TRANSPORT SYSTEM, TRANSPORT METHOD, AND TRANSPORT DEVICE

Abstract

To provide a conveyance system capable of conveying a conveyed object in a normal state on a floor where a manufacturing device is installed, a conveyance method and a conveyance device.SOLUTION: A conveyance system comprises: a conveyance device Q which conveys a conveyed object used on a floor F where a manufacturing device is installed; and a control system (a management computer 3) which controls conveyance work by the conveyance device Q on the basis of course information relating to a conveyance course. An acceleration meter A for measuring an acceleration of the conveyance device Q during travel is provided in the conveyed object or the conveyance device Q. The conveyance device Q or the control system includes: an information acquisition section which acquires acceleration information relating to the measured acceleration; a determination section which determines whether or not the acceleration exceeds a predetermined threshold on the basis of the acceleration information; and an output section which outputs warning information in a case where the acceleration exceeds the predetermined threshold.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a transport system, a transport method, and a transport device that transport objects on a floor on which manufacturing equipment is installed. [Background technology]

[0002] Tray feeders that supply components stored in trays are widely used as component supplying devices that supply components to component mounting devices that mount components on boards. In addition, as an effort to reduce manpower and automate floors on which manufacturing devices such as component mounting devices are installed, technology has been developed to automatically transport and supply materials (transported objects) used in manufacturing devices (see, for example, Patent Document 1). Patent Document 1 discloses a method in which a cart that holds and holds multiple trays containing components is connected to an automated guided vehicle, the cart is moved to the front of the manufacturing device by the automated guided vehicle, and the trays held by the cart are supplied to the manufacturing device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-91770 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional technologies including Patent Document 1, although the transported objects can be supplied to the manufacturing equipment by the automated guided vehicle, there are problems such as the following due to the condition of the floor: When the transport path on which the automated guided vehicle runs passes a point that is wavy up and down, or when the automated guided vehicle goes over a fallen object such as a screw or a piece of trash, or goes over a joint in the floor, the automated guided vehicle or cart may bounce, causing parts to fall off the tray, leaving room for further improvement.

[0005] SUMMARY OF THE PRESENT DISCLOSURE An object of the present invention is to provide a transport system, a transport method, and a transport device that are capable of transporting objects in a normal state on a floor on which manufacturing equipment is installed. [Means for solving the problem]

[0006] The transport system of the present invention includes a transport device that transports a transported object used on a floor on which one or more manufacturing devices that perform a predetermined operation on a substrate are installed, and a control system that controls the transport operation by the transport device based on route information regarding a transport route, the transported object or the transport device is provided with an accelerometer for measuring the acceleration of the transport device while it is traveling, and the transport device or the control system has an information acquisition unit that acquires acceleration information regarding the measured acceleration, a determination unit that determines whether the acceleration exceeds a predetermined threshold based on the acquired acceleration information, and an output unit that outputs warning information when the acceleration exceeds the predetermined threshold, the information acquisition unit acquires position information on the floor while the transport device is traveling, and the warning information includes information regarding a warning point where the acceleration exceeds the predetermined threshold. The control system controls the transport operation so as to slow down the travel speed of the transport device passing through the warning point. do.

[0007] The transport method of the present invention is a method for transporting an object to be transported by a transport device used on a floor on which one or more manufacturing devices that perform a predetermined operation on a substrate are installed, the method including: acquiring acceleration information related to the acceleration of the transport device during travel, measured by an accelerometer provided on the object to be transported or the transport device; determining whether the acceleration exceeds a predetermined threshold value based on the acquired acceleration information; and outputting warning information when the acceleration exceeds the predetermined threshold value. and acquiring position information on the floor when the conveying device is traveling, and controlling the conveying device so that the conveying device passes through a warning point where the acceleration has exceeded the predetermined threshold value thereafter, the conveying device is slowed down when the conveying device passes through the warning point where the acceleration has exceeded the predetermined threshold value. .

[0008] The transport device of the present invention is a transport device that transports a transported object used on a floor on which one or more manufacturing devices that perform a predetermined operation on a substrate are installed, and includes an accelerometer for measuring acceleration during travel of the transport device, a determination unit for determining whether the acceleration measured by the accelerometer exceeds a predetermined threshold value, and an output unit for outputting warning information when the acceleration exceeds the predetermined threshold value. and an information acquisition unit that acquires position information on the floor, and slows down the travel speed when the vehicle subsequently passes a warning point where the acceleration has exceeded the predetermined threshold. . Effect of the Invention

[0009] According to the present invention, the transported object can be transported in a normal state on the floor on which the manufacturing equipment is installed. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a configuration explanatory diagram of a floor including a component mounting system according to an embodiment of the present invention; [Diagram 2] FIG. 1 is a configuration explanatory diagram of a floor including a component mounting line provided in a component mounting system according to an embodiment of the present invention. [Diagram 3] FIG. 1 is a configuration diagram of a component mounting device and a conveying device to which a component supply device and a storage device are attached according to an embodiment of the present invention; [Figure 4] FIG. 1A is a diagram illustrating the configuration of a tray magazine according to an embodiment of the present invention; [Diagram 5] FIG. 1 is a side view showing the configuration of a component supply device and a storage device according to an embodiment of the present invention; [Figure 6] FIG. 1 is a front view showing a configuration of a storage device according to an embodiment of the present invention; [Figure 7] (a), (b), and (c) are explanatory diagrams of a process for moving a pallet from a second holding unit to a first holding unit in a storage device according to an embodiment of the present invention. [Figure 8] 1A and 1B are explanatory diagrams of a process for replacing a tray magazine of a storage device according to an embodiment of the present invention with a tray magazine transported by a transport device; [Figure 9] FIG. 1 is a block diagram showing a configuration of a management computer provided in a transportation system according to an embodiment of the present invention. [Figure 10] FIG. 1 is a block diagram showing a configuration of a transport device included in a transport system according to an embodiment of the present invention. [Figure 11] FIG. 1 is a diagram showing an example of transported object information used in a transport system according to an embodiment of the present invention; [Figure 12] FIG. 1 is a diagram showing an example of a transport path set on a floor on which a component mounting line according to an embodiment of the present invention is installed. [Figure 13] FIG. 1 is a diagram showing an example of a conveyance route on which a warning point is detected on a floor on which a component mounting line according to an embodiment of the present invention is installed. [Figure 14] 1A and 1B are diagrams showing an example of route information used in a transportation system according to an embodiment of the present invention; [Figure 15] 1 is a flow diagram of a conveying method according to an embodiment of the present invention; [Figure 16] 1 is a flow diagram of a refilling method according to an embodiment of the present invention; [Figure 17] FIG. 1 is a block diagram showing the configuration of a component mounting device to which a component supply device and a storage device are attached according to an embodiment of the present invention. [Figure 18] 1 is a flow diagram of a determination method according to an embodiment of the present invention; [Figure 19] 1A and 1B are explanatory diagrams showing the configuration of another embodiment of a component supply device and a storage device according to an embodiment of the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] An embodiment of the present invention 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, management computer, component mounting line, component mounting device, component supply device, storage device, and transport device. In the following, the same reference numerals are used for corresponding elements in all drawings, and duplicated explanations are omitted. In FIG. 2 and some parts described later, the X-axis (left-right direction in FIG. 1) in the board transport direction and the Y-axis (left-right direction in FIG. 1) 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 and some parts described later, the Z-axis (up-down direction in FIG. 2) is shown as the height direction perpendicular to the horizontal plane.

[0012] 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-L3 installed on floor F are connected by a wired or wireless communication network 2 and managed by a management computer 3. Each component mounting line L1-L3 is configured by connecting a plurality of manufacturing devices including a component mounting device as described below, and has the function of producing mounted boards with components mounted on a board. Note that the number of component mounting lines L1-L3 provided in component mounting system 1 does not need to be three, and may be one, two, or four or more.

[0013] On floor F, storage shelves 4 are installed for storing components to be supplied to the component mounting devices of component mounting lines L1 to L3, and materials such as cream solder to be supplied to the printing devices. The components are stored in a predetermined storage shelf of storage shelves 4 while being placed on a tray or held on a carrier tape and wound and stored on a reel. The positions of the components stored in storage shelves 4 are managed by management computer 3, linked to the name of the stored component, tray number, reel number, etc.

[0014] 1 and 2, a plurality of (eight in this example) imaging devices S1 to S8 are installed on the ceiling Fa of floor F. The imaging devices S1 to S8 are each connected to a management computer 3 via a communication network 2. The imaging devices S1 to S8 each have an imaging unit with a camera, which images a worker W working on floor F and a transport device Q, and transmits the image data to the management computer 3. The number and installation positions of the imaging devices S1 to S8 are set so that any one of the imaging devices S1 to S8 can image the worker W working on floor F and the transport device Q.

[0015] In Fig. 1, a worker W working on floor F carries an information terminal 5. The information terminal 5 is a smartphone, tablet PC, or the like, and is equipped with a terminal-side communication unit 6 that wirelessly communicates with a management-side communication unit 3a provided in the management computer 3 to send and receive information, and a touch panel 7 with display and input functions. The information terminal 5 displays various information received from the management computer 3 and processes it to display it on the touch panel 7. The information terminal 5 also transmits various information input from the touch panel 7 to the management computer 3.

[0016] In Fig. 1, a transport device Q (transport robot) is in operation on floor F, which transports transported objects such as parts (trays, reels) and materials and supplies them to manufacturing equipment. The transport device Q shown in Figs. 1 and 3 is configured with a towed vehicle C that carries the transported objects, and an automatic transport vehicle V that tows the towed vehicle C. Different types of towed vehicles C are prepared according to the transported objects to be transported. The automatic transport vehicle V moves within floor F, towing the towed vehicle C according to information transmitted from a management computer 3.

[0017] The towed vehicle C is equipped with an accelerometer A including an acceleration sensor that measures acceleration in three axial directions (X, Y and Z axes) and a gyro sensor that measures acceleration in six axial directions. The accelerometer A may be installed on the transported object mounted on the towed vehicle C. The measurement results by the accelerometer A are wirelessly transmitted to the management computer 3. Alternatively, the measurement results by the accelerometer A may be temporarily stored in a storage device (logger) provided in the transport device Q in association with the measurement time, and the measurement results may be transferred to the management computer 3 after the measurement.

[0018] 1 and 3 is a trailer type in which an automatic guided vehicle V pulls a towed vehicle C, but the conveying device Q may be a truck type in which the automatic guided vehicle V and the towed vehicle C are integrated. In this manner, an accelerometer A that measures acceleration is installed in the conveying device Q that conveys the conveyed object used on the floor F on which the manufacturing equipment is installed.

[0019] Next, the detailed configuration of the 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 L3 will be described below. Fig. 2 is a schematic diagram of the interior of floor F on which the component mounting line L3 is installed, viewed from the front side (the lower side in Fig. 1). On the component mounting line L3, manufacturing devices such as a board supply device M1, a printing device M2, a printing inspection device M3, component mounting devices M4 and M5, a mounting inspection device M6, a reflow device M7, and a board recovery device M8 are connected in series from upstream (left side of the paper) to downstream (right side of the paper) in the board transport direction (X axis).

[0020] Board supply device M1 supplies multiple boards to be stored in the storage section to downstream devices. Printing device M2 prints solder paste on the boards through a screen mask. Printing inspection device M3 inspects the printing condition of the solder paste printed on the boards. Component mounting devices M4 and M5 mount components on the boards. Mounting inspection device M6 inspects the mounting condition of the components mounted on the boards. Reflow device M7 heats the boards to solder the electrodes of the board to the terminals of the components. Board recovery device M8 recovers the boards after reflow into the storage section. In this way, floor F is equipped with one or more manufacturing devices that perform specified operations on the boards.

[0021] Next, the component mounting device M5 will be described in detail with reference to Fig. 3. Fig. 3 is a schematic diagram of the component mounting device M5 as viewed from the rear side (upper side in Fig. 1). Component supply units 11 are provided on both the front and rear sides (front-rear direction of the Y axis) of the component mounting device M5. A dolly 13 on which a plurality of tape feeders 12 are mounted in parallel along the X axis is attached to the rear side component supply unit 11. The dolly 13 holds a reel 15 that stores a carrier tape 14 containing components in a wound state. The carrier tape 14 is configured such that components are stored in a plurality of pockets formed in a base tape, and the pockets are sealed with a cover tape.

[0022] The carrier tape 14 pulled out from the reel 15 is attached to the tape feeder 12. The tape feeder 12 feeds the attached carrier tape 14 by a pitch inside, peels off the cover tape, and supplies the components stored in the pockets to the component mounting device M5. When replenishing components, a new carrier tape 14 is attached to the tape feeder 12, or a new carrier tape 14 is joined to the rear end of the carrier tape 14 being supplied with components. The carrier tape 14 (carried object) containing the components to be replenished is transported by the transport device Q while being stored on the reel 15. Hereinafter, the components stored on the carrier tape 14 stored on the reel 15 and supplied to the component mounting devices M4 and M5 by the tape feeder 12 will be referred to as "tape components".

[0023] In Fig. 3, a component supply device 21 is attached to the component supply section 11 on the rear side, which supplies components stored in trays 17 held on the upper surface of a pallet 16 to the component mounting device M5. Also, a storage device 22 is attached to the rear side of the component supply device 21, which supplies pallets 16 to the component supply device 21. The storage device 22 stores a plurality of pallets 16 which hold trays 17 storing components to be supplied to the component mounting device M5. The pallets 16 stored in the storage device 22 are supplied to and retrieved from the storage device 22 while being stored (stored) in a tray magazine 20 having a plurality of pallet storage sections 19 (see Fig. 4(a)). A magazine exchange window 23 for exchanging the tray magazine 20 is arranged on the rear side of the storage device 22.

[0024] The tray magazine 20 (hereinafter referred to as the "collection magazine") that houses the pallet 16 holding the tray 17 that has been emptied after supplying components to the component mounting device M5 is removed from the magazine replacement window 23. Then, the tray magazine 20 (hereinafter referred to as the "supply magazine") that houses the pallet 16 holding the tray 17 that contains the components is replenished to the storage device 22 from the magazine replacement window 23. The supply magazine is an object to be transported by the transport device Q. The tray magazine 20 is replaced by an operator W or by the transport device Q equipped with an automatic supply device 38 (see FIG. 8). Hereinafter, the components stored in the tray 17 held by the pallet 16 and supplied to the component mounting devices M4 and M5 by the component supply device 21 will be referred to as "tray components".

[0025] In Fig. 3, a docking unit 24 is disposed on the rear side of the storage device 22. The transport device Q, which has an automatic supply device 38 that automatically supplies the storage device 22 with the pallets 16 that are transported in a supply magazine, retrieves the recovery magazine through the magazine replacement window 23 while coupled to the docking unit 24, and supplies the storage device 22 with the supply magazine. In this manner, the pallets 16 are transported to the storage device 22 by the transport device Q while stored in the tray magazine 20. The storage device 22 stores the tray magazine 20 that stores the pallets 16. The storage device 22 has a pallet storage unit 19 that stores the pallets 16 that hold the trays 17, and supplies the pallets 16 to the component supply device 21.

[0026] In Fig. 4, a plurality of storage sections 18 for storing tray components are formed on the upper surface of the tray 17. A plurality of types of trays 17 are prepared, each with storage sections 18 formed corresponding to the size and shape of the components to be stored. For example, a large and deep storage section 18A is formed in a tray 17A for storing a large component P1 as shown in Fig. 4(b). A small and shallow storage section 18B is formed in a tray 17B for storing a small component P2 as shown in Fig. 4(c).

[0027] Next, the component supply device 21 and the storage device 22 will be described in detail with reference to Figs. 5 and 6. The storage device 22 is composed of a pallet supply section 22A and a pallet stock section 22B. The pallet supply section 22A is disposed on the rear side of the component supply device 21. The pallet stock section 22B is disposed on the rear side of the pallet supply section 22A. The pallet supply section 22A is disposed with a first holding section 25 having a plurality of pallet storage sections 19 at the top and bottom for holding a plurality of pallets 16. The component supply device 21 is disposed with a first pallet moving section 26 which pulls out the pallet 16 from the front side of the pallet storage section 19 of the first holding section 25 and moves it to a component removal position where the components stored in the tray 17 are supplied to the component mounting device M5.

[0028] A second holding section 27 having a plurality of pallet storage sections 19 above and below for holding a plurality of pallets 16 is disposed in the pallet stock section 22B. The portion of the second holding section 27 in which the magazine exchange window 23 is formed serves as a magazine holding section 28 into which the tray magazine 20 can be inserted and removed. A magazine moving section 29 is disposed below the magazine holding section 28, which holds the tray magazine 20 and transfers the tray magazine 20 to and from the coupled transport device Q.

[0029] In the pallet stock section 22B, a second pallet moving section 30 is disposed at a position on the rear side of the first holding section 25 and beside the second holding section 27. The second pallet moving section 30 pulls out the pallet 16 from the pallet storage section 19 of the second holding section 27 and stores it in the pallet storage section 19 of the first holding section 25 from the rear side. Conversely, the second pallet moving section 30 pulls out the pallet 16 from the rear side of the pallet storage section 19 of the first holding section 25 and stores it in the pallet storage section 19 of the second holding section 27.

[0030] Here, referring to FIG. 7, the process in which the second pallet moving section 30 moves the pallet 16 held in the second holding section 27 to the first holding section 25 will be described. In FIG. 7(a), first, the second pallet moving section 30 pulls out the pallet 16 held in the specified pallet storage section 19 of the first holding section 25 (arrow a). In FIG. 5(b), the second pallet moving section 30 then rotates the pulled-out pallet 16 by 90 degrees (arrow b). In FIG. 5(c), the second pallet moving section 30 then moves the pallet 16 to the rear side and moves it to the specified pallet storage section 19 of the first holding section 25 (arrow c). Note that in the process in which the second pallet moving section 30 moves the pallet 16 held in the first holding section 25 to the second holding section 27, control is performed inversely to the above-mentioned process.

[0031] In Fig. 5, a first camera 31 is disposed above the pallet supply unit 22A for capturing an image of the state of parts stored in the tray 17 held by the pallet 16 moved to the part removal position by the first pallet mover 26. In Fig. 6, a second camera 32 is disposed above the second pallet mover 30 of the pallet stock unit 22B for capturing an image of the state of parts stored in the tray 17 held by the pallet 16 pulled out from the second holder 27 by the second pallet mover 30.

[0032] A touch panel 33 operated by the worker W is provided at the rear side of the pallet supply unit 22A at a position where the worker W works. The touch panel 33 displays various information on its display unit, and the worker W uses operation buttons and the like displayed on the display unit to input data and operate the component supply device 21 and the storage device 22. When the worker W works to replace the tray magazine 20 held in the magazine holding unit 28 with a replenishment tray magazine 20, the worker W works while operating the touch panel 33.

[0033] 5, component mounting device M5 is equipped with a mounting head 36 that moves horizontally (X-axis direction, Y-axis direction) by a head moving mechanism 34 (see FIG. 17) to pick up components from tray 17 at the component removal position and mount them on board 35. Component mounting device M5 also includes a head camera 37 that is provided integrally with mounting head 36 and moves horizontally by head moving mechanism 34 to capture images below. Head camera 37 can capture images of the state of the components stored in tray 17 at the component removal position by moving above the component removal position.

[0034] 8, a process will be described in which pallets 16 holding trays 17 housing supply parts transported by transport device Q are replenished to storage device 22, which supplies the pallets to component supply devices 21 mounted on component mounting devices M4, M5. Here, the process will be described in which pallets 16 to be replenished are transported in a state stored in tray magazine 20 (hereinafter referred to as "supply magazine 20A"), and are automatically replenished to storage device 22 by automatic supply device 38 provided in transport device Q.

[0035] 8(a), the magazine holding section 28 of the storage device 22 (pallet supply section 22A) holds a tray magazine 20 (hereinafter referred to as "recovery magazine 20B") that stores a pallet 16 holding an empty tray 17 after components stored therein have been supplied to component mounting devices M4, M5. The automatic resupply device 38 is disposed on a towed vehicle C that is towed by an automatic guided vehicle V. The resupply operation of replacing the resupply magazine 20A with the recovery magazine 20B is performed in a state in which a coupling section 39 disposed on the towed vehicle C is coupled to a docking section 24 provided on the storage device 22.

[0036] The automatic resupply device 38 is configured to include an upper magazine holding shelf 40, a lower magazine holding shelf 41, and a holding shelf lifting mechanism 42. The upper magazine holding shelf 40 holds the tray magazine 20 on its upper surface. The lower magazine holding shelf 41 is disposed below the upper magazine holding shelf 40 and holds the tray magazine 20 on its upper surface. The holding shelf lifting mechanism 42 lifts and lowers the upper magazine holding shelf 40 and the lower magazine holding shelf 41 together. The holding shelf lifting mechanism 42 is controlled by a resupply processing unit 75 (FIG. 10) of a transport control device 70 provided in the transport device Q. When automatically resupplying the resupply magazine 20A to the storage device 22, the resupply processing unit 75 and a magazine movement processing unit 114 (FIG. 17) of a storage control device 112 provided in the storage device 22 work together to execute the resupply.

[0037] 8(a), first, the resupply processing unit 75 controls the holding shelf lifting mechanism 42 to move the height position of the upper magazine holding shelf 40 to the position of the magazine holding unit 28 holding the recovered magazine 20B. Next, the magazine movement processing unit 114 controls the magazine movement unit 29 to hold the recovered magazine 20B on the upper magazine holding shelf 40 (arrow d).

[0038] 8(b), the resupply processing unit 75 then controls the holding shelf lifting mechanism 42 to move the height position of the lower magazine holding shelf 41, which holds the resupply magazine 20A, to the position of the emptied magazine holding unit 28 (arrow e). Next, the magazine movement processing unit 114 controls the magazine movement unit 29 to pull out the resupply magazine 20A from the lower magazine holding shelf 41 and have it held by the magazine holding unit 28 (arrow f). In this way, the resupply work of recovering the retrieved magazine 20B to the automatic resupply device 38 and resupplying the resupply magazine 20A to the storage device 22 is automatically performed by the automatic resupply device 38 and the storage device 22.

[0039] Next, referring to Fig. 9 and Fig. 10, the configuration of the control system of the management computer 3 (control system) and the conveying device Q provided in the component mounting system 1 (conveying system) will be described with respect to a function of conveying the conveyed object to a destination such as a manufacturing device on the floor F. In Fig. 9, the management computer 3 includes a management processing unit 50, a management storage unit 56, an input unit 62, a display unit 63, a communication unit 64, and a management side communication unit 3a. The management processing unit 50 is a data processing device such as a CPU, and includes a management information acquisition unit 51, a warning determination unit 52, a management output unit 53, a conveying control unit 54, and an image analysis unit 55. The management storage unit 56 is a storage device, and stores floor information 57, conveyed object information 58, acceleration information 59, warning information 60, route information 61, and the like.

[0040] The input unit 62 is an input device such as a keyboard, a touch panel, or a mouse, and is used for inputting operation commands and data. The display unit 63 is a display device such as a liquid crystal panel, and displays various data stored in the management storage unit 56, as well as various information such as an operation screen and an input screen for operation by the input unit 62. The communication unit 64 is a communication interface, and transmits and receives data to and from the manufacturing devices constituting the component mounting lines L1 to L3 via the communication network 2. The management side communication unit 3a transmits and receives various information wirelessly to and from the terminal side communication unit 6 of the information terminal 5 and the transport side communication unit 80 of the transport device Q (see FIG. 10). 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, all or part of the storage unit and the processing unit may be provided in a cloud via a server.

[0041] In FIG. 10, the transport device Q includes a transport control device 70, a holding shelf lifting mechanism 42, a traveling device 79, a transport side communication unit 80, and an accelerometer A. The transport control device 70 includes a travel processing unit 71, a position information acquisition unit 72, a transport determination unit 73, a transport output unit 74, a supply processing unit 75, and a transport memory unit 76. The transport memory unit 76 is a storage device, and stores transport route information 77, supply hold information 78, and the like. The transport side communication unit 80 wirelessly transmits and receives various information to and from the management side communication unit 3a of the management computer 3. The transport side communication unit 80 receives route information 61, which will be described later, from the management computer 3, and stores it in the transport memory unit 76 as transport route information 77. The transport side communication unit 80 also transmits measurement data of the accelerometer A to the management computer 3.

[0042] The traveling device 79 includes a motor for driving the wheels of the automated guided vehicle V, a mechanism for changing the direction of the wheels, and the like. The traveling processing unit 71 controls the traveling device 79 in accordance with the transport route information 77 stored in the transport storage unit 76 or instructions from the management computer 3 to make the transport device Q travel at a specified speed (maximum speed) along a specified transport route within the floor F. The supply processing unit 75 controls the holding shelf lifting mechanism 42 in accordance with the supply reservation information 78 stored in the transport storage unit 76 or instructions from the management computer 3 to make the transported tray magazine 20 (supply magazine 20A) replenish the storage device 22 (see FIG. 8). At that time, if the supply reservation information 78 stores information to the effect that supply is to be reserved, the supply processing unit 75 reserves the supply of the supply magazine 20A.

[0043] 10, an accelerometer A measures the acceleration of the transport device Q transporting the transported object while it is traveling. A position information acquisition unit 72 acquires position information of the transport device Q on the floor F from a sensor provided on the traveling device 79 or the like. A transport side communication unit 80 associates the acceleration measured by the accelerometer A with the position information of the transport device Q acquired by the position information acquisition unit 72, and transmits them to the management computer 3.

[0044] In FIG. 9, the management information acquisition unit 51 stores the acceleration and position information transmitted from the transport device Q as acceleration information 59 in the management storage unit 56. In this way, the management information acquisition unit 51 (information acquisition unit, second information acquisition unit) acquires position information on the floor F when the transport device Q is traveling and acceleration that may have been applied to the transported object transported by the transport device Q. The floor information 57 includes information such as the positions (coordinates) of the manufacturing devices of the component mounting lines L1 to L3 arranged on the floor F, information (coordinates) of the transport route set on the floor F, and the maximum speed of the section provided on the transport route (see FIG. 12). The transported object information 58 includes information for the transport device Q to transport the transported object such as parts and cream solder used in the manufacturing devices installed on the floor F.

[0045] 11, an example of transported object information 58 in which a part is the transported object will be described. The transported object information 58 includes, for each part name 90, a container 91, a class 92, a maximum speed 93, and the like. The container 91 indicates the holding form of the part when it is loaded onto the transport device Q, and "tray" indicates that it is a tray part housed in the tray 17, and "tape" indicates that it is a tape part stored in the carrier tape 14 and housed in a reel.

[0046] Class 92 is a classification of the sensitivity (resistance) of the transported object to abnormalities caused by vibrations received during transport by transport device Q. In this example, class 92 is classified into four categories, from "0" to "3," with smaller numbers indicating greater resistance to vibration and larger numbers indicating less resistance to vibration. For example, tape parts 90 with part names "D006" and "D007" are classified into class 92 as "0," because no part misalignment due to vibration occurs.

[0047] Also, even for tray parts, for example, part P1, which is large and highly resistant to vibration as shown in Fig. 4(b), is classified as "1" in class 92. Also, part P2, which is small and less resistant to vibration as shown in Fig. 4(c), may fly out of tray 17B due to the large vibrations it receives during transport, and is classified as "2" or "3" in class 92. Hereinafter, parts with class 92 "1" will be referred to as "class 1 parts" etc.

[0048] In Fig. 11, maximum speed 93 indicates the maximum speed allowed while the part is being transported. Maximum speed 93 is divided into multiple categories according to the magnitude of acceleration that the part may be subjected to while being transported. In this example, it is divided into three categories: a first speed 93a with an acceleration in the Z-axis direction of "-0.8G or more," a second speed 93b with an acceleration in the Z-axis direction of "-0.8G to -1.2G," and a third speed 93c with an acceleration in the Z-axis direction of "-1.2G or less."

[0049] G is the gravitational acceleration, and -1.0G indicates that an acceleration in the Z-axis direction that is balanced with the Earth's gravity is being applied to the parts. When a negative acceleration is applied in the Z-axis direction, the state of the parts in the storage section 18 of the tray 17 becomes unstable. If the tray 17 moves horizontally at high speed during this time, abnormalities in the storage state of the parts may occur, such as parts jumping out of the storage section 18 or parts being turned upside down inside the storage section 18.

[0050] In the example of FIG. 11, two thresholds are set for the acceleration in the Z-axis direction: "-0.8G" and "-1.2G". Hereinafter, the acceleration in the Z-axis direction of "-0.8G" will be referred to as the "first threshold" and "-1.2G" as the "second threshold". The first speed 93a is set to "1.0m / s" for all parts. For class 0 parts, the second speed 93b and the third speed 93c are set to "1.0m / s", the same as the first speed 93a.

[0051] On the other hand, for class 1 parts, the second speed 93b is set to "1.0 m / s" which is the same as the first speed 63a, but the third speed 93c is set to "0.8 m / s". For class 2 parts, the second speed 93b is set to "0.8 m / s" and the third speed 93c is set to "0.5 m / s". For class 3 parts, the second speed 93b is set to "0.5 m / s" and the third speed 93c is set to "0.3 m / s". In other words, when there is a possibility that negative acceleration will be applied when transporting parts with low resistance to vibration, the maximum speed 93 is set to be lower (slower).

[0052] The number of divisions of the class 92, the number of divisions of the maximum speed 93, and the value of the threshold set in the transported object information 58 shown in FIG. 11 are merely examples, and the number of divisions may be three or five or more. The threshold of the acceleration in the Z-axis direction is also freely set based on experimental results according to the size and weight of the parts and the shape of the storage section 18 of the tray 17. For example, the predetermined threshold may be set corresponding to the transported object. The acceleration as the threshold may be determined by considering not only the component in the Z-axis direction but also the components in the horizontal direction (X-axis direction, Y-axis direction). In this way, the first threshold and the second threshold (predetermined threshold) are set based on the acceleration at which an abnormality occurs in the storage state of the parts in the tray 17 (the state of the transported object) when the transport device Q transports the tray magazine 20 or the pallet 16 (the transported object).

[0053] In FIG. 9, the warning determination unit 52 (determination unit) determines whether the acceleration during travel of the transport device Q exceeds a predetermined threshold (first threshold, second threshold) based on the acquired acceleration information 59. Then, if there is a point (hereinafter referred to as "warning point H") where the acceleration exceeds the predetermined threshold (see FIG. 13), the warning determination unit 52 associates the position information (coordinates) of the warning point H with the measured acceleration value and stores it as warning information 60 in the management storage unit 56. That is, the warning information 60 includes information on the point (warning point H) where the acceleration exceeds the predetermined threshold. The management output unit 53 (output unit, third output unit) outputs the warning information 60 to a predetermined output destination (display unit 63, transport device Q, information terminal 5, component mounting devices M4 and M5, component supply device 21, storage device 22) when the acceleration exceeds the predetermined threshold.

[0054] For example, the management output unit 53 causes a display unit 63 included in the management computer 3 to display warning information 60. That is, the display unit 63 is a notification unit that notifies a warning based on the warning information 60. The management output unit 53 also outputs the warning information 60 to a terminal (information terminal 5) used by a worker W. This allows the worker W to know that there is a possibility that an obstacle such as a joint, a wavy floor, or a fallen object has occurred at a warning point H on the transport route on the floor F.

[0055] Furthermore, if the measured acceleration exceeds a predetermined threshold (first threshold, second threshold), there is a possibility that an abnormality has occurred in the state of the transported object being transported by the transport device Q (the storage state of the parts stored in the tray 17). Therefore, the management output unit 53 outputs supply suspension information 78 to the transport device Q to suspend the supply of the transported object to the destination (manufacturing device). As a result, if the acceleration exceeds a predetermined threshold, the automatic supply device 38 provided in the transport device Q suspends the supply of the transported object to the manufacturing device when warning information 60 is output.

[0056] In addition, the management output unit 53 outputs warning information 60 to the component mounting devices M4, M5 (manufacturing devices) to which the pallets 16 (transported objects) are supplied. This allows the component mounting devices M4, M5 to which the pallets 16 are supplied to check (take an image of) the state of the components contained in the tray 17, the acceleration of which has exceeded a predetermined threshold, before the component mounting operation of mounting the components on the tray 17 onto the board 35.

[0057] The management output unit 53 (imaging determination unit) may determine whether or not to check the state of the parts in the tray 17 (to image the parts) based on the relationship between the acceleration received by the tray 17 and the parts stored in the tray 17 (transported object information 58) contained in the warning information 60, and output the warning information 60 only when it is determined that the state should be checked. For example, when the first threshold value specified for a tray part stored in the supply magazine 20A and transported is exceeded, the imaging determination unit determines that the part should be imaged.

[0058] Furthermore, the management output unit 53 outputs information on the destination of the transported object being transported by the transport device Q to a terminal (information terminal 5) used by the worker W. When the transported object is a supply magazine 20A, if the management output unit 53 determines based on the transported object information 58 that there is a possibility that the storage state of the parts stored in the tray 17 held by any of the pallets 16 stored in the supply magazine 20A is abnormal, it outputs supply hold information 78 to that transport device Q. Furthermore, the management output unit 53 outputs to the information terminal 5 used by the worker W, including information identifying the pallet 16 that may be abnormal.

[0059] The worker W, whose information terminal 5 displays the destination of the transported object, follows the displayed information and moves to the transport device Q that is stopped in front of the destination manufacturing equipment. The worker W then removes the transported object, such as the pallet 16 that may be abnormal, from the transport device Q, checks the state of the transported object (the storage state of the parts stored in the tray 17), corrects the storage state of the parts, and then supplies the transported object to the destination manufacturing equipment. This makes it possible to prevent the transported object from being supplied in an abnormal state.

[0060] 9, the transport control unit 54 controls the transport operation by the transport device Q based on information on the transport route set for the floor F included in the floor information 57, transported object information 58, and warning information 60. Specifically, the transport control unit 54 creates route information 61 on the transport route to be referred to when the transport device Q transports the object to the destination, and stores the route information in the management memory unit 56.

[0061] Furthermore, the transport control unit 54 transmits the route information 61 to the transport device Q that transports the transported object. The transport device Q that receives the route information 61 stores the received route information 61 as transport route information 77 in the transport storage unit 76, and transports the transported object to the destination according to the transport route information 77. Alternatively, the transport control unit 54 transmits sequential instructions to the transport device Q based on the created route information 61.

[0062] Furthermore, the transport control unit 54 sets a deceleration section in a section including the warning point H of the transport route, where the travel speed (maximum speed) of the transport device Q is slower than the normal travel speed (first speed 93a), based on the warning information 60. Then, for the transport device Q that passes through the warning point H on the way to transporting the transported object to the destination, the transport control unit 54 controls the transport operation based on the route information 61 including the information on the deceleration section. That is, the transport control unit 54 controls the transport operation so that the travel speed of the transport device Q that passes through the warning point H is slowed down.

[0063] 9, a worker W who sees warning information 60 including warning point H displayed on the information terminal 5 moves to the warning point H and removes the cause of the abnormality. After that, when the worker W inputs a repair report to the information terminal 5, the management information acquisition unit 51 of the management computer 3 acquires the repair report from the information terminal 5. When the repair report is acquired, the warning determination unit 52 deletes the information of the repaired warning point H from the warning information 60 stored in the management storage unit 56. In addition, the transport control unit 54 updates the route information 61 by canceling the deceleration section corresponding to the deleted warning information 60.

[0064] That is, the management information acquisition unit 51 (information acquisition unit) acquires a repair report to the effect that the cause of the acceleration exceeding a predetermined threshold at the warning point H has been removed. Then, upon acquiring the repair report, the transport control unit 54 controls the transport operation so that the travel speed of the transport device Q passing through the warning point H is restored to its original speed. In this manner, the management computer 3 equipped with the transport control unit 54 constitutes a control system that controls the transport operation by the transport device Q based on the route information 61 relating to the transport route.

[0065] Next, an example of creating the route information 61 by the transport control unit 54 will be described with reference to Figs. 12 to 14. Figs. 12 and 13 show an example of a transport route set on a floor F on which component mounting lines L1 to L3 and a storage shelf 4 are arranged. In Fig. 12, the transport route on the floor F is divided into a plurality of sections E21 to E34 between branching and cornering points B11 to B20, and point B10 where a transport device Q on which a transported object stored in the storage shelf 4 is placed starts toward a manufacturing device. Fig. 12 shows a floor F on which there is no warning point H on the transport route and no deceleration section is set.

[0066] Fig. 14(a) shows route information 61 for transporting tray components of class 2 from start point T0 in front of storage shelf 4 shown in Fig. 12 to destination T1 on the rear side of component mounting device M5 of component mounting line L1. In this case, transport control unit 54 creates route information 61 for traveling from start point T0 through sections E21-E26 at a maximum speed of 1.0 m / s (first speed 93a) to destination T1. In addition, transport control unit 54 creates route information 61 for traveling from destination T1 through sections E26-E31 at a maximum speed of 1.0 m / s (first speed 93a) to return to start point T0 as the return route after unloading the transported object.

[0067] FIG. 13 shows a floor F where a warning point H where the acceleration of the conveying device Q during travel in the section E24 exceeds the first threshold value is detected. In this example, the conveying control unit 54 extends the warning point H forward and backward to set a deceleration section EY1 whose maximum speed is the second speed 93b. The conveying control unit 54 also sets the sections other than the deceleration section EY1 in the section E24 to sections E24a and E24b. Note that, when the acceleration at the warning point H exceeds the second threshold value, the conveying control unit 54 sets the maximum speed in the deceleration section EY1 to the third speed 93c. The conveying control unit 54 may also set the entire section E24 including the warning point H as a deceleration section whose maximum speed is the second speed 93b.

[0068] Fig. 14(b) shows route information 61 for transporting tray components of class 2 from a start point T0 to a destination T1 on a transport route on floor F where the deceleration section EY1 shown in Fig. 13 is set. In Fig. 13, a deceleration section EY1 with a maximum speed of a second speed 93b is set between the start point T0 and the destination T1. Therefore, the transport control unit 54 creates route information 61 in which the maximum speed of the deceleration section EY1 set between the start point T0 and the destination T1 is 0.8 m / s (second speed 93b).

[0069] The transport device Q, whose transport operation is controlled based on the route information 61 in which the deceleration section EY1 is set, slows down the maximum speed passing through the deceleration section EY1 to a second speed 93b. For example, the transport device Q includes a position information acquisition unit 72 (information acquisition unit) that acquires position information on the floor F, and slows down the travel speed (maximum speed) when passing through the deceleration section EY1 including the warning point H where the acceleration exceeds a predetermined threshold. This makes it possible to make the acceleration received by the transported object when passing through the warning point H equal to or less than the first threshold, and allows the transported object to pass through the warning point H while maintaining the object in a normal state.

[0070] 9, the image analysis unit 55 analyzes the video of the transport device Q traveling within the floor F captured by the imaging devices S1 to S8, and detects the state of the transport device Q while traveling. For example, when the image analysis unit 55 extracts the warning point H instead of the warning determination unit 52 extracting the warning point H based on the acceleration information 59 measured by the accelerometer A installed on the transport device Q, the image analysis unit 55 detects the amount of change in the Z-axis direction of the transport device Q while traveling.

[0071] Then, the image analysis unit 55 stores the point where the detected change amount in the Z-axis direction exceeds a predetermined threshold in the warning information 60 as a warning point H. Then, the transport control unit 54 creates route information 61 based on the warning point H extracted by the image analysis unit 55. This allows the transported object to be transported normally on the floor F on which the manufacturing equipment is installed, even if the transport device Q does not have an accelerometer A.

[0072] As described above, the management computer 3 (control system) includes the transport device Q that transports the transported object used on the floor F, the transport control unit 54 that controls the transport operation by the transport device Q based on route information 61 related to the transport route, the management information acquisition unit 51 (information acquisition unit) that acquires acceleration information 59 related to the measured acceleration, the warning determination unit 52 (determination unit) that determines whether the acceleration exceeds a predetermined threshold value (first threshold value, second threshold value) based on the acquired acceleration information 59, and the management output unit 53 (output unit) that outputs warning information 60 when the acceleration exceeds the predetermined threshold value, and constitutes a transport system that transports the transported object on the floor F. This allows the transported object to be transported in a normal state on the floor F where the manufacturing equipment is installed.

[0073] In addition, the transport system may be configured such that the transport device Q has the same functions as the information acquisition unit, judgment unit, and output unit that the management computer 3 has. That is, in Fig. 10, the position information acquisition unit 72 (information acquisition unit) of the transport control device 70 acquires acceleration information related to the acceleration measured by the accelerometer A in addition to the position information of the transport device Q. In addition, the transport judgment unit 73 (judgment unit) of the transport control device 70 judges whether the acceleration exceeds a predetermined threshold value (first threshold value, second threshold value). In addition, the transport output unit 74 (output unit, second output unit) of the transport control device 70 transmits (outputs) warning information to the management computer 3, the information terminal 5, the component mounting devices M4 and M5, the component supply device 21, and the storage device 22 when the acceleration exceeds the predetermined threshold value.

[0074] In this way, the transported object or transport device Q is provided with an accelerometer A for measuring acceleration during travel, and the transport device Q has a position information acquisition unit 72 (information acquisition unit), a transport determination unit 73 (determination unit), and a transport output unit 74 (output unit, second output unit), and the management computer 3 (control system) having the transport device Q that transports the transported object used on floor F, and the transport control unit 54 that controls the transport work by the transport device Q constitutes a transport system that transports the transported object on floor F. This allows the transported object to be transported in a normal state on floor F where manufacturing equipment is installed.

[0075] Next, a method of transporting an object to be transported on a floor F by a transport device Q will be described with reference to the flow of FIG. 15. First, the management information acquisition unit 51 of the management computer 3 acquires acceleration information 59 related to the acceleration of the transport device Q during travel, measured by an accelerometer A provided on the object to be transported or the transport device Q (ST1: acceleration information acquisition step). The acceleration information 59 includes position information on the floor F during travel of the transport device Q. Next, the warning determination unit 52 determines whether the acceleration exceeds a predetermined threshold value (first threshold value, second threshold value) based on the acquired acceleration information 59 (ST2: determination step). If the acceleration does not exceed the threshold value (No in ST2), the acceleration information acquisition step (ST1) is executed.

[0076] If the acceleration exceeds the predetermined threshold (Yes in ST2), the management output unit 53 outputs warning information 60 to the transport device Q and the information terminal 5 (ST3: warning information output step). Next, the transport control unit 54 sets a deceleration section EY1 in a section including the warning point H of the transport route on the floor F based on the warning information 60 (ST4: deceleration section setting step) (see FIG. 13). Furthermore, the transport control unit 54 creates route information 61 including the deceleration section EY1 and transmits it to the transport device Q that passes through the warning point H. As a result, the transport device Q is controlled so that the travel speed (maximum speed) of the transport device Q that subsequently passes through the warning point H where the acceleration has exceeded the predetermined threshold is slowed down.

[0077] 15, when a worker W, looking at warning information 60 including warning point H displayed on information terminal 5, removes the cause of the acceleration exceeding the threshold from warning point H and inputs a repair report into information terminal 5, the repair report is transmitted to management computer 3. When management information acquisition unit 51 of management computer 3 receives the repair report (Yes in ST5), warning determination unit 52 deletes warning information 60 including the repaired warning point H, and transport control unit 54 cancels deceleration section EY1 (ST6: deceleration section cancellation step) (see FIG. 12).

[0078] In this way, after the travel speed of the conveying device Q passing through the warning point H is slowed down (ST4), when a repair report is obtained indicating that the cause of the acceleration exceeding the predetermined threshold at the warning point H has been removed (Yes in ST5), the conveying device Q is controlled to return its travel speed passing through the warning point H to its original speed (ST6). This allows the conveyed object to be conveyed normally on the floor F where the manufacturing equipment is installed.

[0079] Next, a replenishment method for replenishing the replenishment magazine 20A from the transport device Q that has transported the replenishment magazine 20A (transported object) to the component mounting device M4, M5 (manufacturing device) at the destination will be described with reference to the flow chart in Fig. 16. First, the replenishment processing unit 75 of the transport device Q that has arrived at the destination judges whether or not it has acquired warning information or replenishment hold information 78 from the management computer 3 or another transport device Q (ST11: information acquisition judgment step). That is, in the warning information output step (ST3) described in the transport method, it is judged whether or not it has acquired warning information 60 or replenishment hold information 78 from the management computer 3, and whether or not it has acquired warning information from the transport device Q including itself that has detected the warning point H.

[0080] In the information acquisition judgment step (ST11), when it is judged that warning information or supply suspension information 78 has been acquired (Yes in ST11), the supply processing unit 75 suspends the supply of the supply magazine 20A by the automatic supply device 38 (ST12). Next, upon seeing the warning information 60 output to the information terminal 5 in the warning information output step (ST3), the worker W moves to the transport device Q stopped at the transport destination, visually checks the tray 17 from which a component may have popped out, and corrects any abnormality if any (ST13). Thereafter, the supply magazine 20A is automatically or manually replenished to the component mounting devices M4 and M5 (ST14: supply step).

[0081] In the information acquisition determination step (ST11), if it is determined that warning information or supply pending information 78 has not been acquired (No in ST11), the supply processing unit 75 controls the automatic supply device 38 to supply the supply magazine 20A to the component mounting devices M4 and M5 (ST14) (see FIG. 8). In this way, if there is a possibility that an abnormality has occurred in the storage state of the tray components during transport (Yes in ST11), the operator W checks and corrects it (ST13), and if there is no possibility that an abnormality has occurred during transport (No in ST11), the supply magazine 20A is automatically replenished.

[0082] 17, the component mounting devices M4, M5, the component supply device 21 attached to the component mounting devices M4, M5, and the storage device 22 that supplies the pallets 16 to the component supply device 21 will be described with reference to the function of checking the storage state of the components stored in the tray 17 held by the pallet 16 transported by the transport device Q. The component mounting devices M4, M5 each include a mounting control device 100, a head moving mechanism 34, a mounting head 36, and a head camera 37. The mounting control device 100 includes a mounting operation processing unit 101, a mounting information acquisition unit 102, a mounting determination unit 103, a mounting output unit 104, and a mounting storage unit 105. The mounting storage unit 105 is a storage device in which mounting data 106 and the like are stored.

[0083] The placement data 106 includes, for each type of mounting board to be produced, the size of the board 35, the types of components to be mounted and their placement positions (XY coordinates), component supply information, and other information necessary for the component placement work. Based on the placement data 106, the placement operation processing unit 101 controls the head moving mechanism 34, the placement head 36, the head camera 37, the placed tape feeder 12, and the component supply device 21 to control the component placement work in which the components supplied by the component supply device 21 or the tape feeder 12 are held by the placement head 36 and placed on the board 35.

[0084] 17, the mounting information acquisition unit 102 (first information acquisition unit) acquires, via the communication network 2, warning information 60 output from the management computer 3, indicating that an abnormality may have occurred in the storage state of the parts in the tray 17 when the transport device Q transports the pallet 16. Based on the warning information 60, the mounting determination unit 103 controls the head moving mechanism 34 and the head camera 37 to capture an image of the state of the tray 17 (hereinafter referred to as the "suspect tray") in which an abnormality may have occurred in the storage state of the parts stored therein during transport.

[0085] Specifically, when the suspect tray is moved to the component removal position by the component supply device 21, the mounting determination unit 103 images the inside of the suspect tray while moving the head camera 37 by the head moving mechanism 34 (see FIG. 5). That is, the head camera 37 is an imaging unit that is provided integrally with the mounting head 36 that mounts the components on the board 35 and images the components in the suspect tray.

[0086] Furthermore, the mounting determination unit 103 recognizes and processes the image capturing results of the suspect tray and determines whether or not an abnormality has occurred, such as a component protruding from or tilting out of the suspect tray's storage unit 18. In other words, the mounting determination unit 103 is an abnormality determination unit that, when warning information 60 is acquired, determines whether or not there is an abnormality in the storage state based on the image capturing results of the components in the suspect tray captured by the imaging unit (head camera 37).

[0087] 17, when the mounting determination unit 103 determines that there is an abnormality in the storage state of the suspected tray, the mounting output unit 104 outputs an instruction to replace the pallet 16 holding the abnormal tray 17 to the information terminal 5 carried by the worker W. Alternatively, the mounting output unit 104 outputs an instruction to the component supply device 21 and the storage device 22 to collect the pallet 16 holding the abnormal tray 17 into the collection magazine 20B of the magazine holding unit 28, and to move a tray 17 that stores the same parts as the abnormal tray 17 to the component removal position. In this way, the mounting output unit 104 is a first output unit that outputs an indication of an abnormality when it is determined that there is an abnormality in the storage state of the parts of the suspected tray.

[0088] Note that the notification of an abnormality may be sent from the management computer 3, rather than from the mounting output unit 104 of the component mounting devices M4, M5 to the information terminal 5, or to the component supply device 21 and the storage device 22. That is, the mounting output unit 104 (first output unit) may output a notification of an abnormality to the management computer 3 (control system), and the management computer 3 may have a second output unit that outputs an instruction to replace the pallet 16 holding the tray 17 determined to have an abnormality, when the notification of an abnormality is obtained.

[0089] 17, the component supply device 21 includes a supply control device 110 and a first pallet moving unit 26. The supply control device 110 includes a supply operation processing unit 111. The supply operation processing unit 111 controls the first pallet moving unit 26 in accordance with a command from the mounting operation processing unit 101 of the mounting control device 100 to move the pallet 16 between the first holding unit 25 of the storage device 22 and the component removal position.

[0090] The storage device 22 comprises a storage control device 112, a second pallet movement unit 30, a magazine movement unit 29, a first camera 31, a second camera 32, and a touch panel 33. The storage control device 112 comprises a pallet movement processing unit 113, a magazine movement processing unit 114, a storage information acquisition unit 115, a storage determination unit 116, a storage output unit 117, and a storage memory unit 118. The storage memory unit 118 is a storage device, and stores information such as the positions of the pallets 16 stored in the first holding unit 25 and the second holding unit 27, and the types of parts accommodated in the trays 17.

[0091] 17, a pallet movement processing unit 113 controls a second pallet movement unit 30 to move a pallet 16 between the second holding unit 27 and the first holding unit 25. A magazine movement processing unit 114 controls a magazine movement unit 29 to move the tray magazines 20 (supply magazine 20A, recovery magazine 20B) in and out of the magazine holding unit 28. A storage information acquisition unit 115 (first information acquisition unit) acquires warning information 60 output from the management computer 3 via the communications network 2, component mounting devices M4 and M5, and component supply device 21.

[0092] The storage determination unit 116 controls the first camera 31 (imaging unit) to capture an image of the state of the suspect tray based on the warning information 60. Specifically, when the suspect tray is moved to the component removal position by the component supply device 21, the storage determination unit 116 causes the first camera 31 to capture an image of the inside of the suspect tray (see FIG. 5).

[0093] Alternatively, based on the warning information 60, the storage determination unit 116 controls the second pallet mover 30 and the second camera 32 (imaging unit) to capture an image of the state of the suspect tray. Specifically, the storage determination unit 116 pulls out the pallet 16 holding the suspect tray from the second holding unit 27, and causes the second camera 32 to capture an image of the inside of the suspect tray (see FIG. 6). When capturing an image, the second holding unit 27 moves the pallet 16 to a height position where the second camera 32 is in focus. In this way, the second camera 32 is an imaging unit provided at a position where it can capture an image of the second pallet mover 30 (drawer unit).

[0094] 17, the storage determination unit 116 recognizes and processes the image capturing results of the inside of the suspect tray captured by the first camera 31 or the second camera 32 to determine whether or not there is an abnormality in the storage state of the parts. When the storage determination unit 116 determines that there is an abnormality in the storage state of the suspect tray, the storage output unit 117 outputs a message to the information terminal 5 or the management computer 3 to that effect. In this way, the storage determination unit 116 is an abnormality determination unit that determines whether or not there is an abnormality in the storage state based on the image capturing results of the parts in the suspect tray captured by the imaging unit (first camera 31, second camera 32) when warning information 60 is acquired. Moreover, the storage output unit 117 is a first output unit that outputs a message to the effect that there is an abnormality when it is determined that there is an abnormality in the storage state of the parts in the suspect tray.

[0095] The first camera 31 may be provided in the component supply device 21. In this case, the supply control device 110 has a first information acquisition unit that acquires the warning information 60, and an abnormality determination unit that controls the first pallet moving unit 26 and the first camera 31. The abnormality determination unit controls the first pallet moving unit 26 to move the pallet 16 holding the suspected tray from the first holding unit 25 to the component removal position, and causes the first camera 31 to capture an image of the inside of the suspected tray.

[0096] As described above, the component mounting devices M4 and M5 that mount the components stored in the tray 17 supplied from the component supply device 21 onto the board 35 include a first information acquisition unit (mounting information acquisition unit 102) that acquires warning information 60 indicating that an abnormality may have occurred in the storage state of the components in the tray 17 when the transport device Q transports the pallet 16 that holds the tray 17 to the storage device 22, an imaging unit (head camera 37) that images the components in the tray 17, and an abnormality determination unit (mounting determination unit 103) that determines whether there is an abnormality in the storage state of the components in the tray 17 based on the imaging result of the components in the tray 17 by the imaging unit when the warning information 60 is acquired. This allows the storage state of the components stored in the transported tray 17 to be appropriately determined.

[0097] The component mounting system 1 that mounts components on the board 35 includes component mounting devices M4 and M5 that mount components on the board 35, a component supply device 21 that supplies components accommodated in a tray 17 to the component mounting devices M4 and M5, a storage device 22 that supplies a pallet 16 to the component supply device 21, and a transport device Q that transports the pallet 16 to the storage device 22. The component mounting devices M4 and M5, the component supply device 21, or the storage device 22 each include a first information acquisition unit (mounting information acquisition unit 102, storage information acquisition unit 115), an imaging unit (head camera 37, first camera 31, second camera 32), and an abnormality determination unit (mounting determination unit 103, storage determination unit 116). This allows the storage state of the components accommodated in the transported tray 17 to be appropriately determined.

[0098] In addition, if the conveying device Q is equipped with an imaging unit that captures an image of the tray 17 held by the pallet 16 of the supply magazine 20A being conveyed, the imaging unit of the conveying device Q that has acquired the warning information 60 may capture an image of the inside of the conveyed tray 17 to determine the storage status of the parts.

[0099] 18, a method for determining whether there is an abnormality in the storage state of parts stored in trays 17 held by pallets 16 transported by transport device Q will be described. Here, a case will be described in which storage device 22 determines the abnormality using second camera 32. First, transport device Q automatically supplies storage device 22 with supply magazine 20A transported by automatic supply device 38 (ST21: automatic supply process).

[0100] Next, when the storage information acquisition unit 115 acquires warning information 60 indicating that an abnormality may have occurred in the storage state of the parts in the tray 17 during transport of the pallet 16 by the transport device Q (Yes in ST22), the storage determination unit 116 causes the second camera 32 to capture an image of the inside of the suspect tray (ST23: tray interior imaging step). Specifically, the storage determination unit 116 controls the second pallet moving unit 30 to pull out the pallet 16 holding the suspect tray from the supply magazine 20A, and causes the second camera 32 (imaging unit) to capture an image of the parts in the suspect tray.

[0101] 18, the storage determination unit 116 then determines whether there is an abnormality in the storage state of the parts in the suspect tray based on the imaging results of the parts in the suspect tray (ST24: abnormality determination step). If there is an abnormality in the storage state (Yes in ST24), the storage output unit 117 outputs to the information terminal 5 or management computer 3 an instruction to replace the pallet holding the suspect tray (ST25: replacement instruction output step). Then, the storage determination unit 116 causes the second pallet movement unit 30 to retrieve the pallet 16 holding the suspected tray with the abnormality back into the original supply magazine 20A (recovery magazine 20B).

[0102] If there is no abnormality in the storage state (No in ST24), the storage determination unit 116 stores the pallet 16 holding the suspected tray that was not abnormal in the second pallet moving unit 30 in a predetermined pallet storage unit 19 of the first holding unit 25 or the second holding unit 27. If an unconfirmed suspected tray remains in the supply magazine 20A (No in ST26), the process returns to the tray interior imaging step (ST23) to confirm the storage state of the next suspected tray (ST24 to ST26). If warning information 60 is not acquired (No in ST22), the determination process ends without performing the tray interior imaging step (ST23). This allows the storage state of the parts stored in the transported tray 17 to be appropriately determined.

[0103] In this way, the tray interior imaging step (ST23) is performed after pallets 16 have been replenished (ST21) to the storage device 22 which supplies pallets 16 to the component supply device 21 which supplies components stored in trays 17 to the component mounting devices M4, M5 which mount the components on the boards 35. The tray interior imaging step (ST23) in the storage device 22 is also performed during spare time when the second pallet mover 30 is not performing any component mounting work. This does not interfere with the component mounting work by the component mounting devices M4, M5.

[0104] Next, referring to FIG. 19, another embodiment of a component supplying device that supplies components accommodated in a tray 17 to component mounting devices M4 and M5 and a storage device that supplies a pallet 16 to the component supplying device will be described. A component supplying device 121 of the other embodiment differs from the component supplying device 21 in that two first pallet moving units 123 are arranged in parallel along the X-axis. A storage device 122 of the other embodiment differs from the storage device 22 in that a tray magazine 20 (supply magazine 20A, recovery magazine 20B) is inserted and removed from a first holding unit 124. That is, the storage device 122 does not include a second holding unit and a second pallet moving unit. The storage device 122 also includes two magazine holding units 125 corresponding to the two first pallet moving units 123.

[0105] Two magazine exchange windows 126 are formed on the rear side of the storage device 122 corresponding to the two magazine holding parts 125. Below the magazine holding parts 125, magazine moving parts 127 that hold the tray magazines 20 and transfer the tray magazines 20 to and from the transport device Q are disposed. Below the magazine exchange windows 126, docking parts 128 are disposed. The transport device Q couples a coupling part 39 to the docking part 128 on the side that replenishes the tray magazines 20, and causes the automatic replenishing device 38 and the magazine holding part 125 to work together to replenish the transported tray magazine 20 (replenishing magazine 20A) to the storage device 122.

[0106] 19, a first pallet moving unit 123 pulls out a pallet 16 from a pallet storage unit 19 of a tray magazine 20 that has been loaded into a corresponding magazine holding unit 125, and moves it to a component removal position where the components stored in the tray 17 are supplied to component mounting devices M4, M5. Two first cameras 129 are disposed above the storage device 122 corresponding to the two first pallet moving units 123, and capture images of the states of the components stored in the tray 17 held by the pallet 16 that has been moved to the component removal position by the first pallet moving unit 123.

[0107] When the first information acquisition unit of the storage device 122 acquires the warning information 60, before a component is supplied from the suspect tray, the first camera 129 captures an image of the components in the suspect tray at the component removal position, and the abnormality determination unit determines whether there is an abnormality in the storage state. If it is determined that there is an abnormality in the storage state, the first output unit of the storage device 122 outputs a notice to that effect to the information terminal 5 or the management computer 3. Then, the first pallet movement unit 123 retrieves the pallet 16 determined to be abnormal into the tray magazine 20.

[0108] In another embodiment of the component supply device 121 and storage device 122, when all the components on the trays 17 stored in the tray magazine 20 of one magazine holding unit 125 have been supplied to the component mounting devices M4, M5 and the tray magazine 20 becomes empty, the empty tray magazine 20 (recovery magazine 20B) of one magazine holding unit 125 is replaced with a supply magazine 20A transported by the transport device Q while components are being supplied from the other component removal position.

[0109] In the above embodiment, the transport system is described by taking as an example the transport device Q that transports transported objects such as the tray magazine 20 on the floor F where the manufacturing devices that perform operations on the substrates are arranged, but the present invention is not limited to this. For example, the manufacturing device may be a manufacturing device that performs production operations on wafers (workpieces) in a semiconductor manufacturing line that manufactures semiconductor products, and the transported objects may be wafer carriers that house the wafers. Also, the manufacturing device may be a manufacturing device that performs production operations in an assembly production line that assembles electrical equipment, or in a food processing line that produces food processed products, and the transported objects may be mounted substrates, housings, food materials, or containers. [Industrial Applicability]

[0110] The conveying system, conveying method, and conveying device of the present invention have the effect of being able to convey objects in a normal state on a floor on which manufacturing equipment is installed, and are useful in the field of mounting components on circuit boards. [Explanation of symbols]

[0111] 3 Management computer (control system) 5. Information terminal 16 Pallet (carried object) 17, 17A, 17B Tray 19 Pallet storage area 20 Tray magazine (carried items) 35 Substrate 38 Automatic replenishment device A Accelerometer F Floor H warning point M1 Substrate supply equipment (manufacturing equipment) M2 Printing equipment (manufacturing equipment) M3 Printing inspection equipment (manufacturing equipment) M4, M5 parts mounting equipment (manufacturing equipment) M6 Mounting inspection device (manufacturing device) M7 Reflow Equipment (Manufacturing Equipment) M8 Substrate recovery device (manufacturing device) P1, P2 parts Q Conveyor device W Worker

Claims

1. a transport device that transports an object to be transported on a floor on which one or more manufacturing devices that perform a predetermined operation on a substrate are installed; a control system that controls a conveying operation by the conveying device based on route information regarding a conveying route; the load or the transport device is provided with an accelerometer for measuring acceleration of the transport device during travel, The conveying device or the control system is an information acquisition unit that acquires acceleration information relating to the measured acceleration; a determination unit that determines whether or not the acceleration exceeds a predetermined threshold based on the acquired acceleration information; an output unit that outputs warning information when the acceleration exceeds the predetermined threshold value, The information acquisition unit acquires position information on the floor when the conveying device is traveling, the warning information includes information regarding a warning point where the acceleration exceeds the predetermined threshold; The control system controls the transportation operation so as to slow down the travel speed of the transportation device passing through the warning point.

2. The transport system according to claim 1 , further comprising an alarm unit that issues an alarm based on the alarm information.

3. The transport system according to claim 1 , wherein the output unit outputs the warning information to a terminal used by an operator.

4. 4. The conveying system according to claim 1, wherein the predetermined threshold value is set based on an acceleration at which an abnormality occurs in a state of the conveyed object when the conveying device conveys the conveyed object.

5. the transported object is a tray magazine having a plurality of pallet storage units for storing pallets holding trays on which parts are stored, The conveying system according to claim 4 , wherein the predetermined threshold value is set based on an acceleration at which an abnormality occurs in the storage state of the parts in the tray when the conveying device conveys the tray magazine.

6. The conveying system according to claim 1 , wherein the predetermined threshold value is set corresponding to the conveyed object.

7. the conveying device includes an automatic supply device that automatically supplies the conveyed object to the manufacturing device; The transport system according to claim 1 , wherein the automatic resupply device suspends resupply of the transported object to the manufacturing device when the warning information is output.

8. the information acquisition unit acquires a repair report indicating that a cause of the acceleration exceeding the predetermined threshold at the warning point has been removed; The transportation system according to claim 1 , wherein the control system controls the transportation operation so that the travel speed of the transportation device passing through the warning point returns to normal when the repair report is obtained.

9. A transport method for transporting an object to be transported by a transport device on a floor on which one or more manufacturing devices that perform a predetermined operation on a substrate are installed, comprising the steps of: Acquire acceleration information regarding the acceleration of the transport device during travel, the acceleration information being measured by an accelerometer provided on the transported object or the transport device; determining whether the acceleration exceeds a predetermined threshold based on the acquired acceleration information; outputting warning information when the acceleration exceeds the predetermined threshold value; Acquire position information on the floor when the transport device is traveling; A conveying method, comprising: when the acceleration exceeds the predetermined threshold, controlling the conveying device so that the travel speed of the conveying device that subsequently passes through a warning point where the acceleration has exceeded the predetermined threshold is slowed down.

10. The conveying method according to claim 9 , wherein the predetermined threshold value is set based on an acceleration at which an abnormality occurs in the state of the conveyed object when the conveying device conveys the conveyed object.

11. The conveying method according to claim 9 or 10, wherein the predetermined threshold value is changed in accordance with the conveyed object.

12. the conveying device includes an automatic supply device that automatically supplies the conveyed object to the manufacturing device; The transport method according to claim 9 , further comprising the step of suspending the automatic replenishing device from replenishing the transported object to the manufacturing device when the warning information is output.

13. After slowing down the travel speed of the conveying device passing through the warning point, A conveying method according to any one of claims 9 to 12, further comprising, when a repair report is obtained indicating that the cause of the acceleration exceeding the specified threshold at the warning point has been removed, controlling the conveying device so as to return the travel speed of the conveying device passing through the warning point to its original speed.

14. A transport device that transports a transported object and is used on a floor on which one or more manufacturing devices that perform a predetermined operation on a substrate are installed, an accelerometer for measuring the acceleration of the conveying device while it is traveling; a determination unit that determines whether the acceleration measured by the accelerometer exceeds a predetermined threshold; an output unit that outputs warning information when the acceleration exceeds the predetermined threshold value, an information acquisition unit that acquires position information on the floor, The conveying device slows down the travel speed when passing a warning point where the acceleration has exceeded the predetermined threshold value thereafter.

15. The transport device according to claim 14 , wherein the predetermined threshold value is set based on an acceleration at which an abnormality occurs in the state of the transported object when the transport device transports the transported object.

16. an automatic supply device that automatically supplies the transported object to the manufacturing device; The conveying device according to claim 14 or 15, wherein when the acceleration exceeds the predetermined threshold, the automatic resupply device suspends resupply of the conveyed object to the manufacturing device.

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