Work Management System

Abstract

To provide a work management system that identifies a work main body of a predetermined work executed in a work region, and manages management information on the basis of the work main body.SOLUTION: A work management system comprises: an identification part that identifies whether or not a work main body of a predetermined work is an operator or a robot in the case where the predetermined work against an exchange element is executed; and an information management part that manages management information associated with the exchange element on the basis of an identification result by the identification part. The management information contains information associated with information indicating a type of an article held by the exchange element in each identification coding of the exchange element.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a work management system. [Background technology]

[0002] The work management system is applied to a work area where, for example, both a worker and a robot perform a predetermined work. Patent Document 1 discloses a configuration in which, in a work area where a board product is produced, both a worker and a robot can perform a feeder replacement work for a component mounting machine. Here, when a predetermined work is performed in the work area as described above, there is a management requirement to identify whether the work subject is a worker or a robot. It is assumed that the above identification is based on the presence or absence of communication between the robot and the work management system before the execution of the predetermined work. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2014 / 010083 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when a worker performs a predetermined task after the robot communicates with the task management system, there is a risk that the worker may mistakenly recognize that the task subject is a robot. Also, in a configuration that uses communication to identify the task subject, a configuration that enables communication is required, and there is a concern that the processing load and required time associated with communication will increase.

[0005] An object of the present specification is to provide a work management system that can more accurately identify the task subject of a specified work performed in a work area. [Means for solving the problem]

[0006] This specification discloses a first work management system that is applied to a work area where a specified task is performed by a worker and a robot, and includes a control unit that controls the robot so that the motion of the robot performing the specified task includes a predetermined specified motion, an information acquisition unit that, when the specified task is performed in the work area, acquires work information indicating the presence or absence of the specified motion in at least one of the execution result and execution process of the specified task, and an identification unit that identifies whether the subject of the work performing the specified task is the worker or the robot, based on the work information acquired by the information acquisition unit.

[0007] This specification discloses a second work management system that is applied to a work area where a specified task is performed by a worker and a robot and includes a control unit that controls the robot performing the specified task, a detection device that detects the worker in the work area, and an identification unit that, when the specified task is performed in the work area, identifies whether the subject of the specified task is the worker or the robot based on the detection result by the detection device. This specification discloses a work management system comprising an identification unit that, when a specified task is performed on a replacement element, identifies whether the subject of the specified task is a worker or a robot, and an information management unit that manages management information associated with the replacement element based on the identification result by the identification unit, wherein the management information includes information that associates, for each identification code of the replacement element, information indicating the type of item held in the replacement element. Effect of the Invention

[0008] According to the configuration of the first and second work management systems, when a predetermined work is performed in a work area, the work subject of the predetermined work can be identified. This makes it possible to identify the work subject regardless of the presence or absence of communication between the robot and the work management system, thereby suppressing increases in processing load and required time and improving the manageability of the work. Furthermore, according to the configuration of the work management system, management information can be managed based on the identified work subject. [Brief description of the drawings]

[0009] [Figure 1] 1 is a plan view showing a work area to which a work management device according to an embodiment is applied; [Diagram 2] FIG. 2 is a perspective view showing an outline of the configuration of an exchange system and a component mounting machine in FIG. [Diagram 3] FIG. 3 is a perspective view showing the appearance of the feeder in FIG. 2. [Figure 4] 11 is a plan view showing a feeder replacement operation between the replacement robot and a component supplying device of a component mounting machine. FIG. [Diagram 5] FIG. 1 is a block diagram showing a work management system. [Figure 6] 13 is a flowchart showing a process of identifying a task subject. [Figure 7] FIG. 13 is a block diagram showing a work management system according to a modified embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] 1. Overview of the Work Management System Hereinafter, an embodiment of the work management system will be described with reference to the drawings. The work management system is applied to a work area where workers and robots perform predetermined work together. The robot constitutes an exchange system that exchanges exchange elements between a substrate-related operation machine that performs substrate-related operations, for example, in a production line that produces predetermined substrate products.

[0011] 2. Configuration of Production Line 1 As shown in Fig. 1, the production line 1 is configured by arranging a plurality of component mounting machines 10 in the conveying direction of a board 90 (see Fig. 2). On the board carry-in side of the production line 1 (left side in Fig. 1), a feeder storage device 5 used to store cassette-type feeders 20 is installed. The configuration of the production line 1 may be appropriately added or changed depending on, for example, the type of board product to be produced. Specifically, the production line 1 may be appropriately equipped with board-related processing machines such as a solder printer, an inspection machine, and a reflow oven.

[0012] In this embodiment, an exchange robot 40 is applied to the production line 1 as a working device that performs a predetermined task on each of the component mounting machines 10 and the feeder storage devices 5. Each device constituting the production line 1 and the exchange robot 40 are configured to be able to input and output various data to and from a host computer 6 via a network. A detailed configuration of the exchange system 30 including the exchange robot 40 will be described later.

[0013] The feeder storage device 5 has a plurality of slots. The feeder storage device 5 stocks the feeders 20 that are respectively installed in the plurality of slots. The feeders 20 installed in the slots of the feeder storage device 5 are in a state in which they can communicate with the host computer 6. As a result, the slots of the feeder storage device 5 and the identification codes (IDs) of the feeders 20 installed in the corresponding slots are associated with each other and recorded in the host computer 6.

[0014] The host computer 6 monitors the operating status of the production line 1 and controls the component mounting machine 10, the feeder storage device 5, and other substrate-related operating machines, and the exchange robot 40. The host computer 6 stores various data for controlling the component mounting machine 10 and the exchange robot 40. The host computer 6 transmits various data, such as a control program, when the component mounting machine 10 executes a component mounting process, for example.

[0015] 3. Configuration of component mounting machine 10 2, the multiple component mounting machines 10 constituting the production line 1 each include a board transport device 11, a component supply device 12, and a head drive device 13. In the following description, the horizontal width direction of the component mounting machine 10, which is the transport direction of the board 90, is defined as the X direction, the horizontal depth direction of the component mounting machine 10 is defined as the Y direction, and the vertical direction perpendicular to the X direction and the Y direction (the up and down direction in FIG. 2) is defined as the Z direction.

[0016] The board transport device 11 is composed of a belt conveyor, a positioning device, etc. The board transport device 11 sequentially transports the board 90 in a transport direction and positions the board 90 at a predetermined position within the machine. After the mounting process by the component mounting machine 10 is completed, the board transport device 11 takes the board 90 out of the component mounting machine 10.

[0017] The component supplying device 12 supplies components to be mounted on the board 90. The component supplying device 12 has an upper slot 121 and a lower slot 122 in which a feeder 20 can be mounted. The upper slot 121 is disposed at the upper part of the front side of the component mounting machine 10, and operably holds the mounted feeder 20. The operation of the feeder 20 mounted in the upper slot 121 is controlled in the mounting process by the component mounting machine 10, and the feeder 20 supplies components at a take-out section provided at a specified position above the feeder 20.

[0018] The lower slot 122 is disposed below the upper slot 121 and stocks the installed feeders 20. In other words, the lower slot 122 holds spare feeders 20 to be used in production, or temporarily holds feeders 20 that have been used in production. The exchange of feeders 20 between the upper slot 121 and the lower slot 122 is performed automatically by an exchange robot 40, which will be described later, or manually by an operator.

[0019] When the feeder 20 is mounted in the upper slot 121 or the lower slot 122 of the component supplying device 12, power is supplied from the component mounting machine 10 via a connector. The feeder 20 is then capable of communicating with the component mounting machine 10. The feeder 20 mounted in the upper slot 121 controls the feeding operation of the carrier tape that stores the components based on control commands from the component mounting machine 10. As a result, the feeder 20 supplies the components in a take-out section provided at the top of the feeder 20 so that the components can be picked up by a holding member of a mounting head 132, which will be described later.

[0020] The head driving device 13 moves the movable stage 131 in the horizontal direction (X direction and Y direction) by a linear motion mechanism (not shown). A mounting head 132 is replaceably fixed to the movable stage 131 by a clamp member (not shown). The mounting head 132 is moved in the XY direction together with the movable stage 131 by the linear motion mechanism of the head driving device 13. The mounting head 132 picks up the components supplied by the component supply device 12 with a holding member. The holding member may be, for example, a suction nozzle that sucks up the components by supplied negative pressure air, or a chuck that grips the components.

[0021] The mounting head 132 holds the holding member so that it can move in the Z direction and rotate around a θ axis parallel to the Z axis. The mounting head 132 adjusts the position and angle of the holding member depending on the orientation of the picked component. The mounting head 132 then mounts the component at the mounting position on the board 90 as instructed by the control program.

[0022] The holding member held by the mounting head 132 may be changed as appropriate depending on the type of component in the mounting process for mounting components on the board 90. For example, when a suction nozzle to be used in a mounting process to be executed is not attached to the mounting head 132, the component mounting machine 10 causes the mounting head 132 to hold a suction nozzle housed in a nozzle station (not shown). The nozzle station is removably mounted at a predetermined position inside the component mounting machine 10.

[0023] 4.Feeder 20 Configuration The configuration of feeder 20 will be described with reference to FIG. 3. Feeder 20 includes feeder body 21, drive device 22, first held portion 23, and second held portion 24. Feeder body 21 is formed in a flat box shape as shown in FIG. 3. Feeder body 21 detachably (replaceably) holds a tape reel around which a carrier tape that contains a large number of components is wound. Drive device 22 has a sprocket that engages with a feed hole provided in the carrier tape. Drive device 22 rotates the sprocket to feed and move the carrier tape.

[0024] The feeder 20 controls the operation of the drive unit 22 by a control unit (not shown). When the feeder 20 is installed in the upper slot 121 of the component mounting machine 10, the feeder 20 is supplied with power from the component mounting machine 10 via a connector. This enables the control unit of the feeder 20 to communicate with the component mounting machine 10. With this configuration, the component mounting machine 10 can detect the supply and withdrawal of the feeder 20 to either the upper slot 121 or the lower slot 122.

[0025] First held portion 23 is provided on feeder body 21 and is a portion that is held when an operator performs a replacement operation as a predetermined task. In this embodiment, first held portion 23 is formed by a part of the outer edge of an elongated hole that penetrates feeder body 21. First held portion 23 is configured so that an operator can hold feeder 20 with one hand.

[0026] The second held part 24 is provided on the feeder body 21, and is a part that is held when the exchange robot 40 performs the exchange work as a predetermined job. The second held part 24 is formed in a position and shape different from the first held part 23. The second held part 24 opens at the upper rear end surface of the feeder body 21, and engages with the tip parts of the holding arms 41-43 of the exchange robot 40 described later by inserting them therein. The second held part 24 is configured so that one of the holding arms 41-43 can hold the feeder 20.

[0027] 5. Configuration of Exchange System 30 and Exchange Robot 40 1 and 2, the replacement system 30 includes a first rail 31, a second rail 32, and a replacement robot 40. The first rail 31 and the second rail 32 form a running path for the replacement robot 40. The first rail 31 is provided between the upper slot 121 and the lower slot 122 of each of the multiple component mounting machines 10 in the up-down direction. The second rail 32 is provided below the lower slot 122 of the component mounting machine 10. The first rail 31 and the second rail 32 extend over substantially the entire area of ​​the production line 1 in the transport direction of the board 90.

[0028] The exchange robot 40 is provided so as to be capable of traveling along a travel path formed by the first rail 31 and the second rail 32. The exchange robot 40 is supplied with power from a power transmitting unit by non-contact power supply via a power receiving unit provided opposite the power transmitting unit provided on the first rail 31, for example. The power received by the power receiving unit is used for traveling of the exchange robot 40 and for a predetermined task via a power receiving circuit. The exchange robot 40 detects its current position on the travel path by a position detection device (not shown). An optical detection method or a detection method using electromagnetic induction can be applied to the position detection device.

[0029] The exchange robot 40 performs a predetermined operation in the working area Rw. The above-mentioned "predetermined operation" includes an operation of exchanging an exchange element detachably mounted on a substrate-related operation machine such as the component mounting machine 10 with the substrate-related operation machine. In this embodiment, the exchange robot 40 performs an exchange process of the feeder 20 between the component mounting machines 10 constituting the production line 1 and the feeder storage device 5, using the feeder 20 as an exchange element, which supplies components to be mounted on the substrate 90. The above-mentioned exchange process includes at least one of a recovery operation and a supply operation of the feeder 20.

[0030] In this embodiment, the exchange robot 40 transports the feeder 20 from the feeder storage device 5 to the upper slot 121 or the lower slot 122 of the component mounting machine 10. The exchange robot 40 also swaps the feeder 20 between the upper slot 121 and the lower slot 122 of the component mounting machine 10. The exchange robot 40 also transports a used feeder 20 from the component mounting machine 10 to the feeder storage device 5. The exchange robot 40 includes a plurality of holding arms 41-43 and a control unit 44.

[0031] Each of the multiple holding arms 41-43 has a tip portion that engages with the second held portion 24 of the feeder 20, and is configured to be able to hold the feeder 20. Each of the multiple holding arms 41-43 is provided so as to be able to move independently in the attachment / detachment direction of the feeder 20 (Y direction in this embodiment). The multiple holding arms 41-43 are also provided so as to be able to move integrally in the up-down direction (Z direction). In this embodiment, the exchange robot 40 includes three holding arms 41-43, but a configuration including four or more holding arms that are able to move independently in the attachment / detachment direction of the feeder 20 may be adopted.

[0032] The control unit 44 is a controller mainly composed of a CPU, various memories, and a control circuit. The control unit 44 is communicably connected to the multiple component mounting machines 10, the feeder storage device 5, and the host computer 6. The control unit 44 controls the travel of the exchange robot 40 and the operation of the multiple holding arms 41-43. With the above-mentioned configuration, the exchange robot 40 moves to a predetermined position along the first rail 31 and the second rail 32, and replaces the feeder 20, which is a replacement element, at the stop position.

[0033] 6. Configuration of Work Management System 50 In this embodiment, a part of the work management system 50 is configured by software installed on the host computer 6, as shown in Fig. 5. In the work area Rw to which the work management system 50 is applied, manual replacement of the feeder 20 by a worker and automatic replacement of the feeder 20 by the replacement robot 40 can be performed as examples of predetermined work. The work management system 50 can recognize that replacement work (supply work or recovery work) of the feeder 20 has been performed based on whether communication with the feeder 20 is possible.

[0034] Here, when a feeder 20 replacement operation is performed in the above-described work area Rw, there is a management requirement to identify whether the work subject is a worker or the replacement robot 40. For example, when the replacement robot 40 attempts a replacement operation, the work management system 50 recognizes the current situation of whether the operation was performed appropriately or not, and determines whether the replacement robot 40 can travel depending on the recognized current situation. In addition, the work management system 50 determines whether the identification information of the reel associated with each feeder 20 should be maintained or discarded depending on the work subject.

[0035] As shown in Fig. 5, the host computer 6 can communicate with substrate-related operating machines such as the component mounting machine 10 in a first control system Lw1 including the production line 1, and can also communicate with the exchange robot 40 in a second control system Lw2 including the replacement system 30. Therefore, the work management system 50 can determine whether the exchange robot 40 is the subject of the replacement work by communicating a predetermined signal with the exchange robot 40 before or after the replacement work is performed. However, when a worker and the exchange robot 40 attempt to perform the replacement work at the same time, if the predetermined signal is received even though the worker actually performed the replacement work, the work management system 50 may mistakenly recognize that the exchange robot 40 is the subject of the work.

[0036] In addition, in the work area Rw in which the above-mentioned multiple control systems are constructed, the amount of communication may be reduced in order to improve work efficiency and reduce the processing load. Specifically, the host computer 6 may, for example, instruct the exchange robot 40 to collectively perform the exchange work for multiple feeders 20, and may operate the exchange robot 40 to minimize communication with the exchange robot 40 during the execution of multiple exchange works. In such a configuration, if communication is used to identify the operator, there is a concern that the processing load and required time associated with communication will increase.

[0037] Therefore, the work management system 50 of this embodiment employs a configuration that can more accurately identify the operator of a predetermined task (e.g., replacing the feeder 20) performed in the work area Rw. Specifically, as shown in Fig. 5, the work management system 50 mainly includes a control unit 44 of the exchange robot 40, an information acquisition unit 51, and an identification unit 52. The control unit 44 of the exchange robot 40 controls the exchange robot 40 so that the operation of the exchange robot 40 performing the predetermined task includes a predetermined operation.

[0038] Here, the above-mentioned "prescribed motion" is a motion that, when both the worker and the exchange robot 40 perform a predetermined task in such a way that the prescribed motion is included, causes a certain or greater difference in the probability that the prescribed motion is actually included in the motion of each of the work subjects. In addition, various aspects of the prescribed motion may be adopted. Details of the aspects of the prescribed motion will be described later.

[0039] When a predetermined task is performed in the work area Rw, the information acquisition unit 51 acquires task information Df indicating the presence or absence of a prescribed action in at least one of the execution result and the execution process of the predetermined task. The above-mentioned "execution result" includes the start time and end time of the predetermined task, the required time, and the interval between consecutive predetermined tasks. In addition, when the predetermined task is the replacement of a feeder 20, the "execution result" includes specific information of the feeder 20 and the slot to be replaced.

[0040] The above-mentioned "execution process" also includes, for example, the positions and movement trajectories of the exchange robot 40 and the target object detected by various sensors (not shown) during the execution of a predetermined task. Specifically, when the predetermined task is the replacement of the feeder 20, the "execution process" includes the fact that the feeder 20 has passed a predetermined Y-direction position detected by a sensor provided at the front of the component mounting machine 10, the time of passing, and the time required for passing. The prescribed operation indicated by the task information Df will be described together with various aspects of the prescribed operation described later.

[0041] As described above, the work information Df is a kind of trace information (operation history information) related to at least one of the execution result and execution process of the predetermined work. As a result, when the control unit 44 controls the operation of the exchange robot 40 that executes the predetermined work so that a prescribed operation is included, the trace information indicates that a prescribed operation is included. On the other hand, when the worker executes the predetermined work, for example, while indicating the exchange time and required time of the feeder 20, the trace information related thereto indicates that no prescribed operation is included.

[0042] The identification unit 52 identifies whether the subject of a predetermined task is a worker or an exchange robot 40, based on the task information Df acquired by the information acquisition unit 51. That is, the identification unit 52 determines that the subject of a task is a worker if the motion of the subject of a task that has performed the predetermined task according to the task information Df does not include a prescribed motion. On the other hand, the identification unit 52 determines that the subject of a task is the exchange robot 40 if the motion of the subject of a task that has performed the predetermined task according to the task information Df includes a prescribed motion.

[0043] Here, in order to further improve the accuracy of identification in identifying the work subject as described above, it is possible to identify whether the work subject of a predetermined task is a worker or the exchange robot 40 based on the detection result by the detection device 60 that detects the worker in the work area Rw, in addition to the work information Df. The detection device 60 is a device that detects only the worker when the worker and the exchange robot 40 perform the predetermined task.

[0044] Specifically, the detection device 60 may include a human presence sensor 61 that detects a worker who is located in the work area Rw when performing a predetermined task. The human presence sensor 61 detects the presence of a nearby worker and transmits a signal based on the detection. The human presence sensor 61 detects the worker using infrared rays, ultrasonic waves, or the like. The detection device 60 recognizes whether or not the worker is approaching the component mounting machine 10 in the work area Rw to a degree that allows the worker to perform the replacement task, based on the signal transmitted from the human presence sensor 61, for example.

[0045] 3, the detection device 60 may include a holding sensor 62 that is provided on the first held portion 23 of the feeder 20 and detects the holding of the feeder 20 by the worker. The holding sensor 62 is composed of a switch element, a piezoelectric element, or the like, that is provided on the inner circumferential surface of the first held portion 23. When the worker grips the first held portion 23, the holding sensor 62 is necessarily turned on.

[0046] In a configuration in which power is supplied to the feeder 20 only when it is mounted on the component mounting machine 10 and communication is possible, the holding sensor 62 detects the state immediately after mounting or immediately before removal, and sends a signal based on the detection. For example, based on the signal sent from the holding sensor 62, the detection device 60 recognizes whether or not a worker in the work area Rw has performed or is about to perform a replacement operation.

[0047] In this embodiment, the work management system 50 includes an information management unit 53. The information management unit 53 executes management processing of various management information according to the identification result by the identification unit 52, i.e., the task subject of the executed predetermined work. Here, the above-mentioned management information Dm includes information associated with the feeder 20. Specifically, the management information Dm is information that associates the type of carrier tape (corresponding to the type of components to be stored) loaded in the feeder 20 with each identification code of the feeder 20. The above-mentioned association is made by a verification process performed by the worker.

[0048] Here, the information management unit 53 generates or updates the management information Dm based on the result of the verify process, for example, when the carrier tape is loaded into the feeder 20. In the verify process, the identification code of the feeder 20 is obtained by reading, for example, a two-dimensional code affixed to the feeder body 21 of the feeder 20 with a reader. Similarly, the identification code of the carrier tape is obtained by reading, for example, a two-dimensional code affixed to the reel with a reader.

[0049] The information management unit 53 manages the management information Dm so that the wrong type of component is not fed during the mounting process by the component mounting machine 10. However, for example, when the feeder 20 is removed from the component mounting machine 10 and is not receiving power, the state of the feeder 20 cannot be recognized. Therefore, it is not certain whether the combination of the feeder 20 and the carrier tape loaded therein matches the one indicated by the management information Dm.

[0050] Therefore, when the state of the feeder 20 cannot be recognized for a certain period of time, the information management unit 53 discards the management information Dm corresponding to the feeder 20. This allows the worker to execute the verify process again when re-installing the feeder 20 in the component mounting machine 10. This allows the information management unit 53 to generate the management information Dm, thereby preventing the wrong type of component from being supplied during the mounting process.

[0051] Here, if the management information Dm is discarded even though the feeder 20 collected by the exchange system 30 is held in the exchange robot 40 or the feeder storage device 5, a verify process must be executed when the feeder 20 is automatically mounted on the component mounting machine 10. This ultimately requires work by an operator, which may hinder automation and labor saving. Therefore, the information management unit 53 does not discard the management information Dm corresponding to the feeder 20 collected from the component mounting machine 10 without the intervention of an operator, but maintains it.

[0052] Therefore, in order for the information management unit 53 to properly discard or maintain the management information Dm, it is necessary to accurately identify the operator who performed the replacement work of the feeder 20. In response to this, the information management unit 53, with the above-described configuration, can manage the management information Dm based on the identification result by the identification unit 52 (whether the operator is a worker or the replacement robot 40). This makes it possible to prevent a decrease in productivity due to excessive execution of the verify process, and to improve the accuracy of the mounting process.

[0053] The work management system 50 includes a replacement command unit 54. The replacement command unit 54 commands the replacement system 30 to replace the feeders 20 based on a production plan that defines the types and quantities of board products to be produced, the production sequence, and the like, and the current setup state of the production line 1. In addition, in this embodiment, the replacement command unit 54 commands the replacement robot 40 to collectively perform replacement work for a plurality of feeders 20.

[0054] Here, in the work management system 50, the multiple component mounting machines 10, the information acquisition unit 51, the identification unit 52, the information management unit 53, the exchange command unit 54, and the detection device 60 belong to the same first control system Lw1. On the other hand, the exchange system 30 and the exchange command unit 54 belong to a second control system Lw2 that is independent of the first control system Lw1. The identification unit 52 can communicate with the exchange robot 40, but belongs to a different control system from the control unit 44 of the exchange robot 40, and identifies the operator of a predetermined work without communication with the control unit 44.

[0055] The work management system 50 includes a storage device 55. The storage device 55 is configured with an optical drive device such as a hard disk drive, or a flash memory. The storage device 55 stores work information Df and management information Dm for each of the multiple feeders 20. The work information Df and management information Dm are generated and updated by the host computer 6.

[0056] 7.Regarding the prescribed operation and work information Df When the exchange robot 40 executes a predetermined task, a prescribed action included in the action of the exchange robot 40 and the task information Df indicating the presence or absence of the prescribed action will be described. Here, an example will be described in which the prescribed task is a replacement task (supply task or recovery task) of the feeder 20, which is a replacement element. Note that the prescribed action is not necessarily limited to an action that the worker cannot execute. In addition, it is not limited to an action that the exchange robot 40 succeeds in approximately 100%.

[0057] In other words, the prescribed action is an action that, when both the worker and the exchange robot 40 perform a predetermined task in such a way that the prescribed action is included, causes a certain or greater difference in the probability that the prescribed action is actually included in the action of each of the work subjects. In this case, the prescribed action is an action that has a higher probability when the exchange robot 40 is the work subject than when the worker is the work subject. Therefore, it is desirable for the prescribed action to be an action that makes the above probability when the exchange robot 40 is the work subject close to 100%. Also, it is desirable for the prescribed action to be an action that makes the above probability when the worker is the work subject close to 0%.

[0058] Furthermore, it is desirable that the prescribed action is an action that can be easily determined from at least one of the execution result and execution process when the replacement work is performed one or more times. Since there is a correlation between the above probability and the identification accuracy of the work subject, by utilizing this, the identification accuracy can be improved by setting the prescribed action. In addition, by appropriately setting the prescribed action while ensuring the identification accuracy, the increase in the time required for performing the prescribed action can be suppressed.

[0059] The prescribed action of the first aspect is an action of performing each replacement operation for three or more feeders 20 within a certain period of time that is infeasible for the worker. Specifically, when the worker attempts to replace the feeders 20, the worker holds the first held portion 23 of the feeder 20 with one hand, so it is difficult but possible to hold two feeders 20 with both hands and perform the operation, whereas it is very difficult to perform the operation for three or more feeders. A time shorter than the time required for a skilled worker to perform the replacement operation for three feeders 20 corresponds to a certain period of time that is infeasible for the worker.

[0060] In contrast, in this embodiment, the exchange robot 40 has three holding arms 41-43 and can simultaneously attempt each exchange task for the three feeders 20. In this embodiment, the control unit 44 of the exchange robot 40 executes three exchange tasks for the three feeders 20 within a certain period of time. In this first aspect, the task information Df indicates the presence or absence of a specified operation depending on whether the exchange task has been executed three or more times within a certain period of time.

[0061] For example, when the replacement robot 40 simultaneously retrieves three feeders 20 from the component mounting machine 10, the component mounting machine 10 stops supplying power to the three feeders 20 and is placed in a communication-disabled state. As a result, the component mounting machine 10 recognizes that the three feeders 20 installed up until that point have been retrieved (replacement work has been performed), and notifies the work management system 50 of the start time of the replacement work performed on each of them. The work management system 50 records information related to the notified replacement work in the work information Df.

[0062] As a result, the work information Df indicates a prescribed operation that the collection operation has been performed three or more times within a certain period of time based on the start time of each collection operation for the above three feeders 20. Similarly, in the supply operation for the feeders 20, the work information Df records that the component mounting machine 10 has started supplying power to the three feeders 20 within a certain period of time. As a result, the work information Df indicates a prescribed operation that the supply operation has been performed three or more times within a certain period of time.

[0063] In addition, when the exchange robot 40 has four holding arms, the specified operation of the first embodiment may be the above operation using three of the four holding arms, or may be an operation in which the four holding arms perform the respective replacement operations for the four feeders 20 within a certain period of time. A similar embodiment can be applied when the exchange robot 40 has five or more holding arms.

[0064] The specified operation of the second aspect is at least one of an operation of performing a specified task in a predetermined required time and an operation of performing consecutively performed specified tasks at a predetermined interval. Specifically, when an operator attempts to replace feeder 20, the required time varies even if the operator is skilled in the replacement task. In addition, when an operator attempts to perform consecutive replacement tasks, the interval varies. It is very difficult to reduce these variations to less than a certain level.

[0065] In response to this, the exchange robot 40 can, for example, count the time required for the replacement work and adjust the required time by inserting a waiting time as appropriate so that the difference between the start time and the end time is constant. Similarly, for consecutive replacement works, the exchange robot 40 can adjust the interval by inserting a waiting time as appropriate so that the difference between the end time of the previous replacement work and the start time of the following replacement work is constant. In this second embodiment, the work information Df indicates the presence or absence of a specified operation depending on whether the replacement work was performed in the required time or whether it was performed at the interval of consecutive specified work.

[0066] By adopting the prescribed action of the first mode or the prescribed action of the second mode as exemplified above, the difference in the above-mentioned probability can be increased. The control unit 44 may switch between the prescribed action of the first mode and the prescribed action of the second mode as appropriate, or may adopt both simultaneously. Moreover, prescribed actions other than those described above can also be applied in the same manner. By applying prescribed actions of various modes, the identification accuracy of the task subject can be improved as a result.

[0067] 8. Identification of the Work Subject The process of identifying the work subject by the work management system 50 will be described with reference to Fig. 5 and Fig. 6. For example, when the predetermined work is a work for replacing the feeder 20, the process of identifying the work subject is triggered by a notification from the component mounting machine 10 that one or more replacement works have been performed and an update of the work information Df.

[0068] First, the information acquisition unit 51 acquires the updated task information Df from the storage device 55 (S11). The identification unit 52 analyzes the content of the predetermined task (at least one of the execution result and the execution process) using the task information Df acquired by the information acquisition unit 51 (S12). Then, the identification unit 52 determines whether or not the action of the task subject who executed the predetermined task includes a prescribed action of a preset mode (S13).

[0069] If the action of the worker does not include the prescribed action (S13: No), the identification unit 52 recognizes that it is highly likely that the predetermined task was performed by a worker. In this embodiment, the identification unit 52 further determines whether or not the worker was detected by the detection device 60 during the period in which the predetermined task was performed (S14). Here, if the worker was detected by the detection device 60 (S14: Yes), the identification unit 52 identifies the worker as the worker who performed the predetermined task (S15).

[0070] On the other hand, if the motion of the work subject includes the prescribed motion (S13: Yes), the identification unit 52 identifies the work subject of the predetermined task as the exchange robot 40 (S16). Also, there are cases where the motion of the work subject does not include the prescribed motion (S13: No) and the worker is not detected by the detection device 60 (S14: No). In such a case, the identification unit 52 determines that the exchange robot 40 has failed to include the prescribed motion in the predetermined task, and identifies the work subject of the predetermined task as the exchange robot 40 (S16).

[0071] In the above-mentioned state (S13: No, S14: No), the identification unit 52 may execute error processing such as notifying the worker that the work subject is unknown. The identification unit 52 stores the result of the work subject identification processing in the storage device 55 in association with the executed predetermined work. The result of the above-mentioned identification processing is used, for example, by the information management unit 53 for management of exchange elements.

[0072] According to the above-mentioned configuration, when a predetermined task is performed in the working area Rw, the task subject can be identified based on whether or not the predetermined task includes a prescribed motion, and based on the detection result of whether or not a worker is detected in the working area Rw while the predetermined task is being performed (S13-S16). This allows the task subject to be identified regardless of the presence or absence of communication between the exchange robot 40 and the work management system 50, thereby suppressing an increase in the processing load and required time, and improving the manageability of the work.

[0073] In this embodiment, the identification unit 52 belongs to a first control system Lw1 independent of the control unit 44, and identifies the subject of a predetermined task without communication with the control unit 44 (S15, S16). With this configuration, the control systems are independent of each other, and can proceed with the predetermined task instructed to them without waiting for communication to be established with the other party. This can improve the work efficiency in the work area Rw. Furthermore, since the manageability of the work can be improved in such an environment, the productivity and work efficiency can be improved.

[0074] 9. Modifications of the embodiment 9-1. Identification of the work subject In the embodiment, the work management system 50 identifies the work subject (S15, S16) in the work subject identification process based on whether or not the work subject's actions include a prescribed action (S13) and whether or not the worker is detected by the detection device 60 (S14). In contrast, the work management system 50 may identify the work subject based on either one of them. In other words, the work management system 50 may omit the determination based on the detection result by the detection device 60 (S14) and identify the work subject based on the presence or absence of a prescribed action.

[0075] Furthermore, the work management system 50 may omit the acquisition of work information Df by the information acquisition unit 51 (S11), the analysis of the content of the predetermined work (S12), and the determination of the presence or absence of a prescribed action (S13), and may identify the work subject based on the detection result by the detection device 60. Specifically, as shown in Fig. 7, the work management system 150 mainly includes the identification unit 52 and the detection device 60. In this way, even in a configuration in which the work management system 150 does not include the information acquisition unit 51, it is possible to execute the work subject identification process.

[0076] 9-2. Prescribed work by the work entity In the embodiment, the replacement element to be replaced by the replacement system 30 and the replacement robot 40 is the feeder 20 that is equipped in the component mounting machine 10 and supplies components to be mounted on the board 90. However, the replacement system 30 and the replacement robot 40 may use an element other than the feeder 20 as the replacement element. Specifically, the replacement element may be, for example, a tape reel or a nozzle station that is replaceably equipped in the component mounting machine 10, a waste tape collection container, or the like.

[0077] Some feeders have reel holders that hold tape reels arranged externally. The exchange robot 40 automatically exchanges the tape reels of the feeders, enabling accurate delivery of the tape reels. The nozzle station must hold suction nozzles that correspond to the types of components used in the production of board products. A storage device for the nozzle stations is arranged on the production line 1, and the nozzle stations can be automatically exchanged between the storage device and the component mounting machine 10, thereby improving the production efficiency of the production line 1.

[0078] The waste tape collection container is, for example, installed below the upper slot 121 of the component mounting machine 10, and is a container for collecting waste tape generated when each feeder 20 supplies components. This waste tape is, for example, a portion of a carrier tape from which components have been removed, cut to an appropriate length. The capacity of the waste tape collection container is limited. Therefore, using the replacement robot 40 to maintain the amount of waste tape collected by the waste tape collection container below a certain amount is useful from the viewpoint of maintaining good production conditions.

[0079] Alternatively, the replacement robot 40 may be configured to supply sticks and collect empty sticks when the feeder 20 is a stick feeder. Also, the replacement robot 40 may be configured to supply bulk parts, or supply parts cases that contain bulk parts, and collect empty parts cases when the feeder 20 is a bulk feeder. Even with such a configuration, automatic supply and collection of replacement elements is possible, and production efficiency in the production line 1 can be improved.

[0080] In the embodiment, the robot that performs a predetermined task together with a worker in the work area Rw is configured to be the exchange robot 40. In contrast, the robot that is managed by the work management system 50 may be configured to be, for example, a transport robot that transports the feeder 20 between the feeder storage device 5 of the production line 1 and a storage warehouse (not shown) where the feeder 20 is stored.

[0081] In the above-described configuration, the work management system 50 may identify the operator of the work, for example, the work of the transport robot individually or collectively exchanging the feeders 20 required for a specific production between the transport robot and the feeder storage device 5. Even in such a configuration, the same effects as those of the embodiment can be achieved.

[0082] In addition to the replacement of the replaceable element, the predetermined work may be, for example, a supply work of a predetermined item, a recovery work, an inspection work or a calibration work of a substrate-related work machine, as long as the predetermined work can be performed by a worker and a robot in the work area Rw. In such a configuration, the work management system 50 can identify the work subject based on at least one of the presence or absence of a specified operation and the detection result of the detection device 60. [Explanation of symbols]

[0083] 1: production line, 5: feeder storage device, 6: host computer, 10: component mounting machine (working device), 20: feeder (exchange element), 21: feeder body, 22: driving device, 23: first held part, 24: second held part, 30: exchange system, 40: exchange robot, 41-43: holding arm, 44: control unit, 50: work management system, 51: information acquisition unit, 52: identification unit, 53: information management unit, 54: exchange command unit, 55: storage device, 60: detection device, 61: human presence sensor, 62: holding sensor, Rw: work area, Lw1: first control system, Lw2: second control system, Df: work information, Dm: management information

Claims

1. an identification unit that, when a predetermined task is performed on a replacement element, identifies whether a task subject of the predetermined task is a worker or a robot; an information management unit that manages management information associated with the switching element based on an identification result by the identification unit; Equipped with the predetermined operation is a supply operation or a recovery operation of the replacement element, A work management system, wherein the management information includes information that associates information indicating the type of item held in each of the replacement elements with an identification code of the replacement element.

2. 2 . The work management system according to claim 1 , wherein the replacement element is at least one of a feeder that is provided in a component mounting machine that mounts components on a board and supplies the components, and a nozzle station that houses a suction nozzle.

3. The management information includes: When the replacement element is the feeder, information indicating the type of the component or information associating identification information of a reel on which a carrier tape that contains the component is wound is included for each identification code of the feeder, The work management system according to claim 2 , wherein when the replacement element is the nozzle station, information is included that associates identification information of the suction nozzle housed in the nozzle station with each identification code of the nozzle station.

4. A work management system described in any one of claims 1-3, wherein the information management unit maintains the management information associated with the replacement element when the work subject in the identification result is the robot.

5. The work management system described in Claim 4, wherein the information management unit discards the management information associated with the replacement element when the work subject in the identification result is the worker and a state in which the state of the replacement element cannot be recognized continues for a certain period of time.

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