Transport robot and component mounting system

Abstract

With respect to a component mounting device that is provided with a component feed unit having a rack where a plurality of trays are stored and that takes out components stored in the trays and mounts the components on substrates, this conveyance robot performs rack delivery to the component feed unit. The conveyance robot comprises: a traveling unit equipped with traveling wheels for traveling along a floor surface; and a delivery unit which is provided to the traveling unit so as to be capable of supporting the rack and which performs rack delivery with respect to a rack support part by moving the rack in the horizontal direction.

Description

[Technical field]

[0001] The present invention relates to a transport robot used in a manufacturing line for component-mounted boards in which components are mounted (placed) on a substrate such as a printed wiring board, and to a component mounting system equipped with this transport robot. [Background technology]

[0002] There is known a manufacturing line for manufacturing component-mounted boards in which components are mounted (placed) on a substrate such as a printed wiring board. The manufacturing line includes a plurality of component mounting devices arranged adjacent to each other in a row. The substrate is transported along the manufacturing line, and each component mounting device mounts components on the substrate. The component mounting device is equipped with a mounting head and a component supplying device such as a tape feeder, and the mounting head adsorbs and holds the components supplied by the component supplying device and mounts them on the substrate.

[0003] In this type of manufacturing line, it is necessary to replenish components consumed by the component mounting device and to replace the component supply device when the type of board being produced is changed. This task was traditionally performed by an operator, but in recent years, unmanned transport robots are increasingly taking over the task. For example, Patent Document 1 discloses a component mounting system that uses a self-propelled cart (transport robot) equipped with a tape feeder to automatically replace tape feeders before and after a type change in a single step.

[0004] Incidentally, a component mounting apparatus may be equipped with a tray feeder that supplies components arranged on a tray, as disclosed in Patent Document 2, for example. The tray feeder includes a rack (magazine) in which multiple trays on which components are placed are stored in multiple levels, a lifting mechanism that raises and lowers the rack, and a pull-out mechanism that moves the tray in and out of the rack. In this tray feeder, the lifting mechanism positions the rack at a predetermined height, and the pull-out mechanism pulls the tray out of the rack. Then, the components on the pulled-out tray are sucked and held by the mounting head.

[0005] A tray feeder is a relatively large part supplying device, and it is difficult to mount it on a self-propelled cart and replace it as in Patent Document 1. Therefore, the supply of parts consumed by the tray feeder and the replacement of parts when changing the type of produced board are currently performed manually by workers. Therefore, a transport robot that can automate the part supply work and part replacement work for the tray feeder is desired, but Patent Documents 1 and 2 do not disclose such technology. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2018-50002 A [Patent Document 2] JP 2017-199816 A Summary of the Invention

[0007] The present invention aims to provide a transport robot that contributes to automating component supply and component replacement operations for a component mounting device equipped with a component supply device (tray feeder) of a type that supplies components arranged on a tray, and a component mounting system equipped with this transport robot.

[0008] A transport robot according to one aspect of the present invention is a self-propelled transport robot equipped with a component supply unit having a rack in which a plurality of trays are stored, and capable of transferring the rack to the component supply unit of a component mounting device which removes components stored in the tray and mounts them on a board, the component supply unit having a rack support unit which supports the rack so that it can be moved in and out horizontally, the transport robot being characterized in that it comprises a running unit having running wheels which runs along a floor surface, and a transfer unit which is provided on the running unit so as to be able to support the rack, and which transfers the rack between the rack support unit and the component supply unit by moving the rack horizontally. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a block diagram showing a component mounting system of the present invention. [Diagram 2] FIG. 2 is a plan view of a component mounting device provided in the component mounting system. [Diagram 3] FIG. 3 is a side view of the component mounting apparatus. [Figure 4] FIG. 4 is a side view of the tray storage section (housing) showing the rack insertion / removal area. [Diagram 5] FIG. 5 is a plan view of a transfer robot (first embodiment) provided in the component mounting system. [Figure 6] FIG. 6 is a side view of the transfer robot. [Figure 7] FIG. 7 is a front view of the transfer robot. [Figure 8] FIG. 8 is a block diagram showing a control system of the transfer robot. [Figure 9] FIG. 9 is an explanatory diagram that shows a schematic diagram of a rack transport operation by the transport robot. [Figure 10] FIG. 10 is a side view (partially sectional view) showing the tray feeder and the transport robot during rack transfer. [Figure 11] FIG. 11 is an explanatory diagram (plan view) of the operation when the transport robot is positioned. [Figure 12] FIG. 12 is a plan view of the transfer robot according to the second embodiment. [Figure 13] FIG. 13 is a side view of the transfer robot. [Figure 14] FIG. 14 is an explanatory diagram that shows a schematic view of a part of the rack transport operation by the transport robot. [Figure 15] FIG. 15 is a plan view of the transfer robot according to the third embodiment. [Figure 16] FIG. 16 is an explanatory diagram that shows a schematic view of a part of the rack transport operation by the transport robot. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0011] [Component mounting system configuration] 1 is a block diagram showing a component mounting system 100 according to the present invention. The component mounting system 100 is a system that produces component-mounted boards in which electronic components (hereinafter referred to as "components") are mounted on a substrate P such as a printed wiring board. The component mounting system 100 includes a production line PL, a storage device 6, a transport robot 7, and a management device 8.

[0012] The production line PL is located in the production area A1, and the storage device 6 is located in the preparation area A2. The production area A1 is an area where the production of component-mounted boards is carried out, and the preparation area A2 is an area where workers prepare consumables such as components used in the production of component-mounted boards and equipment to be replaced when the production type is changed.

[0013] The production line PL includes a printing device 1, a print inspection device 2, a component mounting device 3, a visual inspection device 4, and a reflow device 5, and these devices 1 to 5 are connected in a line in the X direction in that order. In this example, a plurality of component mounting devices 3 are arranged in succession between the print inspection device 2 and the visual inspection device 4.

[0014] The printing device 1 executes a process of printing cream solder at component mounting locations on the substrate P, and the print inspection device 2 executes a process of inspecting the printing state of the cream solder printed on the substrate P. The component mounting device 3 executes a process of mounting (mounting) components at predetermined mounting locations on the substrate P on which the cream solder has been printed, and the appearance inspection device 4 executes a process of inspecting the mounting state of the components mounted on the substrate P. In addition, the reflow device 5 executes a process of melting the solder by heating the substrate P to bond the components to the substrate P. In this production line PL, while the substrate P is transported in the X direction, the printing device 1, print inspection device 2, component mounting device 3, appearance inspection device 4, and reflow device 5 execute the processes described above to produce a component-mounted substrate.

[0015] The storage device 6 includes a first storage device 6A for storing supply parts and equipment prepared by workers, and a second storage device for returning used equipment and the like collected from the production line PL.

[0016] The transport robot 7 is a self-propelled transport robot such as an AGV (Automatic Guided Vehicle) or an AMR (Autonomous Mobile Robot) that moves along the production line PL between the component mounting device 3 and the storage device 6. The transport robot 7 transports (supplies) refill parts and replacement equipment from the first storage device 6A to the component mounting device 3, and transports used equipment, etc. from the component mounting device 3 to the second storage device 6B, while moving along the route indicated by the arrow in Fig. 1. Note that the component mounting system 100 is provided with a plurality of transport robots 7, but only one transport robot 7 is illustrated in Fig. 1 for the sake of convenience.

[0017] The management device 8 is configured by, for example, a personal computer that is communicatively connected to each of the devices 1-5 on the production line PL, the storage device 6, and the transport robot 7. The management device 8 controls each of the devices 1-5 on the production line PL, the storage device 6, and the transport robot 7 based on a production plan, thereby comprehensively managing the production of component-mounted boards in the component mounting system 100.

[0018] [Configuration of component mounting device 3] Figures 2 and 3 show a component mounting apparatus 3 provided in the component mounting system 100. Figure 2 is a schematic plan view, and Figure 3 is a schematic side view, each showing the component mounting apparatus 3. The multiple component mounting apparatuses 3 provided in the component mounting system 100 have the same basic configuration.

[0019] The component mounting apparatus 3 includes a base 31, a conveyor 32, a component supply area 33, a head unit 36, and an imaging unit 38. The base 31 is a mounting base for various devices equipped in the component mounting apparatus 3. The conveyor 32 is a transport line for the board P installed on the base 31 so as to extend in the X direction, and is composed of a pair of belt-type conveyors. The conveyor 32 carries the board P from outside the machine to a predetermined work position, and after the mounting work, carries the board P from the work position to outside the machine. The position of the board P shown in FIG. 2 is the work position.

[0020] The component supply area 33 is an area in which component supply devices for supplying mounted components are arranged, and is provided on both sides of the conveyor 32 in the Y direction. In the component supply area 33 on the Y2 side, a plurality of tape feeders 34F are installed along the conveyor 32. The tape feeders 34F are component supply devices that supply components by unwinding a tape containing components (small surface mount components) at regular intervals.

[0021] In the component supply area 33 on the Y1 side, a plurality of tape feeders 34F and a tray feeder 35F are arranged side by side along the conveyor 32. The tape feeders 34F are arranged on the X1 side, and the tray feeder 35F is arranged on the X2 side. The tray feeder 35F is a type of component supply device that supplies package components such as QFPs (Quad Flat Packages) and BGAs (Ball Grid arrays) placed on a tray 52. ​​The tray 52 is a dish-shaped container that is rectangular in plan view and opens upward. The configuration of the tray feeder 35F will be described later.

[0022] The head unit 36 ​​is provided so as to be movable in the X and Y directions within a certain area by a head unit drive mechanism 37. The head unit 36 ​​is equipped with a plurality of mounting heads 36a. Negative pressure for component suction is supplied and cut off to each mounting head 36a, thereby suction-holding and releasing of components for each mounting head 36a.

[0023] The imaging unit 38 captures images of the components sucked and held by each mounting head 36a of the head unit 36 ​​from below in order to recognize the sucked and held state of the components. The imaging unit 38 includes a camera and a lighting device. The imaging units 38 are disposed on the base 31 on both sides of the conveyor 32 in the Y direction.

[0024] In the component mounting device 3 described above, while the head unit 36 ​​moves between the component supply area 33 and the board P arranged at the work position, a component suction process is performed in which the mounting head 36a sucks up and removes components from the tape feeder 34F or the tray feeder 35F, and a component mounting process is performed in which the components are transported to the board P and mounted (placed) thereon. By repeating these processes, a predetermined number of components are mounted on the board P. After the component suction process and before the component mounting process, the state in which the components are sucked and held by the mounting head 36a is image-recognized based on the image acquired by the imaging unit 38, and the position of the head unit 36 ​​and the like is corrected according to the result. This ensures the mounting accuracy of the components on the board P.

[0025] [Tray Feeder 35F Configuration] As described above, the tray feeder 35F is a component supplying device that supplies package components such as QFPs while they are placed on the tray 52.

[0026] 2 and 3, the tray feeder 35F includes a tray storage section 40A that stores multiple trays 52, a tray transfer mechanism 40B that moves the trays 52 in and out of the tray storage section 40A, and a tray pull-out mechanism 40C that pulls out the trays 52 to a predetermined component supply position. The tray storage section 40A, the tray transfer mechanism 40B, and the tray pull-out mechanism 40C are arranged in this order from the Y1 side along the Y direction.

[0027] The tray storage unit 40A and the tray transfer mechanism unit 40B have a common rectangular parallelepiped housing 42 that is elongated in the vertical direction. The Y1 side of the housing 42 is the tray storage unit 40A, and the tray transfer mechanism unit 40B is provided adjacent to the Y2 side of the tray storage unit 40A.

[0028] The tray storage unit 40A has a tray storage area 42A at its upper portion and a rack loading / unloading area 42B at its lower portion for loading / unloading a rack 50 from outside into / from the tray storage unit 40A. The rack 50 is a box-shaped container for transporting a plurality of trays 52 together. The trays 52 are transported from the first storage device 6A by the transport robot 7 while stored in the rack 50, and are handed over from the transport robot 7 to the tray storage unit 40A in the rack loading / unloading area 42B, as described below.

[0029] The trays 52 are held on a pallet 51, which is a larger rectangular dish-shaped member in a plan view, and are housed in the rack 50 via the pallet 51. In detail, as shown in FIG. 4, the rack 50 is a hollow box-shaped container in a rectangular parallelepiped shape that penetrates in the horizontal direction (Y direction). A plurality of grooves 501 aligned in the Z direction are formed on the inner surfaces facing each other inside the rack 50. Both ends of the pallet 51 are inserted into the grooves 501, so that the plurality of trays 52 are housed in the rack 50 in a state where they are aligned parallel to each other in the Z direction and can be inserted and removed along the grooves 501 together with the pallet 51. Note that FIG. 4 is a schematic side view (schematic view from the Y1 side) of the tray storage unit 40A (housing 42) showing the rack insertion and removal area 42B.

[0030] In the tray storage area 42A, a tray storage unit 43 having the same structure as the rack 50 is disposed. The tray 52 in the rack 50 delivered to the tray storage section 40A in the rack loading / unloading area 42B is pulled out of the rack 50 by the tray transfer mechanism 40B and transferred to the tray storage unit 43, where it is stored.

[0031] The tray transfer mechanism 40B includes a tray transfer unit 44 having a slide mechanism for sliding the tray 52 together with the pallet 51 in the horizontal direction (Y direction), and a drive mechanism (not shown) for moving the tray transfer unit 44 in the Z direction. The tray transfer mechanism 40B moves the tray transfer unit 44 in the Z direction between a position corresponding to the tray storage area 42A and a position corresponding to the rack loading / unloading area 42B. Then, the tray 52 is drawn out from the rack 50 arranged in the rack loading / unloading area 42B, the tray 52 is transported to the tray storage area 42A, and the tray 52 is stored in the tray storage unit 43. The tray transfer mechanism 40B also draws out an empty tray 52 stored in the tray storage unit 43, transports it to the rack loading / unloading area 42B, and stores the tray 52 in the rack 50. That is, the tray transfer mechanism 40B has a function of exchanging the tray 52 between the tray storage unit 43 and the rack 50 arranged in the rack loading / unloading area 42B. Furthermore, the tray transfer mechanism 40B places the tray 52 pulled out from the tray storage unit 43 at a predetermined tray pull-out position relative to the tray pull-out mechanism 40C.

[0032] 2 and 3, the tray pull-out mechanism 40C includes a pair of guide rails 47, 47 extending in the Y direction and installed on the base 31, and a pull-out head (not shown) disposed between them. The pull-out head is configured to be movable in the Y direction and to be able to lock the pallet 51. When the pull-out head locks the pallet 51 placed at the tray pull-out position by the tray transfer unit 44 and moves in the Y2 direction, the tray 52 is pulled out together with the pallet 51 from the tray transfer unit 44 to the component supply position (position shown in FIG. 2). Conversely, the pull-out head moves in the Y1 direction, and then releases the locking state of the pallet 51, thereby returning the tray 52 from the component supply position to the tray transfer unit 44.

[0033] 4, 10, and 11(a), a rack entrance 421 is provided in a position corresponding to the rack loading / unloading area 42B on the side wall on the Y1 side of the housing 42. The rack entrance 421 can be opened and closed by a sliding door 422 driven by an actuator (not shown), and is closed by this door 422 except when the rack 50 is being replaced.

[0034] A roller conveyor 45 (corresponding to the "rack support section" of the present invention) is disposed in the rack loading / unloading area 42B. The roller conveyor 45 is a linear type conveyor capable of horizontally transporting the rack 50 in the Y direction while supporting it. The roller conveyor 45 includes a pair of frames 452, 452 disposed at a predetermined interval in the X direction, and a plurality of rollers 451 disposed between them. Among the plurality of rollers 451, one or more rollers 451 are driving rollers driven by a motor not shown, and the rollers 451 other than the driving rollers are driven rollers (free rollers). In other words, the rack 50 is delivered between the roller conveyor 45 and the transport robot 7, and the tray 52 is inserted into and removed from the rack 50 supported on the roller conveyor 45 by the tray transfer unit 44.

[0035] [Configuration of the transport robot 7 (first embodiment)] As described above, the transport robot 7 transports refill parts and replacement equipment from the first storage device 6A to the component mounting device 3, and transports used equipment from the component mounting device 3 to the second storage device 6B. In this example, the transport robot 7 transports the rack 50 storing refill parts from the first storage device 6A to the component mounting device 3 and supplies it to the tray feeder 35F, and also retrieves the used rack 50, i.e., the rack 50 storing the empty tray 52, from the tray feeder 35F and transports it to the second storage device 6B. For this reason, the transport robot 7 is configured to be able to transfer the rack 50 to and from the tray feeder 35F.

[0036] 5 to 7 show the transfer robot 7, with FIG. 5 being a plan view, FIG. 6 being a side view, and FIG. 7 being a front view.

[0037] The transport robot 7 comprises a rectangular parallelepiped body 10 equipped with running wheels 11, a conveyor base unit 13 fixed onto the body 10, and a roller conveyor 12 disposed thereon. The longitudinal direction of the body 10 corresponds to the front-rear direction of the transport robot 7, and the short side direction corresponds to the width direction of the transport robot.

[0038] The vehicle body 10 is a travel base for the transport robot 7. The vehicle body 10 is provided with drive wheels 11a and driven wheels (free rollers) 11b as travel wheels. The drive wheels 11a are provided in the center of the vehicle body 10 in the front-rear direction and on both sides in the width direction, and the driven wheels 11b are provided at each of the four corners of the lower part of the vehicle body 10. For example, a Mecanum wheel (registered trademark) driven by a travel motor 111 (shown in FIG. 8) is used as the drive wheels 11a, and for example, an Omni wheel (registered trademark) is used as the driven wheels 11b.

[0039] The transport robot 7 runs along the floor surface by driving the drive wheels 11a. In this case, the rotation direction and rotation speed of each drive wheel 11a are individually controlled, so that the transport robot 7 can run in any direction and turn on the spot.

[0040] The conveyor base portion 13 is a generally plate-like member having a rectangular shape in plan view and a width narrower than that of the vehicle body 10, and is provided on the upper portion of the vehicle body 10. The roller conveyor 12 is provided on the upper surface of the conveyor base portion 13. The roller conveyor 12 (corresponding to the "transfer portion" of the present invention) includes a first conveyor 12A ("first transfer portion") and a second conveyor 12B ("second transfer portion"), each of which can transfer the rack 50 between the tray feeder 35F. The first conveyor 12A and the second conveyor 12B are linear type roller conveyors capable of horizontally transporting the rack 50. The first conveyor 12A and the second conveyor 12B are arranged back-to-back in a row so that the directions in which the rack 50 is moved are both the front-to-rear directions of the transport robot 7. In the following description, for convenience, the side where the first conveyor 12A is arranged is referred to as the front side of the transport robot 7, and the side where the second conveyor 12B is arranged is referred to as the rear side of the transport robot 7.

[0041] The first conveyor 12A includes a pair of frames 14, 14 erected on both ends in the width direction of the conveyor base 13, and a plurality of rollers 15 disposed between them. The height of the conveying surface of the first conveyor 12A is set to be the same as the height of the conveying surface of the roller conveyor 45 of the tray feeder 35F (see FIG. 10).

[0042] The inner width Wc (Figure 7) of the frames 14, 14 is set slightly larger than the width Wr of the rack 50 shown by the imaginary line in Figure 5, and the depth Dc of the first conveyor 12A is set slightly larger than the depth Dr of the rack 50.

[0043] Of the rollers 15 of the first conveyor 12A, one or more rollers 15 are drive rollers driven by a roller motor 151 (shown in FIG. 8), and the rollers 15 other than the drive rollers are driven rollers (free rollers).

[0044] That is, the first conveyor 12A is configured to support the rack 50 by each roller 15, and to move the rack 50 in the front-rear direction of the transport robot 7 while being guided by the frames 14, 14 as the drive roller rotates. Tapered guide portions 14a, 14a are provided on the opposing surfaces of the front end portions of the frames 14, 14. When the rack 50 is received by the first conveyor 12A from the tray feeder 35F, the rack 50 is guided to the center of both frames 14, 14 by these guide portions 14a.

[0045] The first conveyor 12A is also provided with a rack detection sensor 18 (shown in FIG. 8) such as a photoelectric sensor for detecting the presence or absence of a rack 50. Based on the detection of the rack 50 by this rack detection sensor 18, the operation of the drive roller is controlled.

[0046] The second conveyor 12B has the same basic configuration as the first conveyor 12A described above, and is provided symmetrically in the front and rear directions with respect to the first conveyor 12A. That is, as described above, it is provided back-to-back with respect to the first conveyor 12A. Therefore, the tapered guide portions 14a, 14a are provided on the opposing surfaces of the rear end portions of the frames 14, 14.

[0047] The front and rear end faces of the vehicle body 10 are provided with robot side positioning units 16A and 16B for positioning the transport robot 7 with respect to the tray feeder 35F. The robot side positioning units 16A and 16B are made of block-shaped members with a groove-shaped abutment surface 161 that is V-shaped (wedge-shaped) in plan view. The front and rear robot side positioning units 16A and 16B have the same shape. In the following description, the robot side positioning unit 16A located on the front side of the vehicle body 10 (transport robot 7), i.e., on the first conveyor 12A side, is referred to as the first robot side positioning unit 16A, and the robot side positioning unit 16B located on the rear side, i.e., on the second conveyor 12B side, is referred to as the second robot side positioning unit 16B.

[0048] In a plan view, a travel sensor 17 is provided at each of the diagonally opposite corners of the vehicle body 10. The travel sensor 17 is, for example, a LiDAR (Light Detection And Ranging) sensor, and the travel operation of the transfer robot 7 is controlled by the travel sensor 17 detecting targets and obstacles.

[0049] As described above, the transfer robot 7 has the roller conveyor 12, the robot side positioning units 16A and 16B, and the travel sensor 17 arranged relative to the vehicle body 10, so that the transfer robot 7 has a rotationally symmetrical configuration in a plan view.

[0050] FIG. 8 is a block diagram showing a control system of the transport robot 7. The transport robot 7 is equipped with a robot control unit 20 that controls its operation. The transport robot 7 is equipped with a communication module 21 capable of wireless communication with the management device 8, and the robot control unit 20 controls the operation of the transport robot 7 based on a command transmitted from the management device 8. That is, the travel motor 111, the roller motor 151, and the sensors 17 and 18 are electrically connected to the robot control unit 20, and the robot control unit 20 controls the driving of the travel motor 111 based on information acquired by the travel sensor 17, and controls the driving of the roller motor 151 based on information acquired by the rack detection sensor 18. Note that a battery (not shown) is installed in the vehicle body 10, and the travel motor 111, roller motor 151, etc. are operated by receiving power supply from the battery.

[0051] [Transportation operation of rack 50 by transport robot 7] Next, the transport operation of the rack 50 by the transport robot 7 based on the control of the robot control unit 20 will be described in detail with reference to Figs. 9 to 11. Fig. 9 is an explanatory diagram that shows a model of the transport operation of the rack 50 by the transport robot 7, and Fig. 10 is a side view (partially cross-sectional view) showing the tray feeder 35F and the transport robot 7 when the rack 50 is handed over. Fig. 11 is an explanatory diagram (plan view) of the operation when the transport robot 7 is positioned. Note that the configurations of the transport robot 7 and the tray feeder 35F are simplified in Fig. 9.

[0052] The transport robot 7 first receives a rack 50 (hereinafter, appropriately referred to as a "resupply rack 50a") containing resupply parts from the first storage device 6A, and travels along the production line PL. For example, as shown in FIG. 9(a), the transport robot 7 travels along the production line PL with the first conveyor 12A side at the front, with the rack 50 mounted on the second conveyor 12B. Then, the transport robot 7 stops when it travels to the position of the tray feeder 35F of the component mounting device 3 that is the target of component resupply, more specifically, the position of the housing 42 of the tray storage unit 40A.

[0053] The transport robot 7 then rotates 90° on the spot so that the first conveyor 12A faces the rack entrance / exit 421 of the housing 42 (tray storage section 40A), and then moves forward in the Y2 direction and stops while positioned in the housing 42, as shown in Figures 9(b) and (c).

[0054] Specifically, as shown in FIG. 11(a), below the rack entrance 421 of the housing 42, a feeder side positioning section 46 corresponding to the robot side positioning sections 16A and 16B is provided. The feeder side positioning section 46 is a block-shaped member having abutment surfaces 461 in a triangular (wedge-shaped) mountain shape in a plan view corresponding to the abutment surfaces 161 of the robot side positioning sections 16A and 16B. When the transport robot 7 advances in the Y2 direction with the first conveyor 12A facing the housing 42, the first robot side positioning section 16A and the feeder side positioning section 46 abut against each other, and the position of the transport robot 7 is corrected so that the abutment surfaces 161 and 461 of the first conveyor 12A and the feeder side positioning section 46 match each other. As a result, the transport robot 7 is positioned with respect to the housing 42 as shown in FIG. 10 and FIG. 11(b). That is, the transport robot 7 is positioned in a state in which the first conveyor 12A and the roller conveyor 45 are aligned in the Y direction via the rack entrance 421.

[0055] Markers 423 are provided on both sides in the X direction of the rack entrance 421 of the housing 42. When positioning the transport robot 7, the stop position of the transport robot 7 is controlled based on detection of the markers 423 by the travel sensor 17. Then, while the transport robot 7 is stopped, the travel motor 111 is controlled so that the electromagnetic brake (motor brake) operates. This maintains the positioning state of the transport robot 7.

[0056] Meanwhile, a rack 50 in which the tray 52 has been replaced by the tray transfer unit 44, i.e., a used rack 50 containing an empty tray 52 (hereinafter referred to as a "used rack 50b" as appropriate), is placed on the roller conveyor 45 of the tray feeder 35F (as shown by the dotted line in Figure 10).

[0057] When the positioning of the transport robot 7 is completed, the door 422 of the housing 42 is operated to open the rack entrance 421, and further the roller conveyor 45 of the tray storage section 40A and the first conveyor 12A of the transport robot 7 are operated. That is, the drive rollers rotate. As a result, as shown in Fig. 9(c), Fig. 10 and Fig. 11(c), the used rack 50b is delivered (recovered) from the tray feeder 35F (roller conveyor 45) to the transport robot 7 (first conveyor 12A). At this time, when the rack detection sensor 18 of the transport robot 7 detects the rack 50, the first conveyor 12A stops.

[0058] When the transfer of the used rack 50b to the transport robot 7 is completed, the transport robot 7 retreats once in the Y1 direction to release the positioning state with respect to the housing 42, as shown in Fig. 9(d), and then rotates 180° on the spot so that the second conveyor 12B on which the supply rack 50a is mounted faces the rack entrance 421. Thereafter, as shown in Fig. 9(e), the transport robot 7 advances in the Y2 direction and stops in a state where it is positioned with respect to the housing 42. In this case, the second robot side positioning unit 16B abuts against the feeder side positioning unit 46, thereby positioning the transport robot 7 with respect to the housing 42, and the positioning state is maintained by the electromagnetic brake (motor brake) described above.

[0059] When the positioning of the transport robot 7 is completed, the roller conveyor 45 of the tray storage unit 40A and the second conveyor 12B of the transport robot 7 are operated. As a result, as shown in Fig. 9(e), the supply rack 50a is delivered from the transport robot 7 (second conveyor 12B) to the tray feeder 35F (roller conveyor 45). In this case, the supply rack 50a moves from the first conveyor 12A to the roller conveyor 45, and when the rack detection sensor 18 no longer detects the rack 50, the drive roller is stopped.

[0060] When the exchange of the supply rack 50a and the used rack 50b is completed as described above, the transport robot 7 retreats in the Y1 direction as shown in FIG. 9(f) to release the positioning state, and then rotates 90°. Then, with the used rack 50b loaded on the first conveyor 12A, the transport robot 7 travels along the production line PL, with the second conveyor 12B side at the front. Thereafter, the transport robot 7 returns from the production area A1 to the preparation area A2 along the route indicated by the arrow in FIG. 1, and delivers the collected used rack 50b to the second storage device 6B. This completes a series of transport operations of the rack 50 by the transport robot 7.

[0061] In the above description, the transport robot 7 loads the supply rack 50a on the second conveyor 12B and the used rack 50b on the first conveyor 12A, but of course it can be reversed. Also, the transport robot 7 can run on either the first conveyor 12A or the second conveyor 12B, and can be changed as appropriate. This point is the same for the transport robot 7A of the second embodiment described later.

[0062] [Effects] According to the transport robot 7 described above, it is possible to automatically supply the replenishing rack 50a to the tray feeder 35F and collect the used rack 50b from the tray feeder 35F. Therefore, it is no longer necessary to manually perform the component replenishing work for the tray feeder 35F as in the past, and the efficiency of the component replenishing work for the tray feeder 35F is improved.

[0063] In particular, as described above, the transport robot 7 supplies parts by exchanging the supply rack 50a with the used rack 50b. Therefore, the work time for supplying parts is significantly shortened compared to the case where parts are supplied to the tray feeder 35F, for example, on a tray-by-tray basis. That is, for example, when replacing the used tray 52 with the pallet 51, the replacement work is required for the number of pallets 51, and the work time is extended when the number of pallets is large. However, according to the transport robot 7, even when the same number of trays 52 (pallets) are replaced, it is only necessary to replace the used rack 50b with the supply rack 50a, so that the part supply is completed in a short time. Therefore, according to the transport robot 7, the part supply work for the tray feeder 35F can be accelerated.

[0064] Furthermore, as a result of speeding up the component supply operation for the tray feeder 35F in this manner, the transport robot 7 engaged in the operation is prevented from blocking the travel route of the transport robot 7 for a long period of time. Therefore, it is possible to suppress or prevent troubles such as, for example, a transport robot 7 engaged in component supply operation causing the following transport robot 7 to be placed in a standby state for a long period of time, and thus causing component supply to other component mounting devices 3 (tray feeders 35F) to be delayed.

[0065] In the tray feeder 35F of the embodiment, when replenishing parts, it is necessary to replace the replenishing rack 50a with the used rack 50b. As described above, the transport robot 7 includes the first conveyor 12A and the second conveyor 12B, and the replenishing rack 50a can be replaced continuously by a single transport robot 7. Therefore, this also has the advantage of being able to speed up the part replenishing operation for the tray feeder 35F.

[0066] In addition, in the transport robot 7 of the embodiment, the first conveyor 12A and the second conveyor 12B have the same configuration, and as described above, have a rotationally symmetric configuration in a plan view. In other words, there are few restrictions on the running direction when traveling along the production line PL and on the conveyors that transfer racks. Therefore, there is an advantage that the transport robot 7 can flexibly respond to the transportation of racks 50 (supply racks 50a, used racks 50b) according to the occasional situation of each component mounting device (tray feeder 35F) on the production line PL.

[0067] In addition, since the transport robot 7 has Mecanum wheels or omni wheels as running wheels, the degree of freedom in the traveling direction is very high. Therefore, when positioning the transport robot 7 with respect to the tray feeder 35F, the position of the transport robot 7 can be easily corrected by simply moving the transport robot 7 forward so that the abutment surface 461 of the feeder side positioning unit 46 matches the abutment surfaces 161 of the robot side positioning units 16A and 16B. This has the advantage that the transport robot 7 can be positioned with high precision with respect to the tray feeder 35F, and thus the transfer of the rack 50 between the tray feeder 35F and the transport robot 7 can be stably and reliably performed.

[0068] [Second embodiment of the transport robot] Next, a second embodiment of the transport robot will be described with reference to Figs. 12 and 13. The basic configuration of a transport robot 7A according to the second embodiment is the same as that of the transport robot 7 according to the first embodiment. Therefore, the same reference numerals are used to designate parts common to the first embodiment, and descriptions thereof will be omitted or simplified, and differences from the first embodiment will be mainly described in detail. The same applies to a transport robot 7B according to a third embodiment described later.

[0069] Fig. 12 is a plan view of the transport robot 7A according to the second embodiment, and Fig. 13 is a side view of the transport robot 7A. As shown in Figs. 12 and 13, in the transport robot 7A according to the second embodiment, the conveyor base unit 13 (corresponding to the "table unit" of the present invention) is supported rotatably on the vehicle body 10 via a support shaft 13a, and is configured to rotate together with the roller conveyor 12 by the driving force of a rotation motor (not shown). The rotation motor is electrically connected to the robot control unit 20, and the rotation operation of the roller conveyor 12 relative to the vehicle body 10 is controlled by the robot control unit 20.

[0070] FIG. 14 is an explanatory diagram showing a schematic diagram of a part of the transport operation of the rack 50 by the transport robot 7A. Among the transport operations of the rack 50 by the transport robot 7A, the operation up to the collection of the used rack 50b from the tray feeder 35F is the same as the operation by the transport robot 7 of the first embodiment shown in FIG. 9(a) and (b). That is, the transport robot 7A travels along the production line PL with the first conveyor 12A side at the front, in a state in which the supply rack 50a received from the first storage device 6A is mounted on the second conveyor 12B. After that, the transport robot 7A turns so that the first conveyor 12A faces the rack entrance 421 of the housing 42 (tray storage unit 40A), and then further advances in the Y2 direction and stops in a state in which it is positioned with respect to the housing 42 by the positioning units 16A and 46. In this state, as shown in FIG. 14(a), the used rack 50b is delivered (collected) from the tray feeder 35F to the transport robot 7A.

[0071] 14(b), while maintaining the positioning state by the positioning units 16A and 46, the roller conveyor 12 is rotated 180° together with the conveyor base unit 13. As a result, the second conveyor 12B carrying the supply rack 50a is positioned to face the rack entrance 421.

[0072] Thereafter, the roller conveyor 45 of the tray storage section 40A and the second conveyor 12B of the transport robot 7A are operated, and the supply rack 50a is transferred from the transport robot 7A (second conveyor 12B) to the tray feeder 35F (roller conveyor 45), as shown in FIG. 14(c).

[0073] When the exchange of the supply rack 50a with the used rack 50b is completed in this manner, the transport robot 7A retreats in the Y2 direction as shown in Fig. 14(d) to release the positioning, and then rotates by 90°. Then, with the used rack 50b loaded onto the first conveyor 12A, the transport robot 7A travels along the production line PL with the second conveyor 12B side at the front.

[0074] As described above, in the transport robot 7A of the second embodiment, the roller conveyor 12 is configured to be rotatable with respect to the vehicle body 10. According to this transport robot 7A, as described above, after collecting the used rack 50b from the tray feeder 35F, the second conveyor 12B on which the supply rack 50a is mounted can be made to face the rack entrance 421 while maintaining the positioning state by the positioning units 16A and 46 (FIG. 14(b)). Therefore, the operation as shown in FIGS. 9(d) and (e) in the transport robot 7 of the first embodiment, that is, the operation of releasing the positioning state of the transport robot 7 by the positioning units 16A and 46, turning the transport robot 7, and then repositioning the transport robot 7 with respect to the housing 42 by the positioning units 16B and 46, is not required. Therefore, since the operation is not required, the transport robot 7A of the second embodiment can further improve the efficiency of the part supply operation to the tray feeder 35F.

[0075] [Third embodiment of the transport robot] Next, a third embodiment of the transport robot will be described with reference to Fig. 15. Fig. 15 is a plan view of a transport robot 7B according to the third embodiment.

[0076] In the transport robot 7 of the first embodiment, the first conveyor 12A and the second conveyor 12B are arranged back-to-back in a row so that the transport directions of the racks 50 are both in the front-to-rear direction of the transport robot 7. In contrast, in the transport robot 7B of the third embodiment, the first conveyor 12A and the second conveyor 12B are arranged side-by-side along the front-to-rear direction of the transport robot 7B so that the transport directions of the racks 50 are both in the width direction of the transport robot 7B.

[0077] In addition, in the transport robot 7B of the third embodiment, a first robot side positioning section 16A is provided on one side of the car body 10 (the upper side in Figure 15) at a position corresponding to the first conveyor 12A, and a second robot side positioning section 16B is provided at a position corresponding to the second conveyor 12B.

[0078] In the transport robot 7B according to the third embodiment, the rack 50 is transported as shown in Fig. 16. Fig. 16 is an explanatory diagram that shows a schematic view of a part of the transport operation of the rack 50 by the transport robot 7B.

[0079] The transport robot 7B first receives the supply rack 50a from the first storage device 6A, and, as shown in FIG. 16(a), with the rack 50 mounted on the second conveyor 12B, travels along the production line PL with the first conveyor 12A side at the front. Then, when the first conveyor 12A reaches a position facing the tray storage section 40A of the tray feeder 35F, more specifically, when it reaches a position facing the rack entrance 421 of the housing 42, it stops once and moves in the Y2 direction. This positions the transport robot 7B relative to the housing 42. That is, the first robot side positioning unit 16A abuts against the feeder side positioning unit 46, so that the transport robot 7B is positioned in a state in which the first conveyor 12A and the roller conveyor 45 are aligned in the Y direction via the rack entrance 421, as shown in FIG. 16(b). In this state, the used rack 50b is delivered from the tray feeder 35F (roller conveyor 45) to the transport robot 7B (first conveyor 12A).

[0080] When the transfer of the used rack 50b is completed, the transport robot 7B moves in the Y1 direction as shown in FIG. 16(c) to release the positioning state, and then moves in the X2 direction. Then, when the second conveyor 12B reaches a position facing the rack entrance 421 of the housing 42, it stops once and moves in the Y2 direction. This positions the transport robot 7B relative to the housing 42. That is, the second robot side positioning unit 16B abuts against the feeder side positioning unit 46, so that the transport robot 7B is positioned in a state in which the second conveyor 12B and the roller conveyor 45 of the tray storage unit 40A are aligned in the Y direction via the rack entrance 421 as shown in FIG. 16(d). In this state, the supply rack 50a is transferred from the transport robot 7B (second conveyor 12B) to the tray feeder 35F (roller conveyor 45).

[0081] When the transfer of the supply rack 50a is completed, the transfer robot 7B moves in the Y1 direction to release the positioning state with respect to the housing 42, and then travels in the X2 direction to travel along the production line PL.

[0082] As described above, in the transport robot 7B of the third embodiment, the first conveyor 12A and the second conveyor 12B are arranged side by side in the front-rear direction of the transport robot 7B. With this transport robot 7B, it is possible to transfer the used rack 50b and the supply rack 50a simply by moving in the Y direction during positioning while traveling in the X direction. In other words, there is no need to rotate the entire transport robot 7 as in the first embodiment. Therefore, with the transport robot 7B of the third embodiment, it is possible to improve the efficiency of the part supply work for the tray feeder 35F.

[0083] Moreover, this transport robot 7B is always disposed with respect to the tray feeder 35F so that its longitudinal direction is parallel to the X direction. Therefore, compared with the transport robots 7 and 7A of the first and second embodiments, which need to be disposed so that their longitudinal directions are perpendicular to the X direction (Y direction) during the transfer operation of the rack 50, less space is required on the Y1 side of the tray feeder 35F. Therefore, the transport robot 7B of the third embodiment is a suitable configuration for the case where a plurality of production lines PL are provided adjacent to each other with a relatively narrow interval.

[0084] 15, the robot positioning units 16A and 16B are provided only on one side (the upper side in FIG. 15) of the vehicle body 10, but similar robot positioning units 16A and 16B may also be provided on the other side (the lower side in FIG. 15). With this configuration, the transport robot 7B can perform the transport operation of the rack 50 as described above, regardless of whether the tray feeder 35F is disposed on the left or right side with respect to the traveling direction of the transport robot 7B.

[0085] [Variations] The above-described transport robots 7, 7A, and 7B, and the component mounting system 100 including them, are examples of preferred embodiments of the transport robot and the component mounting system according to the present invention, and the specific configurations thereof can be appropriately changed without departing from the gist of the present invention. For example, the following configurations also belong to the present invention.

[0086] (1) In the component mounting system 100 of the embodiment, one transport robot 7 (7A, 7B) exchanges the supply rack 50a and the used rack 50b for the tray feeder 35F, but a different transport robot 7 may be used. That is, for operational purposes, a transport robot 7 dedicated to rack collection and a transport robot 7 dedicated to rack supply may be provided. In this case, for example, the transport robot 7 dedicated to rack collection receives the used rack 50b from the two component mounting devices 3 (tray feeders 35F) onto the first conveyor 12A and the second conveyor 12B, respectively, while traveling on the production line PL. On the other hand, the transport robot 7 dedicated to rack supply travels behind the transport robot 7 dedicated to collection with the supply rack 50a mounted on the first conveyor 12A and the second conveyor 12B, respectively, and supplies the supply rack 50a to the tray feeder 35F from which the used rack 50b has been collected by the transport robot 7 dedicated to collection.

[0087] (2) The transport robot 7 according to the first embodiment includes two roller conveyors (the first conveyor 12A and the second conveyor 12B), but the number of roller conveyors may be one. In this case, different transport robots 7 may supply the supply racks 50a and collect the used racks 50b from the tray feeder 35F.

[0088] (3) In the embodiment, the transport robot 7, 7A, 7B includes a roller conveyor (12A, 12B) as the "transfer section" of the present invention. However, as long as the rack 50 can be transferred between the tray feeder 35F (roller conveyor 45) by moving the rack 50 in the horizontal direction, the "transfer section" is not limited to the roller conveyor. For example, it may be a ball conveyor equipped with a plurality of rolling balls (spheres) or a wheel conveyor equipped with a plurality of rotatable donut-shaped wheels (rotating bodies). In this case, a thrust can be applied to the rack 50 by rotating the balls or wheels. The "transfer section" may also be a conveyor configured by appropriately combining rollers, balls, and wheels.

[0089] (4) In the first conveyor 12A and the second conveyor 12B of the embodiment, one or more of the rollers 15 are drive rollers, and the rack 50 is moved by the rotation of the drive roller. In other words, a thrust is applied to the rack 50 by the rotation of the drive roller. However, the rollers 15 may all be driven rollers (free rollers), and a mechanism for applying a thrust to the rack 50 (thrust applying mechanism) may be separately provided, thereby constituting the "transfer section" of the present invention. For example, a thrust applying mechanism may be provided that presses the rack 50 by the operation of a motor or an air cylinder. The same applies to the case where the above-mentioned ball conveyor or wheel conveyor is applied.

[0090] (5) Although the tray feeder 35F of the embodiment includes a roller conveyor 45 as the "rack support portion" of the present invention, the "rack support portion" is not limited to the roller conveyor 45 as long as it can support the rack 50 so that it can be inserted and removed horizontally. It may be a ball conveyor or a wheel conveyor as described above. It may also be a conveyor configured by appropriately combining rollers, balls, and wheels.

[0091] (6) In the tray feeder 35F of the embodiment, one or more of the rollers 451 of the roller conveyor 45 are drive rollers, and the rack 50 is moved by the rotation of the drive rollers. However, all of the rollers 451 may be driven rollers (free rollers), and another mechanism may be provided for applying a thrust to the rack 50. The same applies to the case where the above-mentioned ball conveyor or wheel conveyor is applied.

[0092] The present invention can be summarized as follows with respect to the above-described embodiment.

[0093] A transport robot according to one aspect of the present invention is a self-propelled transport robot equipped with a component supply unit having a rack in which a plurality of trays are stored, and capable of transferring the rack to and from the component supply unit (tray feeder) of a component mounting device which removes components stored in the tray and mounts them on a board, the component supply unit having a rack support unit which supports the rack so that it can be moved in and out horizontally, and the transport robot is equipped with a running unit having running wheels which runs along a floor surface, and a transfer unit which is provided on the running unit so as to be able to support the rack, and which transfers the rack between the rack support unit and the component supply unit by moving the rack horizontally.

[0094] This transport robot can support a rack and move by itself, and can transfer the rack to and from a component supply unit (tray feeder). This can contribute to automating the component supply work for the component supply unit. In particular, since it is possible to supply parts to the component supply unit on a rack-by-rack basis, the efficiency of the component supply work for the component supply unit can be improved.

[0095] In the above-mentioned transport robot, the transfer section is formed of, for example, a roller conveyor equipped with a plurality of rollers including at least one drive roller capable of applying a thrust to the rack when the rack is transferred.

[0096] According to this configuration of the transport robot, the rack can be moved smoothly by the rotation of the drive roller while the rack is supported on the roller, which contributes to smoother transfer of the rack between the transport robot and the component supply unit.

[0097] It is preferable that the transport robot further includes a positioning unit that positions the transport robot relative to the component supply unit.

[0098] According to this configuration, the positional deviation of the transport robot with respect to the component supply unit is suppressed or prevented, thereby improving the stability and reliability of the transfer of the rack between the component supply unit and the transport robot.

[0099] In the above-mentioned transport robot, it is preferable that the delivery section includes a guide section that guides the rack when the rack is delivered.

[0100] According to this configuration, it is possible to suppress or prevent the positional deviation of the rack during the transfer of the rack, thereby making it possible to transfer the rack more smoothly.

[0101] In the above-mentioned transport robot, it is preferable that the transfer section includes a first transfer section and a second transfer section each capable of transferring the rack between the first transfer section and the rack support section.

[0102] This configuration allows parts supply work to be performed more efficiently for the parts supply unit. For example, the robot runs with a supply rack supported only on the first transfer section, first receives a used rack from the parts supply unit to the second transfer section, and then transfers the supply rack from the first transfer section to the parts supply unit. In this case, one transport robot can continuously perform the work of collecting the used rack and the work of transferring the supply rack to the parts supply unit.

[0103] In this case, the transport robot may be configured to include a table section that supports the first transfer section and the second transfer section and is rotatable relative to the running section, and the first transfer section and the second transfer section are arranged on the table in a row back-to-back in the same direction as the direction in which the rack is moved.

[0104] According to this configuration, by rotating only the table while the transport robot is positioned opposite the component supply unit, it is possible to switch between a state in which the first transfer unit faces the component supply unit and a state in which the second transfer unit faces the component supply unit. Therefore, as described above, it is possible to quickly perform the collection of used racks and the transfer of replenishment racks while the traveling unit is stopped.

[0105] In the transfer robot, the first transfer section and the second transfer section may be arranged side by side in a direction perpendicular to a direction in which the rack is moved.

[0106] According to this configuration, it is possible to perform the previously described collection work of used racks and the transfer work of replenishment racks while moving the transport robot in the alignment direction of the first transfer section and the second transfer section.

[0107] In the above-mentioned transport robot, the running wheels are preferably made of Mecanum wheels and / or omni wheels.

[0108] According to this configuration, the degree of freedom of the travel direction of the transport robot is increased, so that the positioning of the transport robot with respect to the component supply unit can be achieved with the minimum necessary movement.

[0109] On the other hand, the component mounting system of the present invention includes a component mounting device that has a component supply unit having a rack in which a plurality of trays are stored, and that removes components stored in the tray and mounts them on a board, and a self-propelled transport robot that can transfer the rack to and from the component supply unit, wherein the component supply unit has a rack support unit that supports the rack so that it can be moved in and out horizontally, and the transport robot has a running unit that runs along a floor surface and has running wheels, and a transfer unit that is provided on the running unit so as to be able to support the rack, and that transfers the rack between the rack support unit and the component supply unit by moving the rack horizontally.

[0110] According to this component mounting system, since it is equipped with the above-mentioned transport robot, it is possible to automate the component supplying work for the component supply unit and to efficiently produce component-mounted boards.

Claims

1. A self-propelled transport robot including a component supply unit having a rack in which a plurality of trays are stored, the component supply unit being capable of delivering the rack to and from a component mounting device that picks up components stored in the trays and mounts them on a board, the component supply unit includes a rack support unit that supports the rack so as to be capable of being inserted and removed horizontally; The transport robot is A running unit having running wheels that runs along a floor surface; a transfer section that is provided on the traveling section so as to be able to support the rack, and that transfers the rack between the traveling section and the rack support section by moving the rack in a horizontal direction; a table section supporting the transfer section and rotatable with respect to the travel section; a positioning unit that positions the transport robot with respect to the part supply unit, the transfer unit includes a first transfer unit and a second transfer unit each capable of transferring the rack between the first transfer unit and the rack support unit, the first transfer section and the second transfer section are arranged on the table section in a row back-to-back in the same direction as the direction in which the rack is moved, The positioning unit positions the traveling unit relative to the component supply unit, The transport robot, characterized in that the table portion is configured to be rotatable with the traveling portion positioned at the component supply portion by the positioning portion.

2. 2. The transport robot according to claim 1, The transport robot, characterized in that the transfer section is composed of a roller conveyor equipped with a plurality of rollers, including at least one drive roller capable of applying a thrust to the rack when the rack is transferred.

3. 3. The transport robot according to claim 1, The transport robot, wherein the delivery unit is provided with a guide unit that guides the rack when the rack is delivered.

4. 4. The transport robot according to claim 1, wherein the running wheels are comprised of Mecanum wheels and / or Omni wheels.

5. 2. The transport robot according to claim 1, a travel motor that drives the running wheels and is equipped with an electromagnetic brake; A control unit that controls the driving motor, The control unit activates the electromagnetic brake while the positioning unit is positioning the traveling unit.

6. 6. The transport robot according to claim 1, when the positioning unit is defined as a robot-side positioning unit, the component supply unit is provided with a component supply unit-side positioning unit for positioning the robot-side positioning unit, one of the robot side positioning unit and the component supply unit side positioning unit has a contact surface that is V-shaped in a plan view and has a V-groove-shaped contact surface, and the other of the robot side positioning unit has a contact surface that is triangular in a plan view and corresponds to the contact surface; The transport robot, wherein the running wheels are made of Mecanum wheels and / or Omni wheels.

7. a component mounting device including a component supply unit having a rack in which a plurality of trays are stored, the component mounting device removing components stored in the trays and mounting the components on a board; A component mounting system comprising a self-propelled transport robot capable of transferring the rack to and from the component supply unit, the transport robot being configured as described in any one of claims 1 to 6.

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