Tape setting device and tape removing device

Abstract

To more appropriately attach / detach a reel to / from a feeder in an apparatus for automatically attaching / detaching the reel to / from the feeder using a robot.SOLUTION: A reel attaching and detaching device that attaches and detaches a reel around which a tape is wound to and from a feeder that feeds the tape accommodating components by driving a feeding section to supply the components includes a feeder set unit in which the feeder is set in a predetermined posture when supplying the components, a reel set unit in which the reel is set in a predetermined posture when supplying the components, a transfer robot capable of transferring the reel between the feeder set unit and the reel set unit while maintaining the posture of the reel, and a control device that controls the transfer robot to detach the reel from the reel set unit and attach the reel to the feeder set in the feeder set unit when the reel is set in the reel set unit.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] This specification discloses a reel loading / unloading device and a feeder preparation system. [Background technology]

[0002] Conventionally, there have been proposals for automatically attaching and detaching reels around which tape containing components is wound from a feeder. For example, Patent Document 1 describes a tape changing system that includes a feeder transport mechanism that transports the feeder and a parallel link robot installed above the feeder transport mechanism. Furthermore, the feeder transport mechanism transports the feeder in a tilted position so that the reel mounting surface of the feeder faces upward so that the parallel link robot can perform the reel changing work from above. This allows the reel changing work to be performed automatically without requiring the operator's intervention. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-204858 Summary of the Invention [Problem to be solved by the invention]

[0004] Promoting automation of the reel replacement process described above is an important issue for improving production efficiency. However, in the above-described system, the feeder is tilted so that the reel mounting surface faces upward, which is different from the predetermined orientation when the feeder supplies components. This can cause the components stored on the tape to tilt. As a result, even if the feeder with the attached reel is returned to the predetermined orientation, the components stored on the tape may not return to the correct orientation. Furthermore, while the feeder or reel is in the tilted position, the components stored on the tape may fall off. This can prevent the feeder from properly supplying components, resulting in reduced production efficiency.

[0005] A main object of the present disclosure is to more appropriately attach and detach a reel to and from a feeder in a system in which the attachment and detachment of a reel is performed automatically using a robot. [Means for solving the problem]

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

[0007] The reel attachment / detachment device of the present disclosure is A reel attachment / detachment device that attaches and detaches a reel around which a tape containing components is wound to a feeder that feeds the tape by driving a delivery section to supply the components, comprising: a feeder set unit in which the feeder is set in a predetermined orientation when feeding the component; a reel set unit in which the reel is set in a predetermined orientation when the component is supplied; a transfer robot capable of transferring the reel between the feeder set unit and the reel set unit while maintaining the orientation of the reel; a control device that controls the transfer robot so that, when the reel is set in the reel set unit, the reel is removed from the reel set unit and attached to the feeder set in the feeder set unit; The gist of the project is to provide the following:

[0008] In the reel loading / unloading device of the present disclosure, the feeder is set in the feeder setting unit in a predetermined orientation when components are supplied, and the reel is set in the reel setting unit in a predetermined orientation. Furthermore, the transfer robot can transfer the reel while maintaining its orientation between the feeder setting unit and the reel setting unit. This eliminates the need to tilt the reel or feeder, preventing the orientation of the components housed in the tape from changing significantly or components from falling off. Therefore, in systems where the transfer robot automatically loads and unloads reels from the feeder, the reel can be loaded and unloaded more appropriately. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic configuration diagram of a component mounting system 1. [Figure 2] FIG. 1 is a schematic diagram of a feeder 100. [Figure 3] FIG. 1 is a schematic diagram of a feeder 100. [Figure 4] FIG. 1 is a schematic diagram of a feeder 100. [Figure 5] FIG. 2 is a schematic diagram of a reel attachment / detachment device 30. [Figure 6] FIG. 3 is a block diagram showing the electrical connections of the reel attachment / detachment device 30. [Figure 7] FIG. 2 is a schematic diagram of a feeder set unit 40. [Figure 8] FIG. 2 is a schematic diagram of a reel set unit 50. [Figure 9] 10 is a flowchart showing an example of a reel attachment process. [Figure 10] FIG. 10 is an explanatory diagram showing the state of transferring the reel 120 in the reel attachment process. DETAILED DESCRIPTION OF THE INVENTION

[0010] Next, an embodiment of the present disclosure will be described with reference to the drawings. FIG. 1 is a schematic diagram of a component mounting system 1 according to this embodiment. The component mounting system 1 includes a mounting line 10 that mounts components on boards, a preparation line 20 that prepares for component supply, and a management device 2 that manages the entire system, all of which are installed in a factory or the like. The management device 2 is configured as a computer equipped with a CPU, ROM, RAM, and HDD (not shown), and outputs mounting-related information and instructions to each device on the mounting line 10 and preparation-related information and instructions to each device on the preparation line 20. In this embodiment, the left-right direction (X-axis), front-rear direction (Y-axis), and up-down direction (Z-axis) are as shown in FIG. 1.

[0011] As shown in FIG. 1, the mounting line 10 includes a printing device 12 that prints solder on a board, a print inspection device 14 that inspects the condition of the printed solder, and a mounting device 16 that mounts components on the board. A plurality of mounting devices 16 are arranged in a line along the board transport direction (X-axis direction), and multiple feeders 100 for supplying components can be attached to their front surfaces. Each mounting device 16 is configured to pick up components supplied from the attached feeder 100 and mount them on the board. The mounting line 10 also includes a feeder storage area 18 installed between the most upstream mounting device 16 in the board transport direction and the print inspection device 14, and a loader 19 that moves in front of the mounting devices 16 and in front of the feeder storage area 18 along the board transport direction. An AGV (automated guided vehicle) 4 or a worker stores necessary feeders 100 in the feeder storage area 18 and collects unnecessary feeders 100 from the feeder storage area 18. Furthermore, the loader 19 is configured to take out necessary feeders 100 from the feeder storage area 18 and supply them to the mounting devices 16, and to collect unnecessary feeders 100 from each mounting device 16 and return them to the feeder storage area 18. In addition to these, the mounting line 10 may also be equipped with a reflow device that performs a reflow process on the boards on which components have been mounted.

[0012] 2 to 4 are schematic diagrams of the feeder 100. The feeder 100 has a reel 120 on which a tape 130 containing components is wound, which is detachably attached to a main body 101, and supplies the components by feeding out the tape 130. A label 122 is attached to the reel 120, indicating the ID of the reel 120 and information on the type of components contained in the tape 130. The tape 130 has a plurality of cavities (recesses) formed at predetermined intervals in the longitudinal direction. The tape 130 is made up of a bottom tape that accommodates components in each cavity, and a cover tape that is attached to cover the surface of the bottom tape. The tape 130 has engagement holes formed at equal intervals along its length.

[0013] Feeder 100 includes a main body 101, a tape feeding section 102, a tape guide 104, a reel cover 106, a recovery section 107, a connector 108, a positioning pin 109, and a control section (not shown). Note that reel cover 106 is omitted in Fig. 2, Fig. 3 shows reel cover 106 in a closed state, and Fig. 4 shows reel cover 106 in an open state.

[0014] The tape feeding unit 102 includes a sprocket having a protrusion on its outer periphery that engages with an engagement hole in the tape 130, and a motor 103 (see FIG. 6) that drives the sprocket. With the tape 130 engaged with the sprocket, the tape feeding unit 102 intermittently rotates the sprocket by rotating the motor forward, thereby pitch-feeding the tape 130 toward the component supply position. The tape feeding unit 102 can also return the tape 130 to the reel 120 by rotating the motor reversely. The main body 101 has an opening 101a formed in the upper part of the back panel where the reel cover 106 is not provided. The tape guide 104 is provided at the top of the main body 101 and guides the bottom tape, from which the cover tape has been peeled, to the component supply position. The reel cover 106 is provided at the upper side inside the main body 101 so as to be able to open and close. In the closed state shown in FIG. 3, it covers the reel 120 to prevent it from falling off, and in the open state shown in FIG. 4, it exposes the reel 120 for detachment. The recovery unit 107 recovers the cover tape peeled from the tape 130. The recovery unit 107 may be configured, for example, as a recovery box that pulls in and recovers the cover tape by rotating a pair of gears, or as a recovery drum that winds up and recovers the cover tape. The connector 108 and the positioning pin 109 are provided to protrude from an end face of the main body 101. Although not shown, the feeder table of the mounting device 16 or the feeder storage area 18 is provided with a connector to which the connector 108 can be connected and a pinhole to which the positioning pin 109 can engage. Therefore, when the feeder 100 is attached to the feeder table, the connector 108 is connected to the connector of the feeder table and the positioning pin 109 engages with the pinhole. A control unit (not shown) of the feeder 100 can communicate with a control unit of the mounting device 16 or the like via the connector connection, and controls the tape feeding unit 102 to feed the tape 130 by a pitch in response to a component supply instruction.

[0015] As shown in FIG. 1 , the preparation line 20 includes an automated reel storage cabinet 22, a reel storage area 25, a feeder storage cabinet 26, a feeder storage area 28, a loader 29, and a reel attaching / detaching device 30. The automated reel storage cabinet 22 is configured to automatically store reels 120 placed on a receiving stand 22a provided in front of the cabinet and store them therein, and to automatically remove required reels 120 from the cabinet and place them on the receiving stand 22a. These reels 120 are stored with the leading ends of the tape 130 temporarily fastened with temporary fastening tape. The AGV 4 or a worker returns feeders 100 retrieved from the mounting line 10 to the feeder storage area 28, or removes required feeders 100 from the feeder storage area 28 and stores them in the feeder storage area 18 of the mounting line 10. The loader 29 moves in front of the multiple feeder storage cabinets 26 and in front of the feeder storage areas 28, and removes feeders 100 from the feeder storage areas 28 and stores them in the feeder storage cabinets 26, or removes feeders 100 from the feeder storage cabinets 26 and stores them in the feeder storage areas 28. The loader 29 also transfers the feeders 100 to which the reels 120 are to be attached or detached into the reel attaching / detaching device 30. Note that FIG. 1 illustrates two reel storage areas 25: one for used (out-of-parts) reels 120 and one for new reels 120.

[0016] 5 and 6, the reel attaching / detaching device 30 includes a feeder set unit 40 provided on a base 31, a reel set unit 50 provided on a base 32, a reel transfer robot 60 provided on a base 33, and a control device 39 provided on the base 33. Note that each unit may be provided on a common base. Although not shown, the reel attaching / detaching device 30 may also include a camera capable of capturing an image of the label 122 on the reel 120 attached to the feeder 100.

[0017] Feeder set unit 40 is a unit in which feeder 100, to which reel 120 is to be attached or detached, is transferred by loader 29 to base 41 on base 31, and feeder 100 is set in the same predetermined posture (see FIG. 1) as when it is used in mounting device 16 or the like, i.e., when components are to be supplied. As shown in FIG. 7, feeder set unit 40 has connector 42, to which connector 108 of feeder 100 can be connected, and pinholes, to which positioning pins 109 can be engaged, provided on base 41. Therefore, when feeder 100 is set in feeder set unit 40, control device 39 can communicate with the control unit of feeder 100 via the connection between connector 108 and connector 42, and control tape feeding unit 102.

[0018] The feeder set unit 40 also includes a cover support section 43 and a tape feeding section 45. The cover support section 43 includes a support piece 44 that supports the reel cover 106 in the open state and a motor 44a that rotates the support piece 44. When the reel cover 106 is opened, the cover support section 43 rotates the support piece 44 approximately 90 degrees from the initial position by driving the motor 44a, thereby engaging the support piece 44 so as to hook onto the end of the reel cover 106 and supporting the reel cover 106 in the open state. The cover support section 43 also releases support for the reel cover 106 by driving the motor 44a to return the support piece 44 to the initial position. The cover support section 43 supports the reel cover 106 in the open state at a position where the reel cover 106 is out of the operating range of the reel transfer robot 60 required to attach and detach the reel 120 to and from the feeder 100.

[0019] The tape feeding unit 45 includes a chuck 46, a chuck cylinder 46a, a chuck base 47, a slide guide 48, and a slide actuator 49. The chuck 46 is configured to open and close by actuation of the chuck cylinder 46a to grip the tape 130. The chuck 46 and the chuck cylinder 46a are mounted on the chuck base 47. The chuck base 47 is movable left and right (in the X-axis direction) and along the feeding direction of the tape 130 by drive of a slide actuator 49 including a motor, a cylinder, and the like. When the chuck 46 moves from left to right (from the back to the front of the page) together with the chuck base 47, the chuck 46 enters the feeder 100 through the opening 101a and can grip the tape 130 between the reel 120 and the tape feeding unit 102. Furthermore, a guide hole 48a is formed diagonally in the slide guide 48 so as to follow the feeding direction of the tape 130. With the chuck 46 gripping the tape 130, the slide actuator 49 drives the chuck base 47 to slide while being guided by the guide hole 48a, thereby feeding the tape 130 in the feeding direction.

[0020] The reel set unit 50 is a unit onto which the reel 120 to be attached to the feeder 100 is transferred to the base 51 on the base 32, and the reel 120 is set in the same predetermined orientation as when it is used in the mounting device 16 or the like, i.e., when components are supplied. As shown in FIG. 8, the reel set unit 50 includes a rotating unit 52 that rotates the reel 120, a peeling unit 54 that peels off the leading end of the tape 130 temporarily attached to the reel 120, and a cutting unit 57 that cuts off the leading end of the tape 130. The rotating unit 52 includes a motor 52a (see FIG. 6) attached to the base 51 and a pulley 53, and transmits the driving force of the motor 52a via the pulley 53 to rotate the reel 120. The peeling unit 54 includes a motor 54a (see FIG. 6) attached to the base 51, an operating arm 55 that is actuated by the driving of the motor 54a to move closer to the reel 120, and a peeling piece 55a attached to the tip of the operating arm 55. When the operating arm 55 approaches the reel 120 and the peeling piece 55a comes into contact with the tape 130, and the reel 120 rotates, the temporary fixing tape becomes caught on the peeling piece 55a, thereby peeling off the tip of the tape 130. The cutting unit 57 includes a cutter cylinder 57a that raises and lowers the cutter blade, a cutting table 58, a sprocket 59 that has protrusions on its outer periphery that engage with engagement holes in the tape 130, and a motor 59a that rotates the sprocket 59. The cutting unit 57 rotates the sprocket 59 by driving the motor 59a, thereby feeding the tape 130 onto the cutting table 58, and operates the cutter cylinder 57a to cut the tape 130 fed to the cutting position with the cutter blade.

[0021] As shown in Fig. 5, the reel transfer robot 60 includes a vertical articulated robot arm 61 disposed on the base 33, a plurality of motors 61a (see Fig. 6) that drive the joints of each arm of the robot arm 61, an encoder (not shown) that detects the rotation angle of each joint, and an end effector 62 attached to the tip of the arm. The end effector 62 includes a cover chuck unit 64 that chucks the reel cover 106 of the feeder 100, a reel chuck unit 66 that chucks the reel 120, and a tape chuck unit 68 (see Figs. 6 and 10) that chucks the tape 130 of the reel 120. The reel transfer robot 60 can open the reel cover 106 by operating the robot arm 61 upward while the cover chuck unit 64 grips the reel cover 106 of the feeder 100 set in the feeder set unit 40. The reel transfer robot 60 can set the reel 120 in the reel setting unit 50 by operating the robot arm 61 while gripping the reel 120 placed on the receiving table 22a or the reel storage area 25 with the reel chuck unit 66. The reel transfer robot 60 can remove the reel 120 set in the reel setting unit 50 while gripping the leading end of the tape 130 with the reel chuck unit 66 and the tape chuck unit 68, and then operate the robot arm 61 to set the reel 120 in the feeder setting unit 40. The reel transfer robot 60 operates the robot arm 61 to transfer the reel 120 between the feeder setting unit 40 and the reel setting unit 50 while maintaining a predetermined posture of the reel 120.

[0022] The control device 39 includes a CPU 39a, a ROM 39b, a RAM 39c, etc. Status information and the like are input to the control device 39 from each unit of the reel mounting / dismounting device 30 and the reel transfer robot 60, and status information of the automated reel storage cabinet 22 and the loader 29 and instructions for mounting / dismounting the reel 120 are input from the management device 2. Based on this information and mounting / dismounting instructions, the control device 39 mounts / dismounts the reel 120 on / from the feeder 100 set in the feeder set unit 40 while outputting control signals to each unit of the reel mounting / dismounting device 30 and the reel transfer robot 60.

[0023] The operation of the reel attachment / detachment device 30 configured as described above will be described below. FIG. 9 is a flowchart showing an example of the reel attachment process, and FIG. 10 is an explanatory diagram showing the transfer of the reel 120 during the reel attachment process. Note that FIG. 10 is an explanatory diagram viewed from above. The process of FIG. 9 is executed by the control device 39 when the feeder 100 to which the reel 120 is to be attached is set in the feeder set unit 40. First, the control device 39 controls the reel transfer robot 60 and the cover support part 43 of the feeder set unit 40 to open and support the reel cover 106 of the feeder 100 (S100). As described above, the cover support part 43 supports the reel cover 106 in the open state so as not to interfere with the attachment / detachment operation of the reel 120 by the reel transfer robot 60. Next, the control device 39 controls the reel transfer robot 60 to receive the reel 120 to be attached from the receiving stand 22a of the automatic reel storage cabinet 22 (S110) and set the reel 120 in the reel set unit 50 (S120).

[0024] Next, the control device 39 controls the reel setting unit 50 to rotate the reel 120 while bringing the peeling piece 55a of the peeling portion 54 into contact with the tape 130 (S130). This allows the reel setting unit 50 to peel off the leading edge of the temporarily fixed tape 130. The leading edge of the peeled tape 130 protrudes outward from the reel 120 due to a repulsive force, and the tape 130 is now in a state where it has been fed out from the reel 120 by a predetermined amount. The control device 39 then controls the reel transfer robot 60 and the reel setting unit 50 so that the tape chuck portion 68 grasps the leading edge of the tape 130 protruding outward from the reel 120 and feeds it to the cutting position of the cutting portion 57 (S140), and cuts off the leading edge of the tape 130 fed to the cutting position (S150). This leading edge processing removes the temporary fixing tape.

[0025] Then, the control device 39 controls the reel transfer robot 60 to remove the reel 120 from the reel setting unit 50 while maintaining the attitude of the reel 120 and attach it to the feeder 100 set in the feeder setting unit 40 (S160). In S160, the reel transfer robot 60 rotates while maintaining the predetermined attitude of the reel 120 (FIG. 10B) in a state where the tape chuck unit 68 grips the leading end of the cut tape 130 and the reel chuck unit 66 grips the reel 120 in a predetermined attitude (FIG. 10A), and moves the reel 120 in the predetermined attitude to the feeder 100 and attaches it (FIG. 10C). This prevents the reel 120 from tilting significantly from the predetermined attitude, thereby preventing the attitude of the components in the tape 130 from changing significantly and the components from falling off the tape 130. When the reel 120 is attached to the feeder 100, the control device 39 controls the feeder set unit 40 so that the chuck 46 of the tape feeding section 45 grasps the tape 130 that was grasped by the tape chuck section 68 of the reel transfer robot 60, and also controls the reel transfer robot 60 so that the tape chuck 68 releases the tape 130.

[0026] Once the reel 120 has been set in the feeder 100 in this manner, the control device 39 controls the feeder set unit 40 to feed the tape 130 (S170). In S170, the control device 39 controls the tape feed unit 45 so that the chuck 46 of the tape feed unit 45 re-grapples the tape 130 and feeds the leading end of the tape 130 to the tape feed unit 102 of the feeder 100. The control device 39 also controls the tape feed unit 102 of the feeder 100 so that the tape feed unit 102 rotates forward to feed the leading end of the tape 130 to a predetermined position.

[0027] Then, the control device 39 controls the feeder set unit 40 and the reel transfer robot 60 to release the support by the cover support portion 43 and close the reel cover 106 (S180), thereby completing the reel attachment process. If the reel attachment / detachment device 30 is equipped with a camera capable of capturing an image of the label 122 on the reel 120, the control device 39 may cause the camera to capture an image of the label 122 before closing the reel cover 106, and may recognize information about the label 122 by image processing the captured image. Based on the recognized information, the control device 39 may check whether the correct reel 120 has been attached, register the reel 120 in association with the feeder 100, or transmit information to the management device 2 together with information indicating that attachment of the reel 120 has been completed.

[0028] The reel attaching / detaching device 30 can also remove the reel 120 from the feeder 100 set in the feeder set unit 40. In the removal process, the control device 39 first controls the tape feeding unit 102 of the feeder 100 to rewind the tape 130. The tape 130 is rewound, for example, until the portion of the tape to which components have already been supplied is rewound onto the reel 120. The control device 39 may drive the tape feeding unit 45 to rewind the tape 130. Alternatively, the reel chuck unit 66 of the reel transfer robot 60 may be configured to be rotatable, and the control device 39 may control the reel transfer robot 60 to reverse the reel 120 in accordance with the reverse rotation of the tape feeding unit 102. Alternatively, the feeder set unit 40 may include a cutting unit, and the control device 39 may control the cutting unit to cut the tape 130 at the portion of the tape to which components have already been supplied after the tape 130 has been rewound.

[0029] Next, the control device 39 controls the reel transfer robot 60 to remove the reel 120 from the feeder 100 and transfer it to a predetermined position. If there are remaining components on the tape 130, the reel transfer robot 60 transfers the reel 120 in the predetermined position, for example, to the reel setting unit 50, as in FIG. 10 . The reel setting unit 50 may be provided with a temporary fastening unit that fastens the tape 130 with a temporary fastening tape. In that case, the control device 39 controls the temporary fastening unit to temporarily fasten the tape 130 of the reel 120 set in the reel setting unit 50. Alternatively, the feeder setting unit 40 may be provided with the temporary fastening unit. The control device 39 may control the reel transfer robot 60 so that the temporarily fastened reel 120 is transferred to the receiving table 22a of the automated reel storage cabinet 22. Furthermore, if there are no remaining components on the tape 130, the control device 39 may control the reel transfer robot 60 to transfer the reel 120 to the used reel storage area 25. The reel transfer robot 60 may also eject the reel 120 from an ejection port formed in the upper plate of the base 33.

[0030] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The reel loading / unloading device 30 of this embodiment corresponds to the reel loading / unloading device of the present disclosure, the feeder set unit 40 corresponds to the feeder set unit, the reel set unit 50 corresponds to the reel set unit, the reel transfer robot 60 corresponds to the transfer robot, and the control device 39 corresponds to the control device. The tape feeding section 45 corresponds to the feeding section. The peeling section 54 corresponds to the peeling section, and the cutting section 57 corresponds to the cutting section. The reel cover 106 corresponds to the open / close cover. Furthermore, the preparation line 20 corresponds to the feeder preparation system, the feeder storage cabinet 26 corresponds to the feeder storage section, the loader 29 corresponds to the feeder preparation device, and the automated reel storage cabinet 22 corresponds to the reel storage section.

[0031] In the reel attachment / detachment device 30 described above, the reel transfer robot 60 removes the reel 120 in a predetermined orientation from the reel setting unit 50, and transfers and attaches the reel 120 to the feeder 100 set in the feeder setting unit 40 while maintaining the predetermined orientation. This eliminates the need to tilt the reel 120 or the feeder 100, and prevents the orientation of the components stored in the tape 130 from changing significantly or the components from falling off, thereby enabling more appropriate attachment and detachment of the reel 120. Furthermore, even if the size of the tape 130 (reel 120), such as its width, differs depending on the type of components stored therein, the reel 120 can be easily and appropriately attached and detached by changing the operating program and parameters of the robot arm 61 of the reel transfer robot 60.

[0032] Furthermore, the reel transfer robot 60 removes the reel 120 from the reel setting unit 50 and attaches it to the feeder 100 while holding the leading end of the tape 130, and the tape feeding section 102 of the feeder 100 and the tape feeding section 45 of the feeder setting unit 40 feed the leading end of the tape 130 to a predetermined position, so that the leading end of the tape 130 can be appropriately processed. Furthermore, the peeling section 54 can peel off the temporary fixing tape of the tape 130, so that the leading end of the tape 130 can be more appropriately processed. Furthermore, the cover support section 43 supports the reel cover 106 in the open state at a position that does not interfere with the operation of the reel transfer robot 60, so that the reel 120 can be efficiently attached and detached.

[0033] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be embodied in various forms as long as they fall within the technical scope of the present disclosure.

[0034] For example, in the above-described embodiment, the reel cover 106 is attached to the upper side of the feeder 100 so as to be openable and closable, but this is not limited to this, and it is sufficient that the reel cover 106 is attached to the feeder 100 so as to be openable and closable, and it may be attached to the lower edge, and the opening and closing direction may be left and right.

[0035] In the above-described embodiment, feeder 100 is set in feeder setting unit 40 so that tape feeding section 102 of feeder 100 can be driven, but this is not a limitation, and feeder 100 may be set so that tape feeding section 102 cannot be driven. Also, tape feeding section 45 is provided in feeder setting unit 40, but this is not a limitation, and tape feeding section 45 may be provided somewhere other than feeder setting unit 40, for example, it may be provided in reel transfer robot 60. In other words, feeder setting unit 40 may be any unit that can be set in a predetermined orientation when feeder 100 supplies components.

[0036] In the above-described embodiment, the reel setting unit 50 includes the rotating unit 52, the peeling unit 54, and the cutting unit 57, but any or all of these may be provided separately from the reel setting unit 50. That is, the reel setting unit 50 may be any unit that allows the reel 120 to be set in a predetermined orientation. Note that any of the rotating unit 52, the peeling unit 54, and the cutting unit 57 may be provided on the end effector 62 of the reel transfer robot 60.

[0037] In the above-described embodiment, the reel transfer robot 60 is provided with the cover chuck portion 64 and the tape chuck portion 68, but these may not be provided. In other words, the reel transfer robot 60 only needs to be capable of transferring the reel 120 between the feeder set unit 40 and the reel set unit 50 while holding the reel 120 in a predetermined position with the reel chuck portion 66. The feeder set unit 40 may be configured so that the reel cover 106 can be opened and closed.

[0038] In the above-described embodiment, the preparation line 20 (preparation system) is illustrated as including, in addition to the reel attaching / detaching device 30, the loader 29 that sets the feeder 100 in the feeder set unit 40, and the automated reel storage cabinet 22 to which the reel transfer robot 60 transfers the reel 120, but is not limited to this. The reel attaching / detaching device 30 may be independently installed, and the feeder 100 may be set by another device such as an AGV or by a worker, or the reel transfer robot 60 may transfer the reel 120 to / from another device such as an AGV.

[0039] Here, the reel loading / unloading device of the present disclosure may be configured as follows: The reel loading / unloading device of the present disclosure may include a feeding section disposed in either the feeder setting unit or the transfer robot and configured to feed the tape on the reel attached to the feeder toward the feeding section, the feeder setting unit having the feeder set therein so as to be able to drive the feeding section, the reel setting unit configured to be able to rotate the reel, the transfer robot configured to be able to hold the leading end of the tape, and the control device may control the reel setting unit, when the reel is set in the reel setting unit, to rotate the reel until a predetermined amount of tape is fed out, control the transfer robot to remove the reel while holding the leading end of the tape and attach the reel to the feeder, and control the feeding section and the supply section so that the leading end of the tape reaches a predetermined position. This allows appropriate tape leading end processing to be performed when attaching the reel using the transfer robot.

[0040] In the reel attachment / detachment device of the present disclosure, the reel set unit may have a peeling section that peels off the leading end of the tape temporarily attached to the reel and a cutting section that cuts off the leading end of the tape, and the control device may control the reel set unit so that, when the reel is set in the reel set unit, the peeling section peels off the leading end of the tape, then feeds out the tape by the predetermined amount, and the cutting section cuts off the leading end of the tape. In this way, leading end processing can be performed appropriately even for a reel in which the leading end of the tape is temporarily attached.

[0041] In the reel attachment / detachment device of the present disclosure, the feeder may have an openable cover that detachably exposes the reel in an open state, the transfer robot may be configured to open and close the openable cover of the feeder set in the feeder set unit, and the feeder set unit may include a support part that supports the openable cover in a position that does not interfere with the operation of the transfer robot. This prevents the openable cover from interfering with the transfer of the reel, allowing for efficient removal and attachment of the reel.

[0042] The feeder preparation system of the present disclosure includes any one of the reel attachment / detachment devices described above, a feeder preparation device capable of transferring the feeders between a feeder storage unit that stores multiple feeders and the feeder set unit and preparing the feeder to which the reel is to be attached or detached, and a reel storage unit that stores multiple reels, and the transfer robot is capable of transferring the reels between the reel storage unit and the reel set unit.The feeder preparation system of the present disclosure automatically attaches and detaches reels to and from the feeders using any one of the reel attachment / detachment devices described above, thereby more appropriately attaching and detaching reels.Furthermore, because feeder preparation and reel preparation can be performed automatically, attachment and detachment of reels to and from the feeders can be more efficiently performed.

[0043] Although the present disclosure is directed to a reel attaching / detaching device, it may be a reel attaching device that only attaches reels, or a reel removing device that only removes reels. For example, in the case of a reel removing device, the control device may control the transfer robot so that, when the feeder is set in the feeder setting unit, the reel is removed from the feeder and set in the reel setting unit. [Industrial Applicability]

[0044] The present disclosure is applicable to the component mounting system manufacturing industry and the like. [Explanation of symbols]

[0045] 1 component mounting system, 2 management device, 4 AGV, 10 mounting line, 12 printing device, 14 print inspection device, 16 mounting device, 18 feeder storage area, 19 loader, 20 preparation line, 22 automatic reel storage cabinet, 22a receiving stand, 25 reel storage area, 26 feeder storage cabinet, 28 feeder storage area, 29 loader, 30 reel loading / unloading device, 31, 32, 33 base, 39 control device, 39a CPU, 39b ROM, 39c RAM, 40 feeder set unit, 41 base, 42 connector, 43 cover support portion, 44 support piece, 44a motor, 45 tape feed portion, 46 chuck, 46a chuck cylinder, 47 chuck base, 48 slide guide, 48a guide hole, 49 Actuator, 50 reel set unit, 51 base, 52 rotating part, 52a motor, 53 pulley, 54 peeling part, 54a motor, 55 operating arm, 55a peeling piece, 57 cutting part, 57a cutter cylinder, 58 cutting table, 59 sprocket, 59a motor, 60 reel transfer robot, 61 robot arm, 61a motor, 62 end effector, 64 cover chuck part, 66 reel chuck part, 68 tape chuck part, 100 feeder, 101 main body, 101a opening, 102 tape feed part, 103 motor, 104 tape guide, 106 reel cover, 107 recovery part, 108 connector, 109 positioning pin, 120 reel, 122 label, 130 tape.

Claims

1. A reel attachment / detachment device that attaches and detaches a reel around which a tape containing components is wound to a feeder that feeds the tape by driving a delivery section to supply the components, comprising: a feeder set unit in which the feeder is set in a predetermined orientation when feeding the component; a reel set unit in which the reel is set in a predetermined orientation when the component is supplied; a transfer robot capable of transferring the reel between the feeder set unit and the reel set unit while maintaining the orientation of the reel; a control device that controls the transfer robot so that, when the reel is set in the reel set unit, the reel is removed from the reel set unit and attached to the feeder set in the feeder set unit; A reel attachment / detachment device comprising:

2. 2. The reel attachment / detachment device according to claim 1, a feeding unit disposed in either the feeder set unit or the transfer robot, which feeds the tape of the reel attached to the feeder to the feeding unit side; the feeder set unit is configured to set the feeder so that the delivery section can be driven; the reel set unit is configured to be able to rotate the reel, the transfer robot is configured to be able to hold the leading end of the tape, When the reel is set in the reel set unit, the control device controls the reel set unit to rotate the reel until a predetermined amount of the tape is fed out, controls the transfer robot to remove the reel while holding the leading end of the tape and attach the reel to the feeder, and controls the delivery unit and the feeding unit so that the leading end of the tape reaches a predetermined position. Reel attachment / detachment device.

3. 3. The reel attachment / detachment device according to claim 2, the reel set unit has a peeling section that peels off the leading end of the tape temporarily fixed to the reel, and a cutting section that cuts off the leading end of the tape, The control device controls the reel set unit so that, when the reel is set in the reel set unit, the peeling unit peels off the leading end of the tape, then feeds out the predetermined amount of the tape, and the cutting unit cuts off the leading end of the tape. Reel attachment / detachment device.

4. 4. The reel attachment / detachment device according to claim 1, the feeder has an openable cover that detachably exposes the reel when it is open, the transfer robot is configured to be able to open and close the open / close cover of the feeder set in the feeder set unit, The feeder set unit includes a support portion that supports the open / close cover in an open state at a position that does not interfere with the operation of the transfer robot. Reel attachment / detachment device.

5. The reel attachment / detachment device according to any one of claims 1 to 4, a feeder preparation device that is capable of transferring the feeders between a feeder storage unit that stores a plurality of the feeders and the feeder set unit and that prepares the feeders to be attached or detached to the reels; a reel storage section that stores a plurality of the reels; Equipped with The transfer robot is capable of transferring the reel between the reel storage unit and the reel set unit. Feeder preparation system.

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