safety, thereby further increasing the operating rate of the loader 50.

[0042] Furthermore, although not described in the work processing, when the bumper sensor 62 detects that a worker (an obstruction) has come into contact with the bumper of the loader 50 while the loader 50 is moving, the loader 50 makes an emergency stop, even if the monitoring sensor 63 has not detected the worker's entry into the protection area A1. As described above, the monitoring sensor 63 is configured to mainly detect the worker's feet. Therefore, as shown in FIG. 12 , there is a risk that the worker's hand, which is not detected by the monitoring sensor 63, may be caught between the loader 50 and a machine on the mounting line. In this embodiment, the bumper sensor 62 and the monitoring sensor 63 complement each other to ensure safety. Because the bumper sensor 62 detects that a worker (an obstruction) has come into contact with the bumper, the maximum speed of the loader 50 (maximum speed VLmax in the low-speed movement mode) must be set so that the worker will not be seriously injured when the bumper comes into contact with the bumper. In addition, since the protection area A1 is enlarged during the high-speed movement mode, the monitoring sensor 63 can detect whether or not a worker is present within the protection area A1, thereby ensuring safety.

[0043] When the bumper sensor 62 detects the contact of an operator, first, the necessary braking distance after the bumper sensor 62 detects the contact of the operator with the bumper is set in order to make the force Fa received by the hand due to the reaction of the force received by the bumper at the time of contact not exceed the upper limit of the allowable range that would not cause serious injuries such as tendon rupture. The force received by the bumper due to the contact of the operator increases as the bumper is pushed in according to the spring constant. At this time, the amount of depression of the bumper when reaching the upper limit of the allowable range becomes the necessary braking distance. For example, when the upper limit of the allowable range is 250 [N] and the force applied to the bumper reaches 250 [N] when the amount of depression is 7.7 [mm], the necessary braking distance is 7.7 [mm]. Now, as shown in FIG. 12, assuming the force received by the bumper due to contact with the operator is Fb, the force in the traveling direction due to the speed of the loader 50 is Fc, and the force in the direction opposite to the traveling direction due to the braking (deceleration) of the loader 50 is Fd, the maximum speed of the loader 50 (the maximum speed VLmax during the low-speed movement mode) is set such that Fd < Fb + Fc. Here, if the force received by the bumper Fb is, for example, 42 [N] at the time when the bumper sensor 62 reacts, although it originally increases from 42 [N] to 240 [N] between 0 [mm] and 7.7 [mm], assuming that the minimum 42 [N] continues to act until it advances 7.7 [mm], it is calculated by 42 [N] × 0.0077 [m]. The force Fc due to the braking (deceleration) of the loader 50 is the force at which the X-axis motor 52a of the loader moving device 51 tries to stop 0.021 [s] after the bumper sensor 62 reacts. Assuming the weight m of the loader 50 is 90 kg, the acceleration (deceleration) g is 0.5G [4.9 m / s2], and the deceleration distance is 0.0077 [m] - x [m / s] × 0.021 [s] with the speed as the variable x, it is calculated by 90 (kg) × 4.9 [m / s2] × (0.0077 [m] - x [m / s] × 0.021 [s]). The force Fd due to the speed of the loader 50 is calculated by 1 / 2 × 90 [kg] × x2 [m / s]. Thus, when calculating the variable x [m / s] such that Fd < Fb + Fc, it is found that 0.277 > x [m / s]. Therefore, it can be seen that the maximum speed of the loader 50 (the maximum speed VLmax during the low-speed movement mode) should be less than 277 [mm / s].

[0044] Next, the reasons for setting the above-mentioned widths for the protection area A1 and the warning area A2 will be explained. As described above, the protection area A1 is an area where an emergency stop occurs when a worker (an obstruction) enters. When setting the width of the protection area A1, it is desirable to set the width as narrow as possible so as to prevent frequent emergency stops while ensuring safety. The width X1 of the protection area A1 (second area) in the X-axis direction is calculated using the following formula (1), where Vmax is the maximum speed of the loader 50 (maximum speed VHmax in high-speed movement mode), T is the time from when the worker enters the danger area until the loader 50 starts braking, L is the braking distance of the loader 50, and δ is the measurement error of the monitoring sensor 63. For example, if Vmax is 400 [mm / s], T is 0.115 [s], L is 67 [mm], and δ is 100 [mm], the width X1 is 213 [mm]. Furthermore, in this embodiment, the width Y1 of the protection area A1 in the Y-axis direction is set to a value that takes into consideration only the width of the loader main body 50a in the Y-axis direction, since the loader 50 does not move in the Y-axis direction.

[0045] X1 = (Vmax × T) + L + δ … (1)

[0046] On the other hand, the width X2 of the warning area A2 in the X-axis direction is determined by taking into account the worker's entry speed when entering the protection area A1 as a safety distance. That is, if the worker's entry speed is Vi, the time it takes for the loader 50 to stop after the worker's feet enter the danger zone is Ts, and the distance at which a part of the worker's body approaches the danger zone before the worker's feet enter the danger zone is D, the width X2 of the warning area A2 in the X-axis direction is calculated using the following formula (2). For example, if Vi is 1600 [mm / s], Ts is 0.525 [s], and D is 1120 [mm], the width is 2173 [mm]. Furthermore, the width Y2 of the warning area A2 in the Y-axis direction is calculated using the following formula (3), taking into account the risk of direct contact between the loader 50 and the worker's body or head or the risk of the worker's hand being caught in the gap between the loader 50 and the mounting line machine during movement when the loader 50 starts moving in high-speed movement mode. For example, when Vi, Ts, and D are the above-mentioned values, the distance is 2060 [mm]. This is because, in this embodiment, the movement mode when the loader 50 starts to move is determined depending on whether or not there is an operator (interfering object) in the warning area A2, and therefore, when an operator comes into contact with the loader 50, the loader 50 must be moving at a low speed (low-speed movement mode).

[0047] X2 = X1 + (Vi × Ts) + D … (2) Y2 = (Vi × Ts) + δ + D … (3)

[0048] Here, the correspondence between the main elements of this embodiment and the main elements described in the claims will be explained. That is, the loader 50 of this embodiment corresponds to the working device of the present disclosure, the loader main body 50a corresponds to the working device main body, the loader moving device 51 corresponds to the moving device, the monitoring sensor 63 corresponds to the monitoring sensor, and the loader control device 59 corresponds to the control device.

[0049] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be implemented in various forms as long as they fall within the technical scope of the present disclosure.

[0050] For example, in the above-described embodiment, the loader 50, in high-speed movement mode, sets the protection area A1 to a first area when the movement speed V is equal to or less than the threshold value Vref, and sets the protection area A1 to a second area that is larger than the first area when the movement speed V exceeds the threshold value Vref. However, the loader 50 may set the protection area A1 to the first area when the movement mode is a low-speed movement mode, regardless of the movement speed V, and set the protection area A1 to a second area that is larger than the first area when the movement mode is a high-speed movement mode. Furthermore, the loader 50 may gradually increase the size of the protection area A1 as the movement speed V increases, regardless of the movement mode.

[0051] In the above-described embodiment, the loader 50 always resumes movement in the low-speed movement mode after an emergency stop. However, the loader 50 may resume movement in the high-speed movement mode if there is no interfering object within the warning area A2 when resuming movement after an emergency stop.

[0052] In the above-described embodiment, the bumper sensor 62 is configured as a long bumper extending in the height direction of the loader body 50a, but the entire side panel of the loader body 50a may function as a bumper. In this way, the detection area of ​​the bumper sensor 62 can be expanded.

[0053] In the above-described embodiment, the working device of the present disclosure is applied to the loader 50, but it may also be applied to an automated guided vehicle (AVG).

[0054] As described above, the work device disclosed herein is a work device that performs work on a mounting device in a mounting line where a plurality of mounting devices are arranged side by side, and is equipped with a moving device that moves the work device main body in a low-speed movement mode or a high-speed movement mode that is faster than the low-speed movement mode, a monitoring sensor that is provided on the work device main body and detects the presence or absence of an interfering object within a monitoring area around the work device, and a control device that switches the movement mode of the moving device from the high-speed movement mode to the low-speed movement mode when an interfering object is detected within the monitoring area.

[0055] The work device disclosed herein has two travel modes: a low-speed mode for slow movement and a high-speed mode for fast movement. The work device is equipped with a monitoring sensor that detects the presence or absence of an obstruction within a monitoring area around the work device. When an obstruction is detected within the monitoring area, the travel mode of the mobile device is switched from the high-speed mode to the low-speed mode. By switching to the low-speed mode, it is possible to further increase the availability of the work device while ensuring safety.

[0056] In the work device according to the present disclosure, the control device may perform control to make the monitoring area wider in the high-speed movement mode than in the low-speed movement mode, thereby further improving safety during movement in the high-speed movement mode.

[0057] In the work device disclosed herein, the monitoring area may include a stop area in which the work device main body is brought to an emergency stop. This configuration can prevent collisions between the work device and an obstructing object. In this case, the control device may control the mobile device to start operation in the high-speed movement mode when no obstructing object is detected in the monitoring area outside the stop area while the work device main body is stopped, and to start operation in the low-speed movement mode when an obstructing object is detected in the monitoring area outside the stop area while the work device main body is stopped. This configuration can ensure safety even when the stop area is narrowed, and can increase operation rate by narrowing the stop area. Furthermore, the control device may control the work device main body to temporarily suspend movement when an obstructing object is detected in the stop area while the work device main body is moving, and to resume movement of the work device main body in the low-speed movement mode when the obstructing object is no longer detected in the stop area during the temporary suspension. This configuration can quickly resume movement of the work device main body while ensuring safety. In these cases, the control device may perform control to widen the stopping area when the working device body is moving in the high-speed movement mode compared to when it is moving in the low-speed movement mode. This can further enhance safety during movement in the high-speed movement mode. Also, the control device may perform control to widen the stopping area when the working device body is moving at a predetermined speed or higher compared to when it is moving below the predetermined speed. This can further enhance safety during high-speed movement. [Industrial Applicability]

[0058] The present disclosure is applicable to the manufacturing industry for work devices, component mounting systems, and the like. [Explanation of symbols]

[0059] 10 Component mounting system, 12 Printing device, 14 Printing inspection device, 18 Guide rail, 20, 20A to 20E Component mounter, 21 Mounting unit, 21A Supply area, 21B Buffer area, 22 Board transport device, 24 Head moving device, 24a Slider, 25 Head, 26 Mark camera, 27 Parts camera, 29 Mounting control device, 29a CPU, 29b ROM, 29c HDD, 29d RAM, 30 Feeder, 32 Tape reel, 33 Tape feeding mechanism, 35 Connector, 39 Feeder control device, 40 Feeder table, 42 Slot, 45 Connector, 50 Loader, 51 Loader moving device, 52a X-axis motor, 52b Guide roller, 53 Feeder transfer device, 54 Clamp unit, 55 Y-axis slider, 55a Y-axis motor, 55b Y-axis guide rail, 56a Z-axis motor, 56b Z-axis guide rail, 59 loader control device, 59a CPU, 59b ROM, 59c RAM, 61 position sensor, 62 bumper sensor, 63 monitoring sensor, 63a light emitting unit, 63b light receiving unit, 70 feeder storage, 80 management device, 81 CPU, 82 ROM, 83 HDD, 84 RAM, 85 input device, 86 display.

Claims

[Claim 1] A work device that supplies or collects electronic components to a mounting device in a mounting line in which a plurality of mounting devices are arranged side by side, a moving device that can move in front of the mounting line in a low-speed moving mode or a high-speed moving mode that is faster than the low-speed moving mode; a monitoring sensor that detects the presence or absence of an obstruction within a monitoring area that includes at least the direction of travel of the work device; a control device that switches a movement mode of the moving device from a high-speed movement mode to a low-speed movement mode when an interfering object is detected within the monitoring area while the working device is moving to a position facing the mounting device that performs the supply or recovery work; A working device comprising:

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