Automatic exchange system and automatic exchange method

Abstract

To provide an automatic exchange system and an automatic exchange method that can accurately an exchange component container.SOLUTION: An automatic exchange system includes: an end effector that holds a component container; a movement mechanism configured to move the end effector; a recognition unit (moving camera) that recognizes a plurality of unit recognition bodies for identifying a component supply unit; a path setting unit that sets a movement path for moving the end effector; and a control unit that controls the movement mechanism. The control unit moves the end effector to a component supply device on the basis of the set movement path and the recognition result of the unit recognition body provided on the lower part of the component supply unit and a feeder mounting unit by the recognition unit.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present disclosure relates to an automatic replacement system and an automatic replacement method for replacing a component container and a component supply device of a component supply unit. [Background technology]

[0002] The component mounting device has a component supply unit such as a cart that holds in parallel a component container such as a reel that stores multiple components, and a component supply device such as a feeder that moves the components stored in the component container to a component supply position, and mounts the components supplied to the component supply position on a board. An automatic exchange device that automatically exchanges the component supply device attached to such a component mounting device is known (see, for example, Patent Document 1). Patent Document 1 discloses that a parts cassette that integrates a component container and a component supply device is kept waiting on a waiting table provided in the component mounting device, and is grasped by a robot provided in the component mounting device and transferred to a component supply unit for exchange. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 4-283035 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when replacing a component supplying device and a component container that are installed separately, or when replacing a component supplying device or a component container using a robot independent of the component mounting device, the robot and the item to be replaced may be misaligned from their designated positions, and there is room for further improvement in order to replace the component supplying device or the component container without making a mistake in such cases.

[0005] The present disclosure provides an automatic exchange system and an automatic exchange method that can accurately exchange component containers. [Means for solving the problem]

[0006] The automatic exchange system disclosed herein is an automatic exchange system that exchanges component containers of a component supply unit having a lower portion in which a component container for storing components is held, and a feeder mounting portion to which a component supply device is attached that moves the components held in the component container to a component supply position, and is equipped with an end effector that holds the component container, a moving mechanism configured to move the end effector, a recognition portion that recognizes a plurality of unit recognition bodies for identifying the component supply unit, a path setting portion that sets a moving path for moving the end effector, and a control portion that controls the moving mechanism, and the control portion moves the end effector to the component supply device based on the set moving path and the recognition result of the recognition portion of the lower portion of the component supply unit and the unit recognition bodies provided on the feeder mounting portion.

[0007] The automatic replacement method disclosed herein is an automatic replacement method for replacing a component container of a component supply unit having a lower portion in which a component container for storing components is held, and a feeder mounting portion to which a component supply device that moves the components stored in the component container to a component supply position is attached, by an automatic replacement system having a movable end effector, and includes the steps of recognizing a plurality of unit recognition bodies for identifying the component supply unit, setting a movement path for moving the end effector, and moving the end effector to the component supply device based on the set movement path and the recognition results of the unit recognition bodies provided on the lower portion of the component supply unit and the feeder mounting portion. Effect of the Invention

[0008] According to the present disclosure, the component container can be accurately replaced. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a configuration explanatory diagram of a component mounting system according to an embodiment of the present disclosure; [Diagram 2] FIG. 1 is a configuration explanatory diagram of a component mounting line of a component mounting system according to an embodiment of the present disclosure. [Diagram 3] FIG. 1 is a configuration explanatory diagram of a component mounting device equipped with a component supply cart included in a component mounting system according to an embodiment of the present disclosure; [Figure 4] FIG. 1 is a front view of a component supply cart included in a component mounting system according to an embodiment of the present disclosure. [Diagram 5] FIG. 1 is a configuration explanatory diagram of a component mounting device equipped with a tray feeder of a component mounting system according to an embodiment of the present disclosure; [Figure 6] FIG. 1 is a perspective view of a tray feeder included in a component mounting system according to an embodiment of the present disclosure; [Figure 7] FIG. 1 is a configuration explanatory diagram of a transfer device of a component mounting system according to an embodiment of the present disclosure; [Figure 8] FIG. 1 is a block diagram showing a configuration of a control system of a component mounting system (automatic exchange system) according to an embodiment of the present disclosure. [Figure 9] FIG. 1 is an explanatory diagram of an example of unit information used in a component mounting system (automatic exchange system) according to an embodiment of the present disclosure. [Figure 10] FIG. 1 is an explanatory diagram of the outer dimensions of a component supply cart included in a component mounting system according to an embodiment of the present disclosure; [Figure 11] FIG. 1 is an explanatory diagram of an example of external dimension information used in a component mounting system (automatic exchange system) according to an embodiment of the present disclosure. [Figure 12] FIG. 1 is an explanatory diagram of an example of supply device information used in a component mounting system (automatic exchange system) according to an embodiment of the present disclosure. [Figure 13] FIG. 1 is a diagram showing a flow of an automatic exchange method according to an embodiment of the present disclosure. [Figure 14A] FIG. 1 is a process diagram illustrating automatic replacement of component reels in a component mounting system (automatic replacement system) according to an embodiment of the present disclosure. [Figure 14B] 14A, which is a process diagram for automatically replacing parts reels. [Figure 14C] 14B, which is a process diagram for automatically replacing parts reels. [Figure 15A]14C, which is a process diagram for automatically replacing parts reels. [Figure 15B] 15A, which is a process diagram for automatically replacing parts reels. [Figure 15C] 15B, which is a process diagram for automatically replacing parts reels. [Figure 16] FIG. 1 is a front view of a second component supply cart included in a component mounting system according to an embodiment of the present disclosure; [Figure 17A] FIG. 13 is a partial enlarged view of an example of a cart recognition target formed on a second component supply cart according to an embodiment of the present disclosure; [Figure 17B] FIG. 13 is a partial enlarged view of an example of a mounting unit recognition target formed on a second component supply cart according to an embodiment of the present disclosure; [Figure 18] FIG. 1 is a configuration explanatory diagram of a second transfer device included in a component mounting system according to an embodiment of the present disclosure; [Figure 19A] FIG. 13 is a process diagram illustrating a contact detection operation for recognizing the position of a carriage recognition target by a second transfer device according to an embodiment of the present disclosure. [Figure 19B] FIG. 19B is a process diagram of the contact detection operation, which follows FIG. [Figure 19C] A process diagram of the contact detection operation, continued from FIG. 19B [Figure 20] FIG. 11 is an explanatory diagram illustrating how the position of a second component supply cart is recognized by a second transfer device according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] An embodiment of the present disclosure will be described in detail below with reference to the drawings. The configurations, shapes, etc. described below are examples for explanation, and can be appropriately changed according to the specifications of the component mounting system, the component mounting line, the component mounting device, the component supply cart, and the tray feeder. In the following, the same reference numerals are used for corresponding elements in all the drawings, and duplicated explanations are omitted. In FIG. 1 and some parts described later, the X direction (left and right direction in FIG. 4) of the board transport direction and the Y direction (left and right direction in FIG. 3) perpendicular to the board transport direction are shown as two axial directions perpendicular to each other in the horizontal plane. In addition, in FIG. 2, the Z direction (up and down direction in FIG. 3) is shown as the height direction perpendicular to the horizontal plane.

[0011] First, the configuration of component mounting system 1 will be described with reference to Fig. 1. Component mounting system 1 is configured such that three component mounting lines L1 to L3 arranged on floor F are connected by a wired or wireless communication network 2 and managed by a management computer 3. As will be described later, each of component mounting lines L1 to L3 is configured by connecting multiple devices including a component mounting device, and has the function of manufacturing mounted boards on which components are mounted. Note that component mounting system 1 does not need to have three component mounting lines L1, and may have one, two, or four or more.

[0012] A material storage warehouse W is installed on floor F. In material storage warehouse W, components to be supplied to component mounting devices constituting component mounting lines L1 to L3 are stored in component reels, trays, stick cases, etc. The component reels, trays, and stick cases are component containers that store a plurality of components.

[0013] A plurality of transport devices V, which are unmanned guided vehicles, are deployed on floor F. The transport devices V are equipped with a built-in wireless communication unit T, and transmit and receive signals and information to and from the management computer 3 via a wireless management communication unit 3a possessed by the management computer 3. The transport devices V autonomously move along the travel path set on floor F based on work instructions sent from the management computer 3 and information collected by the transport devices V using travel path tapes and beacons installed on floor F (not shown), various sensors (GPS, obstacle sensors, etc.) built into the transport devices V, cameras, etc.

[0014] Next, the detailed configuration of component mounting lines L1 to L3 will be described with reference to Fig. 2. The component mounting lines L1 to L3 have the same configuration, and the component mounting line L1 will be described below. The component mounting line L1 has, in order from the upstream side in the board transport direction (the left side in Fig. 2), a printer M1, a component mounting device M2, a component mounting device M3, a component mounting device M4, and a reflow device M5. Each device has a board transport mechanism such as a belt conveyor, and the mounted board is manufactured while the board is transported from upstream to downstream by the board transport mechanism of each device. Each device is connected to a management computer 3 by a wired or wireless communication network 2, and can transmit and receive data to and from the management computer 3.

[0015] In Fig. 2, the printer M1 has a function of printing paste-like cream solder on the board through a screen mask. The three component mounting devices M2 to M4 have a function of picking up components supplied to the component supply unit 4 by component suction nozzles attached to the mounting heads, and transporting and mounting the components to the mounting points on the board on which the cream solder has been printed. The component supply units 4 of the component mounting devices M2 and M3 are equipped with a component supply cart 5, which will be described later. The component supply unit 4 of the component mounting device M4 is equipped with a tray feeder 6, which will be described later.

[0016] The reflow equipment M5 has a function of heating the board on which components are mounted to melt the cream solder and then solidifying it to solder the components to the board. The management computer 3 performs production management of the mounted boards manufactured in the component mounting lines L1 to L3, downloading programs and data required for manufacturing the mounted boards to each component mounting device, and the like, as well as processing to support the supply work of supplying components to the component mounting devices M2 to M4.

[0017] Next, the configuration of component mounting devices M2, M3 will be described with reference to Figures 3 and 4. In Figure 3, a board transport mechanism 8 provided on the upper surface of a base 7 transports a board 9 in the X direction, positions it, and holds it. Above the board transport mechanism 8, a mounting head 10 is installed that moves in the horizontal direction (X direction, Y direction) by a head moving mechanism (not shown). A suction nozzle 10a is provided at the bottom end of the mounting head 10. The suction nozzle 10a vacuum-sucks and holds a component D. A component supply cart 5 is attached to a component supply unit 4 provided to the side of the board transport mechanism 8.

[0018] In Fig. 4, a feeder mounting section 12 is provided on the upper part of the component supply cart 5. A plurality of slots S for mounting tape feeders 13 or stick feeders 14 are formed on the upper surface of the feeder mounting section 12 in the board transport direction (X direction). When the component supply cart 5 is mounted on the component supply section 4, the feeder mounting section 12 is separated from the lower part 5a of the component supply cart 5 and coupled to the base 7. A plurality of upper reel holding sections 5U aligned in the X direction and a plurality of lower reel holding sections 5B aligned in the X direction are provided vertically on the lower part 5a of the component supply cart 5. The upper reel holding section 5U and the lower reel holding section 5B each rotatably hold a component reel 16 around which a component storage tape 15 storing components D is wound.

[0019] 3, a reel mark Mb is affixed to the side of the component reel 16. The reel mark Mb includes a barcode or a two-dimensional code on which information identifying the component reel 16 is recorded. The component storage tape 15 pulled out from the component reel 16 held by the upper reel holding unit 5U or the lower reel holding unit 5B is inserted into the tape insertion opening 13a of the tape feeder 13. The tape feeder 13 transports the component storage tape 15 inserted from the tape insertion opening 13a in the tape feed direction, and supplies the components D to the component supply position E. In other words, the tape feeder 13 is a component supply device that moves the components D stored in the component reel 16 (component container) to the component supply position E.

[0020] In FIG. 4, stick feeder 14 supplies a plurality of components D stored in series inside long, hollow stick case 17 to component supply position E. Methods for moving components D in stick feeder 14 to component supply position E include vibration and pushing with a wire. Stick cases 17 are stored in a stacked state in loading section 14a provided on the upper part of stick feeder 14. That is, stick feeder 14 is a component supply device that moves components D stored in stick case 17 (component container) to component supply position E. In this way, component supply cart 5 has a component container (component reel 16, stick case 17) and a component supply device (tape feeder 13, stick feeder 14), and constitutes a component supply unit that supplies components D to component mounting devices M2 and M3.

[0021] 3, component mounting devices M2 and M3 have a mounting control unit 18 that controls the board conveying mechanism 8, the mounting head 10, and the head moving mechanism. The mounting control unit 18 transmits a supply command for components D to the tape feeder 13 or the stick feeder 14 to supply the components D to the component supply position E. The mounting control unit 18 also controls the mounting head 10 and the head moving mechanism to perform a component mounting operation in which the mounting head 10 picks up the components D supplied to the component supply position E by the component supply device, and transfers and mounts the components D to the mounting position of the board 9 held by the board conveying mechanism 8.

[0022] 4, a cart mark Mc is affixed to the exterior of the lower portion 5a of the component supply cart 5. A mounting section mark Ma is affixed to the exterior of the feeder mounting section 12. The cart mark Mc and the mounting section mark Ma include a barcode, a two-dimensional code, a unique mark, or the like, on which information identifying the component supply cart 5 is recorded. When multiple marks (here, two cart marks Mc and two mounting section marks Ma) are affixed to the component supply cart 5, information identifying the position at which each mark is affixed is also recorded.

[0023] In this way, the cart mark Mc and the mounting part mark Ma are unit recognition bodies that are attached (formed) on the exterior of the component supply unit (component supply cart 5). Note that the cart mark Mc and the mounting part mark Ma may be attached on any of the front, side, top, back, or bottom as viewed from the side where each mark is to be recognized, as long as they are visible from the exterior.

[0024] A tape feeder mark Mt is affixed to the side of tape feeder 13 where tape insertion opening 13a is formed. The tape feeder mark Mt includes a barcode, a two-dimensional code, a unique mark, etc., on which information identifying tape feeder 13 is recorded. A stick feeder mark Ms is affixed to the side of stick feeder 14 where stick case 17 is supplied. The stick feeder mark Ms includes a barcode, a two-dimensional code, a unique mark, etc., on which information identifying stick feeder 14 is recorded.

[0025] In this way, the tape feeder mark Mt and the stick feeder mark Ms are supply device identifiers that are affixed (formed) to the exterior of the component supply devices (tape feeder 13, stick feeder 14). The supply device identifiers are provided to identify the component supply devices.

[0026] The tape feeder mark Mt and the stick feeder mark Ms may be placed on the front, side, top, back or bottom as viewed from the side where each mark can be recognized, provided that the mark is visible from the outside.

[0027] Next, the configuration of the component mounting device M4 will be described with reference to Figures 5 and 6. The component mounting device M4 is similar to the component mounting devices M2 and M3 except that a tray feeder 6 is attached to the component supply unit 4 instead of the component supply cart 5, and the configuration of the tray feeder 6 will be described below. In Figure 5, on the upper surface of the feeder placement unit 20 of the tray feeder 6, a rack unit 21 is installed on the front side of the tray feeder 6 attached to the component supply unit 4, and a pallet moving unit 22 is installed on the rear side.

[0028] In the rack section 21, a plurality of (here, two) magazine holding sections 26 are arranged in the vertical direction to store magazines 25 that store stacked pallets 24 on which trays 23 that accommodate parts D are attached. An openable rack door 26a is provided at the front of the operation surface of the rack section 21. The magazines 25 are inserted into and removed from the magazine holding sections 26 when the rack door 26a is open (lower side in FIG. 6). A pallet placement section 27 is provided above the topmost magazine holding section 26. An openable cover 27a (arrow a) is provided at the top of the operation surface of the rack section 21. When the openable cover 27a is opened, one pallet 24 with a tray 23 attached to the pallet placement section 27 can be inserted into and removed from the tray feeder 6.

[0029] 5, pallet moving section 22 has a pallet placement table 28, a lifting mechanism 29, and a take-out mechanism 28a. The lifting mechanism 29 raises and lowers pallet placement table 28 (arrow b) to move pallet placement table 28 to a height position where pallet 24 stored in magazine 25 or pallet 24 placed on pallet placement section 27 is inserted or removed, or to a component supply position E where mounting head 10 takes out components D. The take-out mechanism 28a pulls out and holds pallet 24 from magazine 25 or pallet placement section 27, and also stores the held pallet 24 in magazine 25 or pallet placement section 27.

[0030] Thus, the tray 23 and the magazine 25 that houses a plurality of trays 23 are component containers that house a plurality of components D. Moreover, the pallet moving section 22 having the pallet placement table 28, the lifting mechanism 29, and the take-out mechanism 28a is a component supplying device that moves the components D housed in the tray 23 (component container) to the component supplying position E. Moreover, the tray feeder 6 has a component container (tray 23) and a component supplying device, and is a component supplying unit that supplies the components D to the component mounting device M4.

[0031] In FIG. 6, a rack mark Ml is attached to the exterior of each of the rack doors 26a. The rack mark Ml includes a barcode, a two-dimensional code, a unique mark, or the like, on which information for identifying the tray feeder 6 and information on the position (upper stage, lower stage) of the rack door 26a (magazine holding section 26) are recorded. An open / close mark Mo is attached to the front of the open / close cover 27a. The open / close mark Mo includes a barcode or a two-dimensional code on which information for identifying the tray feeder 6 is recorded. In this manner, the rack mark Ml and the open / close mark Mo are unit identifiers attached (formed) to the exterior of the component supply unit (tray feeder 6). The unit identifier is provided to identify the component supply unit. Note that the rack mark Ml and the open / close mark Mo may be attached to any of the front, side, top, back, or bottom, as long as they are visible from the exterior, as viewed from the side from which each mark is recognized.

[0032] A magazine mark Mm is provided on the front surface of the magazine 25 when it is inserted into the magazine holding portion 26. The magazine mark Mm includes a barcode, a two-dimensional code, a unique mark, etc., on which information identifying the magazine 25 is recorded. A tray mark Mp (not shown) is provided on the front surface of the tray 23 when it is stored in the tray feeder 6. The tray mark Mp includes a barcode, a two-dimensional code, a unique mark, etc., on which information identifying the tray 23 is recorded. The magazine mark Mm and the tray mark Mp may be provided on any of the front, side, top, back, or bottom surfaces as viewed from the side where each mark is recognized, as long as they are visible from the side where each mark is recognized other than the front surface.

[0033] Next, the configuration of the transport device V will be described with reference to Fig. 7. The transport device V has a robot mechanism 31 and a storage unit 32 above a cart unit 30. The cart unit 30 has wheels 30a, a motor for driving the wheels 30a, a direction changing mechanism for changing the direction of the wheels 30a, and a traveling mechanism 33 (see Fig. 8) including sensors for detecting the position and posture of the transport device V.

[0034] The robot mechanism 31 is a multi-joint robot with an end effector 34 at its tip, and a plurality of servo motors are used to move the end effector 34 in the X, Y, and Z directions, change its orientation, and rotate it by θ. The control method for the robot mechanism 31 is not particularly limited, and examples of the control method include an impedance control method and a compliance control method, but other control methods, a combination of a plurality of control methods, control using AI, etc. may also be used.

[0035] End effector 34 has a function of gripping (holding) component supply devices (tape feeder 13, stick feeder 14) or component containers (component reel 16, stick case 17, tray 23, magazine 25). End effector 34 may have functions such as holding and suction in addition to gripping, so long as it can hold component supply devices or component containers. End effector 34 is also provided with a moving camera 35 (imaging unit) that captures images of unit recognizers (cart mark Mc, mounting unit mark Ma, rack mark Ml, open / close mark Mo), supply device recognizers (tape feeder mark Mt, stick feeder mark Ms), magazine mark Mm, tray mark Mp, etc.

[0036] The various marks captured by the mobile camera 35 are subjected to recognition processing by a recognition processing unit 36 ​​(see FIG. 8) possessed by the transfer device V, whereby the information recorded on each mark and its position are recognized. In this manner, the mobile camera 35 (imaging unit) is a recognition unit that recognizes (captures) the unit recognizer (the mark formed on the component supply unit) and the supply device recognizer (the mark formed on the component supply device). The robot mechanism 31 is also a moving mechanism that moves the end effector 34 and the mobile camera 35 and aligns the imaging axis of the mobile camera 35 with the various marks.

[0037] 7, storage section 32 is provided with a plurality of storage shelves 32a (four in this example) with the side facing robot mechanism 31 being open. Replacement component supply devices (tape feeder 13, stick feeder 14), component containers (component reels 16, stick cases 17, trays 23, magazines 25), etc. can be placed on storage shelves 32a. Transfer device V places the component supply devices and component containers for resupply taken out from material storage W on storage shelves 32a, and transports them to component mounting devices M2 to M4 that are the targets of resupply.

[0038] A head camera 37 with its imaging axis facing downward is installed between the storage unit 32 and the robot mechanism 31. The head camera 37 images, from above, the reel marks Mb marked on the sides of the parts reels 16 gripped by the end effector 34. The reel marks Mb imaged by the head camera 37 are subjected to recognition processing by the recognition processing unit 36, whereby the information recorded on the reel marks Mb is recognized.

[0039] The mobile camera 35 may have the function of the head camera 37. In this case, the mobile camera 35 is attached at a position where it can capture an image of the reel mark Mb marked on the side of the parts reel 16 when the end effector 34 is gripping the parts reel 16. Alternatively, the mobile camera 35 may capture an image of the reel mark Mb marked on the top surface of the parts reel 16 when the end effector 34 has pulled the parts reel 16 out of the storage unit 32.

[0040] Next, the configuration of the control system of the component mounting system 1 will be described with reference to Fig. 8. Here, the configuration related to the function of exchanging the component supply devices and component containers of the component mounting devices M2 to M4 by the transport device V in the component mounting system 1 will be described. The management computer 3 has a wireless management communication unit 3a, a management storage unit 40, a work instruction generation unit 41, a management input unit 42, and a management display unit 43. The management input unit 42 is an input device such as a keyboard, a touch panel, or a mouse, and is used when inputting operation commands and data. The management display unit 43 is a display device such as a liquid crystal panel, and displays various information such as an operation screen for operation by the management input unit 42.

[0041] The management storage unit 40 is a storage device, and stores component information 40a, unit information 40b, external dimension information 40c, supply device information 40d, replacement work information 40e, etc. The component information 40a includes, for each component number that identifies the component D, the component name (type), information about the component container in which the component D is contained (size, etc.), and information about marks attached to the component container, such as the reel mark Mb and the tray mark Mp. That is, the component information 40a includes the diameter and thickness of the component reel 16, which is the component container, and the external dimensions (length, width, depth) of the stick case 17, the tray 23, and the magazine 25. The unit information 40b includes, for each component supply unit (component supply cart 5, tray feeder 6), unit-specific information that is information specific to the component supply unit.

[0042] The unit information 40b will now be described in detail with reference to Fig. 9. The unit information 40b includes a unit number 50, a unit type 51, a recognition method 52, a reel correction value 53, and a slot correction value 54. The unit number 50 is information for identifying a component supply unit. The unit type 51 is information for identifying the type of the component supply unit. In the unit type 51, the "cart (17)" and the "cart (30)" are component supply carts 5 having 17 and 30 rows of slots S, upper reel holding parts 5U, and lower reel holding parts 5B, respectively, and the "tray (20)" is a tray feeder 6 capable of storing 20 pallets 24.

[0043] The recognition method 52 is information (unit recognition information) that specifies whether to capture an image of the unit recognizer (cart mark Mc, mounting unit mark Ma, rack mark Ml, open / close mark Mo) by the moving camera 35 (imaging unit, recognition unit) of the transfer device V or to recognize the external shape of the component supply unit when determining the work position of the component supply unit. In the recognition method 52, the "mark" refers to the unit recognizer that is the imaged object, and the "external shape" refers to the external shape of the whole or part of the component supply unit that is the imaged object. By specifying the recognition method by the recognition method 52 in this way, the same automatic replacement method described later can be applied even to component supply units with different configurations, such as the presence or absence of a unit recognizer.

[0044] In Fig. 9, the reel correction value 53 is the amount of deviation from the ideal position P0 where the cart mark Mc is attached to the position P1 where it is actually attached, and is indicated by the amount of deviation 53x (ΔX) in the X direction and the amount of deviation 53z (ΔZ) in the Z direction (see Fig. 10). The slot correction value 54 is the amount of deviation from the ideal position where the mounting part mark Ma is attached to the position where it is actually attached, and is indicated by the amount of deviation 54x (ΔX) in the X direction and the amount of deviation 54z (ΔZ) in the Z direction. In this way, the unit type 51, the recognition method 52, the reel correction value 53, and the slot correction value 54 for each component supply unit, including the unit number 50, constitute unit specific information 55 that identifies the component supply unit. In other words, the unit specific information 55 includes unit recognition information (recognition method 52).

[0045] The reel correction value 53 may include the amount of deviation in the Y direction between the transport device V and the component supply unit. The amount of deviation in the Y direction is the difference between the ideal distance between the transport device V and the component supply unit and the distance between the transport device V and the component supply unit that is actually stopped, and can be calculated based on the size of the whole or part of the cart mark Mc captured by the moving camera 35. In addition, by capturing images of multiple cart marks Mc, the amount of deviation in the Y direction between the transport device V and the component supply unit can be approximately grasped. Then, by taking the amount of deviation in the Y direction into consideration, the amount of deviation in the X direction 53x (ΔX) and the amount of deviation in the Z direction 53z (ΔZ) can be calculated with higher accuracy. Similarly, the slot correction value 54 may include the amount of deviation in the Y direction.

[0046] In FIG. 8, external dimension information 40c includes information regarding the external shapes used in automatic replacement operations of component supply devices and component containers for each type of component supply unit (component supply cart 5, tray feeder 6) and each type of component supply device (tape feeder 13, stick feeder 14).

[0047] Here, the details of the external dimension information 40c will be described with reference to Fig. 11. Fig. 11 shows information on the positions of the lower reel holding part 5B and the upper reel holding part 5U, which is included in the external dimension information 40c of the component supply cart 5 whose unit type 51 is "cart (17)". The external dimension information 40c includes a holding part number 56 and a holding part position 57. The holding part number 56 is information for identifying the lower reel holding part 5B and the upper reel holding part 5U, with "B01" to "B17" indicating the lower reel holding part 5B and "U01" to "U17" indicating the upper reel holding part 5U. The holding part position 57 is indicated by an X position 57x and a Z position 57z, which are based on the ideal position P0 of the cart mark Mc attached to the component supply cart 5 (see Fig. 10).

[0048] 11, information on the position of the slot S, and information on the external size (length, width, depth) of the component supply cart 5. External dimension information 40c when the unit type 51 is "cart (30)" includes information similar to that of external dimension information 40c when the unit type 51 is "cart (17)". External dimension information 40c when the unit type 51 is "tray (20)" includes information on the position of the rack door 26a, information on the position of the opening / closing cover 27a, information on the external diameter size of the tray feeder 6, and the like.

[0049] Additionally, external dimension information 40c of tape feeder 13 includes information relating to the position of tape insertion opening 13a, information about the external size of tape feeder 13, etc. External dimension information 40c of stick feeder 14 includes information relating to the position of loading section 14a, information about the external size of stick feeder 14, etc.

[0050] In FIG. 8, the supply device information 40d includes supply device specific information, which is information specific to each component supply device (tape feeder 13, stick feeder 14), for each component supply device.

[0051] Here, the details of the supply device information 40d will be described with reference to Fig. 12. The supply device information 40d includes a feeder number 60, a feeder type 61, a recognition method 62, and a feeder correction value 63. The feeder number 60 is information for identifying a component supply device. The feeder type 61 is information for identifying the type of the component supply device. In the feeder type 61, "tape (8 mm)" and "tape (16 mm)" are tape feeders 13 that feed component storage tapes 15 with widths of 8 mm and 16 mm, respectively, and "stick (10)" is a stick feeder 14 that can store ten stick cases 17.

[0052] The recognition method 62 is information (supply device recognition information) that specifies whether to capture an image of a supply device recognizer (tape feeder mark Mt, stick feeder mark Ms) by the moving camera 35 (imaging unit, recognition unit) of the transfer device V or to recognize the external shape of the component supply device when determining the work position of the component supply device. In the recognition method 62, the "mark" refers to the supply device recognizer that is the imaged object, and the "external shape" refers to the external shape of the component supply device that is the imaged object. By specifying the recognition method by the recognition method 62 in this way, the same automatic replacement method can be applied even to component supply devices with different configurations, such as the presence or absence of a supply device recognizer.

[0053] 12, the feeder correction value 63 is the amount of deviation from the ideal position where the tape feeder mark Mt or the stick feeder mark Ms is placed to the position where it is actually placed, and is indicated by the amount of deviation 63x (ΔX) in the X direction and the amount of deviation 63z (ΔZ) in the Z direction. In this way, the feeder type 61, the recognition method 62, and the feeder correction value 63 for each component supply device, including the feeder number 60, constitute supply device specific information 64 that identifies the component supply device. In other words, the supply device specific information 64 includes supply device recognition information (recognition method 62).

[0054] 8, the replacement work information 40e includes information (such as a part number) for identifying the component container to be supplied or replaced, the feeder number 60 of the component supply device to be supplied or replaced, the location, the replacement order, etc. The location of the component to be supplied or replaced is information for identifying the position of the component container or component supply device to be supplied or replaced, such as the relevant component mounting lines L1 to L3, the component mounting devices M2 to M4, the unit number 50 and the holder number 56 of the component supply cart 5, or the unit number 50 of the tray feeder 6. The replacement work information 40e is created in advance based on the production plan, production data, material and facility information, etc.

[0055] In FIG. 8, the work instruction generating unit 41 generates a work instruction including a destination of the transport device V based on the replacement work information 40e. Also, based on the replacement work information 40e and the unit recognition information (recognition method 52), the work instruction generating unit 41 generates a work instruction to recognize which unit recognition body is attached (formed) to the component supply unit, or a work instruction to recognize the external shape of the component supply unit. Also, based on the replacement work information 40e and the supply device recognition information (recognition method 62), the work instruction generating unit 41 generates a work instruction to recognize which supply device recognition body is attached (formed) to the component supply device, or a work instruction to recognize the external shape of the component supply device. Note that a work instruction is generated for each work process, and the movement coordinates of the end effector 34 are calculated for each generated process.

[0056] Furthermore, the work instruction generating unit 41 generates a work instruction including a movement target of the end effector 34 of the transport device V based on the replacement work information 40e, the unit specific information 55, the supply device specific information 64, and the external dimension information 40c of the component supply unit and the component supply device. For example, when the cart mark Mc is recognized when replacing the component reel 16, the movement target of the end effector 34 is specified in XZ coordinates with the recognized cart mark Mc as the base point. At that time, the deviation of the position where the cart mark Mc is attached is corrected based on the reel correction value 53. For example, when the lower reel holding part 5B with the holding part number 56 of "B01" at the lower left end of the component supply cart 5 in FIG. 10 is the work position, the movement target is corrected and specified as (X1+ΔX, Z1+ΔZ).

[0057] Similarly, when the slot S of the component supply cart 5 is the working position, the movement target is corrected based on the slot correction value 54. Also, when the tape insertion port 13a of the tape feeder 13 or the loading section 14a of the stick feeder 14 is the working position, the movement target is corrected based on the feeder correction value 63. That is, the work instruction generating unit 41 generates a work instruction in which the movement target of the end effector 34 is corrected based on at least one of the unit position correction value (reel correction value 53, slot correction value 54) and the supply device position correction value (feeder correction value 63). The unit position correction value (reel correction value 53, slot correction value 54) is a value for correcting the movement target of the end effector 34 based on the positional deviation of the unit recognition body, and the supply device position correction value (feeder correction value 63) is a value for correcting the movement target of the end effector 34 based on the positional deviation of the supply device recognition body.

[0058] In this way, by correcting the movement target with the pre-stored correction value, it is possible to accurately move the end effector 34 even if the positions where various marks are attached vary for each component supply unit or each component supply device. The work instruction generated by the work instruction generation unit 41 is transmitted to the transport device V that performs the replacement work via the wireless management communication unit 3a. Note that the work instruction generation unit 41 may generate a work instruction with a movement target that is not corrected with a correction value, transmit a unit position correction value and a supply device position correction value together with the work instruction, and correct the movement target when a path setting unit 47 described later in the transport device V sets a movement path.

[0059] As described above, the management computer 3 has a storage unit (management storage unit 40), unit specific information 55, and work instruction generation unit 41. The management storage unit 40 associates the external dimension information 40c of the component supply unit with the unit specific information 55 that identifies the component supply unit and stores the information. The work instruction generation unit 41 generates a work instruction including a movement target of the end effector 34 based on the external dimension information 40c of the component supply unit. The management computer 3 is a management device that generates a work instruction for the transport device V having the movable end effector 34. Note that the management computer 3 does not need to be configured as a single computer, and may be configured as a plurality of devices. For example, a part or all of the management storage unit 40 may be provided in a cloud via a server.

[0060] 8, the transport device V has a traveling mechanism 33, a robot mechanism 31, an end effector 34, a moving camera 35, a recognition processing unit 36, a head camera 37, a transport memory unit 44, a travel control unit 45, an exchange control unit 46, a route setting unit 47, and a wireless communication unit T. The transport memory unit 44 is a storage device, and stores work instruction information 44a, recognition result information 44b, etc. The work instruction information 44a stores work instructions transmitted from the management computer 3 (management device) and received by the wireless communication unit T.

[0061] The recognition result information 44b stores information recorded on each mark obtained by the recognition processing unit 36 ​​performing recognition processing on the imaging results of the moving camera 35 (imaging unit, recognition unit), information on the position of each mark, and component information recorded on the reel mark Mb obtained by the recognition processing unit 36 ​​performing recognition processing on the imaging results of the head camera 37. The recognition result information 44b also stores information obtained by the recognition processing unit 36 ​​performing recognition processing on the external shapes of the component supply unit and the component supply device imaged by the moving camera 35, such as the positions of the slot S, upper reel holding unit 5U, and lower reel holding unit 5B of the component supply cart 5, the positions of the rack door 26a and the opening / closing cover 27a of the tray feeder 6, the position of the tape insertion port 13a of the tape feeder 13, and the position of the loading unit 14a of the stick feeder 14.

[0062] The travel control unit 45 controls the travel mechanism 33 based on the movement destination of the transport device V included in the work instruction, and moves the transport device V to the specified movement destination. The exchange control unit 46 controls the robot mechanism 31 based on the recognition destination included in the work instruction, and causes the mobile camera 35 to capture an image of the recognition destination. The path setting unit 47 sets a movement path (for example, arrows c2 to c6 in FIGS. 14B to 15C) along which the end effector 34 will move, based on the movement target of the end effector 34 included in the work instruction.

[0063] At this time, the path setting unit 47 sets a movement path so that the end effector 34 does not interfere with the main body of the component supply unit based on the external size (length, width, depth) of the component supply unit included in the external dimension information 40c of the component supply unit. In other words, the movement path is set so that the end effector 34 moves along a different trajectory depending on the object that the end effector 34 is not gripping or is gripping.

[0064] The exchange control unit 46 (control unit) controls the robot mechanism 31 (movement mechanism) based on the movement path set by the path setting unit 47 and the recognition result (recognition result information 44b) by the moving camera 35 (imaging unit, recognition unit) to move the end effector 34 to at least one of the component supply device and the component container. This allows the end effector 34 to accurately grip the component supply device or the component container even if the stopping position of the transfer device V is shifted from the designated transfer destination or the positions of the component supply device or the component container in the component supply unit are shifted from the predetermined positions.

[0065] Thus, the transfer device V has the end effector 34, a moving mechanism (robot mechanism 31) that moves the end effector 34, a recognition unit (moving camera 35), a path setting unit 47, and a control unit (exchange control unit 46) that controls the moving mechanism. The transfer device V and a management device (management computer 3) having a work instruction generating unit 41 that generates work instructions constitute an automatic exchange system that exchanges at least one of the component supply device and the component container of the component supply unit.

[0066] Next, following the flow of Fig. 13 and with reference to Figs. 14A to 15C, an automatic replacement method for replacing at least one of the component supply device and the component container of the component supply unit by a transport device V having a movable end effector 34 will be described. Below, an example will be described in which a component reel 16, which is a component container, is removed from a component supply cart 5 (component supply unit) mounted on a component mounting device M2 and replaced. Note that for the sake of convenience, the robot mechanism 31 of the transport device V is not shown in Figs. 14A to 15C.

[0067] In Fig. 13, first, the management computer 3 (management device) generates a work instruction specifying the destination as the location in front of the parts supply cart 5 on which the parts reel 16 to be replaced is attached, and transmits the work instruction to the transfer device V carrying the parts reel 16 to be replenished. In the transfer device V that has received the work instruction, the travel control unit 45 moves the transfer device V to the specified destination in accordance with the work instruction (ST1: transfer device moving process). When the movement is completed, the transfer device V transmits a notice to the management computer 3. Note that even when the transfer device V has moved to the specified destination, a stopping error of several centimeters or several millimeters may occur.

[0068] Next, the work instruction generating unit 41 in the management computer 3 generates a work instruction to remove the parts reel 16 to be replaced from the parts supply cart 5 and attach the parts reel 16 to be replenished (ST2: work instruction generating step). Here, it is assumed that in the work instruction generating step (ST2), a cart mark Mc (unit recognition object) is recognized, and a work instruction is generated that includes a movement target of the end effector 34 with the recognized cart mark Mc as the base point. Next, the management computer 3 transmits the generated work instruction to the transport device V (ST3: work instruction transmitting step).

[0069] In Fig. 13, when the transfer device V receives a work instruction, it executes the replacement work according to the work instruction. First, if the work instruction instructs recognition of various marks (Yes in ST4), the replacement control unit 46 controls the robot mechanism 31 to move the mobile camera 35 (imaging unit, recognition unit) in front of the cart mark Mc (arrow c1 in Fig. 14A) and recognize the cart mark Mc (ST5: unit recognition step). That is, the unit recognition body (cart mark Mc) attached (formed) to the exterior of the component supply unit (component supply cart 5) is recognized.

[0070] When the recognition of various marks is instructed, the transport device V may determine whether the marks match those instructed in the work instructions. The transport device determines whether the marks are correct, and if they do not match, the work is stopped. This makes it possible to prevent work mistakes that occur due to a worker's mistake such as switching the part supply unit.

[0071] Next, the mobile camera 35 (imaging section, recognition section) moves in front of the supply device recognition object (tape feeder mark Mt, stick feeder mark Ms) and recognizes the supply device recognition object (ST6: supply device recognition step). Note that since the work instruction does not include recognition of the supply device recognition object here, the supply device recognition step (ST6) is skipped. If the work instruction instructs recognition of the external shape (No in ST4), the exchange control section 46 controls the robot mechanism 31 to recognize the external shapes of the component supply unit and component supply device instructed by the mobile camera 35 (ST7: external shape recognition step).

[0072] Once the mark recognition (ST5, ST6) or the outer shape recognition (ST7) is completed, the path setting unit 47 then sets a movement path for moving the end effector 34 based on the work instructions and the recognition results (ST8: path setting process). This sets a movement path that corrects for stopping errors of the transport device V and misalignments of the component supply devices and component containers in the component supply unit. Next, the replacement control unit 46 controls the robot mechanism 31 based on the set movement path to move the end effector 34 to the components reel 16 to be replaced (arrow c2 in FIG. 14B) and have the end effector 34 grip the components reel 16.

[0073] 13, the replacement control unit 46 then moves the end effector 34 gripping the parts reel 16 to remove the parts reel 16 from the upper reel holding unit 5U (ST9), rotates the parts reel 16 by 90 degrees, moves it to the storage unit 32 (arrow c3 in FIG. 14C), and stores it in an empty storage shelf 32a (ST10). Next, the replacement control unit 46 grips the parts reel 16 to be replenished from the storage shelf 32a with the end effector 34 and removes it (ST11) (arrow c4 in FIG. 15A). At that time, the head camera 37 captures an image of the reel mark Mb affixed to the parts reel 16, and checks whether it is the parts reel 16 to be replenished as specified.

[0074] Next, the replacement control unit 46 rotates the end effector 34 gripping the parts reel 16 by 90 degrees, moves it to the front of the parts supply cart 5 (arrow c5 in FIG. 15B), and attaches the parts reel 16 to be supplied to the instructed upper reel holding unit 5U (ST12) (arrow c6 in FIG. 15C). Next, if there are parts reels 16 (parts containers) to be replaced remaining and the replacement work is not complete (No in ST13), the process returns to the work instruction generation step (ST2) and the replacement work for the next parts reel 16 is performed. When the replacement work for all parts reels 16 is complete (Yes in ST13), the automatic replacement ends.

[0075] If the work instructions (ST2, ST3 for the first time) generated and sent by the management computer 3 include the entire process of the replacement work, the process does not return to the work instruction generation process (ST2) but returns to ST4 to execute the next replacement work. Also, if the necessary information has been acquired the first time, the second and subsequent mark recognitions (ST5, ST6) or external shape recognitions (ST7) are skipped.

[0076] Thus, ST9 to ST12 are movement steps for moving the end effector 34 to at least one of the component supply device and the component container based on the movement path set in the path setting step (ST8) and the recognition results in the unit recognition step (ST5), the supply device recognition step (ST6), or the external shape recognition step (ST7). That is, the automatic replacement method of this embodiment includes the unit recognition step (ST5), the path setting step (ST8), and the movement steps (ST9 to ST12). This allows the component reel 16 (component container) to be accurately replaced.

[0077] 13, when replacing the component supply device (tape feeder 13, stick feeder 14), the mounting part mark Ma is recognized in the unit recognition process (ST5). When replacing the tray 23 (component container) of the tray feeder 6 (component supply unit), the opening / closing mark Mo is recognized in the unit recognition process (ST5), and in the movement process, the opening / closing cover 27a is opened and closed, and the tray mark Mp of the tray 23 on the pallet placement part 27 is recognized by the moving camera 35 (imaging part, imaging means).

[0078] Furthermore, when the magazine 25 (component container) of the tray feeder 6 (component supply unit) is replaced, the rack mark Ml is recognized in the unit recognition process (ST5), and in the movement process, the rack door 26a is opened and closed, and the magazine mark Mm of the magazine 25 in the rack section 21 is recognized by the moving camera 35. Furthermore, when the component storage tape 15 is inserted into the tape insertion port 13a of the tape feeder 13 after replacing the component reel 16, the tape feeder mark Mt is recognized in the supply device recognition process (ST6). Furthermore, when the stick case 17 (component container) of the stick feeder 14 is replaced, the stick feeder mark Ms is recognized in the supply device recognition process (ST6).

[0079] As described above, the component mounting system 1 of this embodiment replaces at least one of the component supply devices (tape feeder 13, stick feeder 14, pallet moving section 22) and the component containers (component reel 16, stick case 17, tray 23, magazine 25). The component containers store a plurality of components D. The component supply devices move the components D stored in the component containers to the component supply position E. The component supply devices and the component containers are included in the component supply units (component supply cart 5, tray feeder 6).

[0080] The automatic exchange system has a transport device V. The transport device V includes an end effector 34, a moving mechanism (robot mechanism 31), a recognition unit (moving camera 35), a path setting unit 47, and a control unit (exchange control unit 46). The end effector 34 grips a component supply device or a component container. The robot mechanism 31 moves the end effector. The moving camera 35 recognizes unit recognition objects (cart mark Mc, mounting unit mark Ma, rack mark Ml, open / close mark Mo) attached to the exterior of the component supply unit (formed on the component supply unit). The path setting unit 47 sets a movement path for moving the end effector 34. The exchange control unit 46 controls the movement mechanism.

[0081] Then, the control unit moves the end effector 34 to at least one of the component supply device and the component container based on the set movement path and the recognition result by the recognition unit, thereby enabling the component container to be accurately replaced.

[0082] The above description has been given with an example of so-called internal setup in which a component supply device or a component container is replaced in a component supply unit (component supply cart 5, tray feeder 6) attached to the component mounting device M2 to M4, but the present disclosure is not limited to internal setup. For example, the present disclosure can also be applied to so-called external setup in which a component supply device or a component container is replaced in a component supply unit (component supply cart 5, tray feeder 6) removed from the component mounting device M2 to M4. In this case, the replacement work information 40e specifies a preparation area for performing external setup as the location of the supply target or replacement target. In external setup, the component supply unit may move to a transport device V fixed to the floor F, and the component supply device or the component container may be replaced at the replacement position.

[0083] Furthermore, the various marks do not have to be composed of a single figure. For example, they may be composed of multiple figures, such as enclosed characters, and the mark composed of multiple figures may be recognized as a whole, with a specific figure being used as the coordinate for correction.

[0084] Next, a second embodiment of the component supply cart (hereinafter referred to as "second component supply cart 70") will be described with reference to Figs. 16, 17A, and 17B. The second component supply cart 70, like the above-mentioned component supply cart 5, has a component container and a component supply device, and is a component supply unit that supplies components D to component mounting devices M2 and M3. The second component supply cart 70 differs from the component supply cart 5 in that it has cart recognition targets G1 and G2 instead of the cart mark Mc, and mounting unit recognition targets G3 and G4 instead of the mounting unit mark Ma. Hereinafter, the same components as those of the component supply cart 5 are denoted by the same reference numerals, and detailed description thereof will be omitted.

[0085] In Fig. 16, a lower plate 71 extending in the board transport direction (X direction) on the XY plane (horizontal plane) is installed on the front of the lower part 5a of the second component supply cart 70. Left and right side plates 72, 73 extending in the YZ plane are installed on both ends of the lower plate 71 in the X direction and extend upward. On the left side of the lower plate 71, a left side plate 72 and a left back plate 74 extending in the ZX plane perpendicular to the lower plate 71 are installed (see also Fig. 17A). The lower plate 71, the left side plate 72, and the left back plate 74 form a left cart recognition target G1. The corner where the lower plate 71, the left side plate 72, and the left back plate 74 intersect is the position Q1 of the left cart recognition target G1.

[0086] On the right side of the lower plate 71, a right side plate 73 and a right back plate 75 are installed, which extend on the ZX plane perpendicular to the lower plate 71. The lower plate 71, the right side plate 73, and the right back plate 75 form a right cart recognition target G2. The corner where the lower plate 71, the right side plate 73, and the right back plate 75 intersect is the position Q2 of the right cart recognition target G2.

[0087] In FIG. 16, left and right support plates 76, 77 extending in the YZ plane are installed at both ends of the feeder mounting part 12 in the X direction, respectively, extending upward. An upper plate 78 extending in the X direction on the XY plane is installed between the upper part of the left support plate 76 and the upper part of the right support plate 77. On the left side of the upper plate 78, a left back plate 79 extending in the ZX plane perpendicular to the left support plate 76 and the upper plate 78 is installed (see also FIG. 17B). The upper plate 78, the left support plate 76, and the left back plate 79 constitute the left mounting part recognition target G3. The corner where the upper plate 78, the left support plate 76, and the left back plate 79 intersect is the position Q3 of the left mounting part recognition target G3.

[0088] On the right side of the upper plate 78, there are provided the right support plate 77 and the right back plate 80 which extends in the ZX plane perpendicular to the upper plate 78. The upper plate 78, the right support plate 77, and the right back plate 80 constitute the right attachment unit recognition target G4. The corner where the upper plate 78, the right support plate 77, and the right back plate 80 intersect is the position Q4 of the right attachment unit recognition target G4.

[0089] The cart recognition targets G1, G2 and the mounting unit recognition targets G3, G4 are unit recognition bodies for recognizing the position of the second component supply cart 70 and the position of the feeder mounting unit 12. In the second component supply cart 70, "target" is stored in the recognition method 52 of the unit information 40b stored in the management storage unit 40 of the management computer 3. Furthermore, position information of the cart recognition targets G1, G2 and the mounting unit recognition targets G3, G4 in the second component supply cart 70 is stored in the unit information 40b.

[0090] Next, a second embodiment of the transfer device (hereinafter referred to as "second transfer device V1") will be described with reference to Fig. 18. Similar to the transfer device V described above, the second transfer device V1 has a robot mechanism 31 and a storage unit 32 above the cart unit 30, and an end effector 34 is disposed at the tip of the robot mechanism 31. The second transfer device V1 differs from the transfer device V in that a contact sensor 81 is provided at the tip of the end effector 34. Hereinafter, the same components as those of the transfer device V are given the same reference numerals, and detailed description will be omitted.

[0091] 18, the contact sensor 81 has a thin and elongated cylindrical shape protruding from the front surface of the end effector 34, and when the robot mechanism 31 moves the end effector 34 in the X, Y, and Z directions, the contact sensor 81 moves integrally with the end effector 34 in the X, Y, and Z directions. When the contact sensor 81 moves and the tip or side surface of the cylinder comes into contact with an object, it can detect in which direction the contact occurred. The detection result of the contact sensor 81 is transmitted to the recognition processing unit 36. The recognition processing unit 36 ​​recognizes (calculates) the position where the contact sensor 81 comes into contact with the object based on the position of the end effector 34 (the operation of the robot mechanism 31).

[0092] Next, with reference to Figures 19A to 19C, a unit recognition step (ST5) will be described which is executed when the second transfer device V1 automatically replaces the tape feeder 13 which is a component supply device and the component reel 16 which is a component container mounted on the second component supply cart 70 (component supply unit). Here, it is assumed that the transfer device movement step (ST1) for moving the second transfer device V1 to the front of the second component supply cart 70 in accordance with a work instruction has been completed. In other words, it is assumed that the second transfer device V1 and the second component supply cart 70 are in the same positional relationship as the transfer device V and the component supply cart 5 shown in Figures 14A to 15C.

[0093] In the following, an example of recognizing the left cart recognition target G1 will be described. That is, in the work instruction generation process (ST2), the work instruction generation unit 41 generates a work instruction including information of a unit recognition object that specifies the left cart recognition target G1 as a recognition target to be recognized by the contact sensor 81 (recognition unit). Then, in the unit recognition process (ST5), the exchange control unit 46 controls the robot mechanism 31 to move the contact sensor 81 in front of the left cart recognition target G1 and execute a contact detection operation described later to recognize the position Q1 of the left cart recognition target G1.

[0094] In the contact detection operation in Fig. 19A, first, the exchange control unit 46 moves the contact sensor 81, which is moving in front of the left cart recognition target G1, in the Y direction (arrow d1). In Fig. 19B, when it is detected that the tip surface of the contact sensor 81 has come into contact with the left rear plate 74, the exchange control unit 46 stops the movement of the contact sensor 81 in the Y direction. Next, the exchange control unit 46 moves the contact sensor 81 in the X direction toward the left side plate 72 while keeping the tip surface of the contact sensor 81 in contact with the left rear plate 74 (arrow d2).

[0095] 19C, when it is detected that the side surface of the contact sensor 81 has come into contact with the left side plate 72, the replacement control unit 46 stops the movement of the contact sensor 81 in the X direction. Next, the replacement control unit 46 moves the contact sensor 81 in the Z direction toward the lower plate 71 while abutting the side surface of the contact sensor 81 against the left side plate 72 (arrow d3). When it is detected that the side surface of the contact sensor 81 has come into contact with the lower plate 71, the replacement control unit 46 stops the movement of the contact sensor 81 in the Z direction. Through this series of contact detection operations, the contact sensor 81 stops at the corner position where the lower plate 71, the left side plate 72, and the left rear plate 74 intersect.

[0096] Next, the recognition processing unit 36 ​​calculates (recognizes) the position Q1 of the left cart recognition target G1 based on the position where the contact sensor 81 stops. The recognized position Q1 (recognition result) of the left cart recognition target G1 is stored in the transfer storage unit 44 as the recognition result information 44b. The order in which the contact sensor 81 makes contact by the contact detection operation is not limited to the above. For example, the contact may be made in the order of the left rear plate 74, the lower plate 71, and the left side plate 72. In addition, in the unit recognition step (ST5), the position Q2 of the right cart recognition target G2 may also be recognized. By recognizing the positions Q1 and Q2 of the two cart recognition targets G1 and G2, the position of the second component supply cart 70 can be recognized more accurately.

[0097] Furthermore, in the supply device recognition step (ST6), the exchange control unit 46 controls the robot mechanism 31 to move the contact sensor 81 in front of the left mounting unit recognition target G3 and execute a contact detection operation to recognize the position Q3 of the left mounting unit recognition target G3. Note that in the supply device recognition step (ST6), the position Q4 of the right mounting unit recognition target G4 may also be recognized. By recognizing the positions Q3 and Q4 of the two mounting unit recognition targets G3 and G4, the position of the feeder mounting unit 12 can be recognized more accurately.

[0098] In this way, the cart recognition targets G1, G2 and the mounting unit recognition targets G3, G4 are contactable bodies (unit recognition bodies) formed on the component supply unit (second component supply cart 70). The contact sensor 81 is a detection unit (recognition unit) that moves together with the end effector 34 and detects contact with the contactable body. The recognition result by the contact sensor 81 (recognition unit) is the position (positions Q1 to Q4) where the detection unit comes into contact with the contactable body.

[0099] In addition, the recognition of the position Q2 of the right-side trolley recognition target G2 in the unit recognition process (ST5) may be performed in combination with the distance detection operation described below, in addition to the above-mentioned contact detection operation in which the target is successively contacted with the right-side rear plate 75, the right-side side plate 73, and the lower plate 71.

[0100] Here, the distance detection operation will be described with reference to Fig. 20. In the distance detection operation, after the contact sensor 81 detects the position Q1 of the left cart recognition target G1 by the contact detection operation, the exchange control unit 46 controls the robot mechanism 31 to move the contact sensor 81 in the X direction toward the right side plate 73 while abutting the side of the contact sensor 81 against the lower plate 71 (arrow e1). When it is detected that the side of the contact sensor 81 has come into contact with the right side plate 73, the exchange control unit 46 stops the movement of the contact sensor 81 in the X direction.

[0101] This distance detection operation causes the contact sensor 81 to stop at the corner where the lower plate 71, the right side plate 73, and the right rear plate 75 intersect. Next, the recognition processing unit 36 ​​calculates the distance R traveled by the contact sensor 81 after it detected the position Q1 of the left cart recognition target G1. Furthermore, the recognition processing unit 36 ​​calculates (recognizes) the position Q2 of the right cart recognition target G2 from the position Q1 of the left cart recognition target G1 and the distance R traveled by the contact sensor 81. The distance detection operation can shorten the time required to recognize the position Q2 of the right cart recognition target G2.

[0102] 20, the recognition of the position Q4 of the right-side mounting unit recognition target G4 in the supply device recognition step (ST6) may also be performed by combining the contact detection operation and the distance detection operation. That is, after recognizing the left-side mounting unit recognition target G3, the contact sensor 81 may be moved in the X direction along the upper plate 78 (arrow e2), and the position Q4 of the right-side mounting unit recognition target G4 may be calculated based on the distance moved by the contact sensor 81. The recognition result by the contact sensor 81 (recognition unit) in the distance detection operation includes the distance moved until the detection unit (contact sensor 81) comes into contact with the contacted object (the right-side cart recognition target G2, the right-side mounting unit recognition target G4).

[0103] In the above, the contactable objects to be detected by the contact sensor 81 (detection unit) are the cart recognition targets G1, G2 formed on the lower portion 5a of the second component supply cart 70 and the mounting unit recognition targets G3, G4 formed on the feeder mounting unit 12, but recognition targets (contactable objects) may be formed on other objects and detected (recognized) by the contact sensor 81. For example, instead of the tape feeder mark Mt formed on the tape feeder 13 or the stick feeder mark Ms formed on the stick feeder 14, a recognition target may be formed as a supply device recognition object, and the position of the component supply device may be detected (recognized) by the contact sensor 81. [Industrial Applicability]

[0104] INDUSTRIAL APPLICABILITY The automatic replacement system, management device, and automatic replacement method disclosed herein have the effect of enabling component containers to be accurately replaced, and are useful in the field of mounting components on boards. [Explanation of symbols]

[0105] 1 Component mounting system 2. Communication Network 3 Management Computer 3a Radio Management Communication Department 4. Parts Supply Department 5 Parts supply cart 5a bottom 5B Lower reel holder 5U Upper reel holder 6 Tray Feeder 7 Foundation 8. Substrate transport mechanism 9 Substrate 10 Mounting head 10a Suction nozzle 12 Feeder attachment part 13 Tape Feeder 13a Tape insertion slot 14 Stick Feeder 14a Loading section 15 Parts storage tape 16 Parts Reel 17 Stick Case 18 Mounting control section 20 Feeder placement section 21 Rack section 22 Pallet moving section 23 Tray 24 Palettes 25 Magazine 26 Magazine holder 26a Rack door 27 Pallet placement section 27a Opening and closing cover 28 Pallet Stand 28a Removal mechanism 29 Lifting mechanism 30 Bogie section 30a wheels 31 Robot mechanism (movement mechanism) 32 Storage Department 32a Storage shelf 33 Running mechanism 34 End effector 35 Mobile camera (recognition unit) 36 Recognition processing section 37 Head Camera 40 Management storage unit 40a Parts Information 40b Unit Information 40c External dimensions information 40d Feeder information 40e Replacement work information 41 Work instruction generation section 42 Management input section 43 Management display section 44 Transfer storage unit 44a Work Instruction Information 44b Recognition result information 45 Driving control unit 46 Exchange control section 47 Route setting section 50 Unit Number 51 Unit Types 52,62 Recognition method 53 Reel correction value 53x, 54x, 63x Displacement in X direction 53z, 54z, 63z Displacement in Z direction 54 Slot Correction Value 55 Unit Specific Information 56 Holding part number 57 Holding part position 57x X position 57z Z position 60 Feeder Number 61 Feeder Type 63 Feeder correction value 64 Supply device specific information 70 2nd parts supply cart 71 Lower plate 72,73 Side plate 74,75,79,80 Oku board 76,77 Support plate 78 Upper Plate 81 Contact Sensor D parts E Parts supply position G1, G2 Cart Recognition Target G3, G4 Applied part recognition target Ma attachment mark Mc Cart Mark Ml rack mark Mo Open / Close Mark Ms Stick Feeder Mark Mt tape feeder mark T Wireless Communication Section V Transfer device V1 2nd transfer device

Claims

1. 1. An automatic component replacement system for replacing a component container of a component supply unit, the component supply unit comprising: a lower portion for holding a component container for storing components; and a feeder mounting portion for mounting a component supply device for moving the components stored in the component container to a component supply position, the component supply unit comprising: an end effector for holding the part container; a movement mechanism configured to move the end effector; a recognition unit that recognizes a plurality of unit recognition bodies for identifying the component supply unit; a path setting unit that sets a movement path along which the end effector is moved; A control unit that controls the movement mechanism, the control unit moves the end effector to the component supply device based on the set movement path and a recognition result of the recognition unit of the lower portion of the component supply unit and the unit recognition body provided on the feeder mounting unit. Automatic exchange system.

2. a management device having a work instruction generation unit that generates a work instruction including a movement target of the end effector based on external dimension information of the component supply unit, The route setting unit sets the movement route based on the work instruction.

2. The automatic switching system according to claim 1.

3. The work instruction generation unit generates the work instruction so as to further include information of the unit recognition body recognized by the recognition unit.

3. The automatic switching system according to claim 2.

4. The work instruction generation unit, a unit position correction value for correcting the movement target of the end effector based on a positional deviation of the unit recognition body; a supply device position correction value for correcting the movement target of the end effector based on a positional deviation of a supply device recognizer for identifying the component supply device provided on the component supply device, and a supply device position correction value for correcting the movement target of the end effector based on at least one of the positional deviation of a supply device recognizer for identifying the component supply device provided on the component supply device, and generating the work instruction including the corrected movement target.

3. The automatic switching system according to claim 2.

5. The component supply device is provided with a supply device recognition unit for identifying the component supply device, The recognition unit further recognizes the supply device recognition body, the control unit moves the end effector to the component supply device based on the set movement path and a recognition result of the supply device recognition body by the recognition unit.

2. The automatic switching system according to claim 1.

6. the unit recognition object is a mark formed on the component supply unit, The recognition unit is an imaging unit that images the mark.

2. The automatic switching system according to claim 1.

7. the unit recognition body is a contactable body formed on the component supply unit, The recognition unit is a detection unit that moves together with the end effector and detects contact with the contacted object.

2. The automatic switching system according to claim 1.

8. The recognition result is a position where the detection unit contacts the contacted object.

8. The automatic switching system according to claim 7.

9. The recognition result includes a distance traveled by the detection unit until the detection unit comes into contact with the contacted object.

8. The automatic switching system according to claim 7.

10. 1. An automatic replacement method for replacing a component container of a component supply unit, the component container having a lower portion for holding a component container for storing components and a feeder mounting portion for mounting a component supply device for moving the components stored in the component container to a component supply position, by an automatic replacement system having a movable end effector, comprising: a step of recognizing a plurality of unit recognition objects for identifying the component supply unit; A step of setting a movement path along which the end effector is moved; and moving the end effector to the component supply device based on the set movement path and a recognition result of the unit recognition body provided on the lower portion of the component supply unit and the feeder mounting portion. Automatic exchange method.

11. The method further includes a step of generating a work instruction including a movement target of the end effector based on external dimension information of the component supply unit, setting the movement route based on the work instruction; The automatic exchange method according to claim 10.

12. generating the work instruction so as to include information of a recognition target to be recognized in the step of recognizing the unit recognition body; The automatic exchange method according to claim 11.

13. a unit position correction value for correcting the movement target of the end effector based on a positional deviation of the unit recognition body; a supply device position correction value for correcting the movement target of the end effector based on a positional deviation of a supply device recognizer for identifying the component supply device provided on the component supply device, and a supply device position correction value for correcting the movement target of the end effector based on at least one of the positional deviation of a supply device recognizer for identifying the component supply device provided on the component supply device, and generating the work instruction including the corrected movement target. The automatic exchange method according to claim 11.

14. The component supply device further includes a step of recognizing a supply device recognition object provided in the component supply device for identifying the component supply device, moving the end effector to the component supply device based on the set movement path and the recognition result of the supply device recognition body; The automatic exchange method according to claim 10.

Images