Working device and mounting system

Abstract

This work device is provided with a detection unit and a light receiver in the work device body. The detection unit has a first detection region and a second detection region that includes, as a detection region, at least an area that is farther from the work device body in the traveling direction than is the first detection region. The light receiver can receive light from a light projector installed on a member provided on the movement path of the work device body, and has a third detection region between the light projector and the light receiver. If no interfering objects are detected in the second detection region, the work device sets the area around the work device body as the first detection region. Then, if an interfering object is detected in the first detection region, the movement of the work device body is restricted. In contrast, if an interfering object is detected in the second detection region, the work device sets, as the first detection region, an area around the work device body that does not include the third detection region. Then, if an interfering object is detected in the first detection region or the light receiver detects an interfering object in the third detection region, the movement of the work device body is restricted.

Description

Technical Field

[0001] This specification discloses a working device and an implementation system.

Background Art

[0002] Conventionally, in a production line where a plurality of component mounting devices are arranged, a loader (working device) has been proposed that moves along the line to supply the necessary tape feeders to each component mounting device and collect the used tape feeders (see, for example, Patent Document 1). In the component mounting device, a tape feeder is detachably attached by the loader, and a tray feeder is detachably attached so as to protrude forward from the component mounting device and block the traveling path of the loader. The loader includes a light receiver in addition to a monitoring sensor (laser scanner) that detects interfering objects around the loader. The light receiver constitutes a safety curtain in combination with a light projector installed on the tray feeder, and monitors the presence or absence of interfering objects between the light projector and the light receiver. The loader determines whether the light (safety curtain) from the light projector is detected by the light receiver, and when the safety curtain is not detected, sets the sensor monitoring area of the monitoring sensor to Area 1 around the loader. Then, when an interfering object is detected in Area 1 during traveling, the loader stops traveling until the interfering object is no longer detected. On the other hand, when the loader determines that the safety curtain is detected, it calculates the distance between the loader and the tray feeder, and when the calculated distance is less than a predetermined distance, it sets the sensor monitoring area to Area 2, which is narrower than Area 1, so that the monitoring sensor does not detect the tray feeder when the loader approaches the tray feeder. Then, when an interfering object is detected in either Area 2 or the safety curtain during traveling, the loader stops traveling until the interfering object is no longer detected. Thereby, the loader can appropriately detect interfering objects on the traveling path and can approach near the tray feeder to perform necessary work.

Prior Art Documents

Patent Documents

[0003] Patent Document 1 International Publication No. 2019 / 016924 Summary of the Invention Problems to be Solved by the Invention

[0004] However, in the above-described system, in order to switch the sensor monitoring area, in addition to determining whether or not a safety curtain is detected by a light receiver, it is necessary to obtain the position of the tray feeder by communication and calculate the distance between the loader and the tray feeder, which complicates the processing.

[0005] The main object of the present disclosure is to enable work near a member installed on a moving path while monitoring the presence or absence of interfering objects in the surroundings by simple processing. Means for Solving the Problems

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

[0007] The working device of the present disclosure is a working device that performs work on the mounting device in a mounting line in which a plurality of mounting devices are arranged, a working device main body, a moving device that moves the working device main body, a detection unit provided on the working device main body, having a first detection range and a second detection range including at least the outside of the working device main body in the traveling direction with respect to the first detection range as a detection range, and detecting the presence or absence of an interfering object within the first and second detection ranges respectively; a light receiver provided on the working device main body and capable of receiving light from a light projector installed on a member provided on the moving path of the working device main body, the light receiver detecting the presence or absence of an interfering object based on the light receiving state with the space between the light projector and the light receiver as a third detection range; When the moving device is controlled so that the working device main body moves, if no interfering object is detected in the second detection area by the detection unit, the periphery of the working device main body is set as the first detection range, and when an interfering object is detected in the first detection range by the detection unit, the movement of the working device main body is restricted. If an interfering object is detected in the second detection range by the detection unit, a range that does not include the third detection range among the periphery of the working device main body is set as the first detection range, and when an interfering object is detected in the first detection range by the detection unit or an interfering object is detected in the third detection range by the light receiver, the movement of the working device main body is restricted. A control unit; The gist is to include the following.

[0008] In the working device of the present disclosure, the working device main body is provided with a detection unit and a light receiver. The detection unit has a first detection range and a second detection range that includes at least the outside of the traveling direction of the working device main body than the first detection range as a detection range. The light receiver can receive light from a light projector installed on a member provided on the movement path of the working device main body, and has a third detection range between the light projector and the light receiver. When no interfering object is detected in the second detection area by the detection unit, the working device sets the periphery of the working device main body as the first detection range. Then, when an interfering object is detected in the first detection range by the detection unit, the movement of the working device main body is restricted. On the other hand, when an interfering object is detected in the second detection range by the detection unit, the working device sets a range that does not include the third detection range among the periphery of the working device main body as the first detection range. Then, when an interfering object is detected in the first detection range by the detection unit or an interfering object is detected in the third detection range by the light receiver, the movement of the working device main body is restricted. Thereby, it is possible to perform work near a member installed on the movement path of the working device main body while monitoring the presence or absence of interfering objects in the periphery by simple processing.

[0009] The implementation system of the present disclosure is An implementation line in which a plurality of implementation devices are arranged, It has a working device main body and a moving device for moving the working device main body, and is a working device that performs work on the mounting device. A light projector installed on a member provided on the moving path of the working device main body. It is equipped with The working device Is provided on the working device main body and has a first detection range and a second detection range including at least the outside of the first detection range in the traveling direction of the working device main body as a detection range, and detects the presence or absence of an interference object within the first and second detection ranges respectively. A detection unit. A light receiver provided on the working device main body that can receive light from the light projector, and is a light receiver that detects the presence or absence of an interference object based on the light reception state with the space between the light projector and the light receiver as a third detection range. The moving device is controlled so that the working device main body moves. When no interference object is detected in the second detection area by the detection unit, the periphery of the working device main body is set as the first detection range, and when an interference object is detected in the first detection range by the detection unit, the movement of the working device main body is restricted. When an interference object is detected in the second detection range by the detection unit, a range not including the third detection range among the periphery of the working device main body is set as the first detection range, and when an interference object is detected in the first detection range by the detection unit or an interference object is detected in the third detection range by the light receiver, the movement of the working device main body is restricted. A control unit. The gist is to be provided with

[0010] In the mounting system of this present disclosure, since the working device of the above-described present disclosure is provided, it is possible to perform work near a member installed on the moving path of the working device main body while monitoring the presence or absence of an interference object in the surroundings by simple processing.

Brief Description of the Drawings

[0011]

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Figure 16

Embodiments for Carrying Out the Invention

[0012] Next, embodiments for carrying out the present disclosure will be described with reference to the drawings.

[0013] FIG. 1 is a schematic configuration diagram of a component mounting system. FIG. 2 is a schematic configuration diagram of a component mounter and a feeder stand. FIG. 3 is a schematic configuration diagram of a feeder. FIG. 4 is a schematic configuration diagram of a loader. FIG. 5 is a schematic configuration diagram of a component mounter and a tray feeder. FIG. 6 is a block diagram showing the electrical connection relationship of the component mounting system. In FIGS. 1, 2, 4, and 5, the left-right direction is the X-axis direction, the front-back direction is the Y-axis direction, and the up-down direction is the Z-axis direction.

[0014] The component mounting system 10 produces a substrate S on which components are mounted. As shown in FIG. 1, it includes a printing device 12, a printing inspection device 14, a plurality (five) of component mounting devices 20 (20A to 20E), a mounting inspection device (not shown), a reflow furnace 16, a loader 50, a plurality (two) of feeder storage units 70, and a management device 90 that manages the entire system. The printing device 12 prints solder on the surface of the substrate S. The printing inspection device 14 inspects the state of the solder printed by the printing device 12. The component mounting device 20 picks up components with a suction nozzle (collecting member) and mounts them on the substrate S. The mounting inspection device inspects the mounting state of the components mounted by the component mounting device 20. The reflow furnace 16 heats the substrate S to melt the solder on the substrate S and solder the mounted components. In this embodiment, the reflow furnace 16 is installed so as to project forward of the component mounting device 20. The printing device 12, the printing inspection device 14, the plurality of component mounting devices 20, the mounting inspection device, and the reflow furnace 16 are aligned in this order from upstream along the conveyance direction of the substrate S to form a mounting line (production line).

[0015] As shown in FIG. 2, the component mounting apparatus 20 includes a component supply unit 21 that supplies components, a substrate transfer device 22 that transfers a substrate S from left to right, a head 25 that picks up components supplied from the component supply unit 21 and mounts them on the substrate S, a head moving device 24 that moves the head 25 in the horizontal direction (XY-axis direction), and a mounting control device 29 (see FIG. 6). Although not shown, the head 25 has a suction nozzle that sucks components and a lifting device that raises and lowers the suction nozzle. The head moving device 24 has a slider 24a to which the head 25 is attached and a motor (for example, a linear motor) that moves the slider 24a in the horizontal direction (XY direction).

[0016] The component supply unit 21 is provided at the front part of the component mounting apparatus 20, and a tape feeder 30 (see FIG. 3) and a tray feeder 80 (see FIG. 5) are detachably attached to the component supply unit 21. As shown in FIGS. 3 and 6, the tape feeder 30 includes a reel 32 around which a tape in which components are accommodated at predetermined intervals is wound, and supplies components by pulling out and feeding the tape from the reel 32 by a tape feeding mechanism 33. The tray feeder 80 includes a tray in which components are aligned and arranged, and supplies components by pulling out the tray by a tray feeding mechanism.

[0017] The component mounting apparatus 20 also includes a mark camera 26, a parts camera 27, a nozzle stocker 28, etc. The mark camera 26 images a reference mark attached to the substrate S from above in order to detect the position of the substrate S. The parts camera 27 images the component adsorbed by the suction nozzle from below in order to detect suction errors and suction misalignments. The nozzle stocker 28 stocks a plurality of suction nozzles of different sizes.

[0018] The mounting control device 29 is composed of a well-known CPU 29a, ROM 29b, RAM 29c, a storage device 29d, etc. The mounting control device 29 inputs image signals from the mark camera 26, the parts camera 27, etc. Further, the mounting control device 29 outputs drive signals to the substrate transfer device 22, the head 25, the head moving device 24, etc.

[0019] In addition, the mounting control device 29 is communicably connected to the feeder control device 39 of the tape feeder 30 mounted on the feeder base 40 via connectors 35 and 45. When the tape feeder 30 is mounted, the mounting control device 29 receives feeder information such as the feeder ID, component type, and remaining number of components included in the feeder control device 39 of the tape feeder 30 from the feeder control device 39. Further, the mounting control device 29 transmits the received feeder information and the mounting position (slot number) where the tape feeder 30 is mounted to the management device 90.

[0020] The CPU 29a of the mounting control device 29 executes a mounting process for mounting components on the substrate S. In the mounting process, the CPU 29a moves the head 25 above the component supply position of the tape feeder 30 by the head moving device 24. Subsequently, the CPU 29a lowers the suction nozzle by the lifting device to suck the component onto the suction nozzle. The CPU 29a moves the component sucked on the suction nozzle above the parts camera 27 by the head moving device 24 and causes the parts camera 27 to image the component. The CPU 29a processes the captured image of the component to measure the amount of adsorption deviation of the component and corrects the mounting position of the component on the substrate S. Then, the CPU 29a moves the component sucked on the nozzle above the corrected mounting position by the head moving device 24 and lowers the suction nozzle by the lifting device to mount the component on the substrate S.

[0021] The plurality of feeder storage bins 70 are all incorporated in the mounting line (between the component mounting device 20 located at the most upstream in the substrate conveyance direction among the plurality of component mounting devices 20 and the printing inspection device 14) and are storage locations for temporarily storing the plurality of tape feeders 30. For example, one feeder storage bin 70 stores the tape feeders 30 scheduled to be used in each component mounting device 20, and the other feeder storage bin 70 stores the used tape feeders 30 that have been used in each component mounting device 20. The replenishment of the tape feeders 30 scheduled to be used and the collection of the used tape feeders 30 for the feeder storage bin 70 are performed by an operator or an automated guided vehicle (AGV).

[0022] Each feeder storage 70 is provided with a feeder table having a plurality of slots 42 and connectors 45 similar to those of the feeder table 40 provided in the component mounting apparatus 20. When the tape feeder 30 is attached to the connector 45 of the feeder storage 70, feeder information such as the feeder ID, component type, and remaining number of components of the tape feeder 30, and the attachment position (slot number) where the tape feeder 30 is attached are transmitted to the management device 90.

[0023] As shown in FIG. 1, the loader 50 moves along the front of the component mounting system 10 (mounting line) to take out the tape feeder 30 scheduled for use from the feeder storage 70 and supply it to each component mounting apparatus 20, or to collect the used tape feeder 30 from each component mounting apparatus 20 and transport it to the feeder storage 70. As shown in FIGS. 4 and 6, the loader 50 includes a loader main body 50a, a loader moving device 51, a feeder transfer device 53, and a loader control device 59.

[0024] The loader moving device 51 moves the loader main body 50a along a guide rail 18 disposed in front of the mounting line. The loader moving device 51 includes an X-axis motor 52a that drives a driving belt for moving the loader main body 50a, and a guide roller 52b that rolls on the guide rail 18 to guide the movement of the loader 50.

[0025] The feeder transfer device 53 transfers the tape feeder 30 between the component mounting apparatus 20 and the loader 50 at a position where the loader 50 faces any one of the component mounting apparatuses 20, or transfers the tape feeder 30 between the feeder storage 70 and the loader 50 at a position where the loader 50 faces the feeder storage 70. The feeder transfer device 53 includes a clamp portion 54 that clamps the tape feeder 30, and a Y-axis slider 55 that moves the clamp portion 54 along a Y-axis guide rail 55b. The Y-axis slider 55 includes a Y-axis motor 55a, and the driving of the Y-axis motor 55a moves the clamp portion 54 in the front-rear direction (Y-axis direction).

[0026] The loader control device 59 is composed of a well-known CPU 59a, ROM 59b, RAM 59c, etc. The loader control device 59 inputs detection signals from a position sensor 61, two left and right monitoring sensors 62, a light receiver 63, etc. Further, the loader control device 59 outputs drive signals to a loader moving device 51 and a feeder transfer device 53.

[0027] The position sensor 61 is an encoder and detects the position P in the moving path of the loader main body 50a.

[0028] The two left and right monitoring sensors 62 monitor the presence or absence of interfering objects in a monitoring area around the loader main body 50a. This monitoring sensor 62 is configured as, for example, a laser scanner having a light projecting part 62a and a light receiving part 62b as sensor parts. The light projecting part 62a irradiates laser light, and the light receiving part 62b receives the reflected light from the interfering object to detect the presence or absence of the interfering object in the monitoring area. The left monitoring sensor 62 is attached to the left side of the loader main body 50a (the side opposite to the substrate transfer direction) and can mainly detect interfering objects on the left side of the loader main body 50a. The right monitoring sensor 62 is attached to the right side of the loader main body 50a (the same side as the substrate transfer direction) and can mainly detect interfering objects on the right side of the loader 50.

[0029] FIG. 7 is an explanatory diagram for explaining the monitoring area by the monitoring sensor 62. As shown in the figure, the monitoring area includes a protection area A and a warning area B. The protection area A is an area that prohibits (restricts) the movement of the loader 50 when an interfering object is detected, and is set as a substantially semi-circular area around the loader 50. On the other hand, the warning area B is an area for monitoring the approach of an interfering object to the protection area A, and is set as a rectangular area extending outward in the left and right directions from both side surfaces of the loader 50 more than the protection area A.

[0030] In this embodiment, the light receiver 63 is installed on the loader main body 50a so as to face the light projector 83 (see FIG. 5) provided on the tray feeder 80 when the tray feeder 80 is installed in any of the component mounting devices 20, and to face the light projector 17 (see FIG. 1) provided on the side surface of the front overhanging portion of the reflow furnace 16. The light receiver 63 and the light projectors 17 and 83 constitute a safety curtain SC, and each has a plurality of light receiving elements and a plurality of light projecting elements arranged in the horizontal direction (front-rear direction) so as to face each other. The plurality of light receiving elements usually receive light from the corresponding light projecting elements, and when the light from the light projecting elements is blocked by an interfering object, they cannot receive the light. As a result, the safety curtain SC can monitor the presence or absence of an interfering object between the light receiver 63 and the light projectors 17 and 83 based on the light reception state at the light receiver 63.

[0031] The management device 90 is a general-purpose computer and includes a CPU 91, a ROM 92, a RAM 93, and a storage device 94 as shown in FIG. 6. An input device 95 such as a keyboard or a mouse and a display 96 such as a liquid crystal display device are electrically connected to the management device 90. Production plans, feeder holding information, job information, status information, etc. are stored in the storage device 94. These pieces of information are managed for each component mounting device 20. Here, the production plan is a plan that determines which components are to be mounted in which order and how many substrates S (products) are to be produced (manufactured) in each component mounting device 20. The feeder holding information is information regarding the tape feeders 30 held by each component mounting device 20 and the feeder storage 70. The feeder holding information includes feeder information such as feeder IDs, component types, and remaining component counts, and position information such as the devices (which component mounting device 20 or which feeder storage 70) holding the tape feeder 30 (components) and the mounting positions (slot numbers) of the tape feeders 30. The job information is information regarding the mounting processes (jobs) to be executed by each component mounting device 20. This job information includes the types of substrates to be produced, the types of components to be mounted, the mounting positions for each component, and the components that each component mounting device 20 should mount. The status information is information indicating the operating status of each component mounting device 20. This status information includes being in production, during setup changeover, during occurrence of an abnormality, etc.

[0032] The management device 90 is communicably connected to the mounting control device 29 by wire and exchanges various information with each component mounting device 20 of the component mounting system 10. The management device 90 receives the operating status from each component mounting device 20 and updates the status information to the latest information. Further, the management device 90 is communicably connected to the feeder control device 39 of the tape feeder 30 attached to the feeder table 40 of each component mounting device 20 via the mounting control device 29. When the tape feeder 30 is removed from or attached to a component mounting device 20 or the feeder storage 70, the management device 90 receives the attachment / detachment status from the corresponding component mounting device 20 or feeder storage 70 and updates the feeder holding information to the latest information.

[0033] Furthermore, the management device 90 is wirelessly communicably connected to the loader control device 59 and also manages the operation of the loader 50. That is, the CPU 91 of the management device 90 searches for parts necessary for the production of the next product type in the parts mounting device 20 based on the production plan from the feeder storage information of the feeder storage 70, and transmits a replenishment command to the loader 50 so that the tape feeder 30 containing the corresponding parts is replenished to the target parts mounting device 20. In addition, the CPU 91 transmits a recovery command to the loader 50 to recover the used tape feeder 30 generated in each parts mounting device 20.

[0034] FIG. 8 is a flowchart showing an example of the work process executed by the loader control device 59. This process is executed when a work command (the above-described replenishment command or recovery command) is received from the management device 90. When the tray feeder 80 is installed in front of any of the plurality of parts mounting devices 20, in order to prevent interference between the loader 50 and the tray feeder 80, the working position is designated for the loader 50 within the range where it can travel from the feeder storage 60 to in front of the tray feeder 80, and the work command is transmitted.

[0035] When the operation process is executed, the CPU 59a of the loader control device 59 first controls the loader moving device 51 to start moving toward the working position (step S100). Subsequently, the CPU 59a determines whether there is an interfering object in the warning area B (step S110). If the CPU 59a determines that there is no interfering object in the warning area B, it sets the protection area A to the first area A1 (step S120). Subsequently, the CPU 59a determines whether there is an interfering object in the protection area A (the first area A1) (step S130). If the CPU 91 determines that there is an interfering object in the protection area A (the first area A1), it controls the loader moving device 51 so that the movement of the loader 50 stops (emergency stop) (step S140), and returns to step S110. If the CPU 59a determines in step S130 that there is no interfering object in the protection area A (the first area A1), it determines whether it is in an emergency stop state (step S150). If it determines that it is in an emergency stop state, it resumes the movement (step S160). Note that if the CPU 59a determines that it is not in an emergency stop state, since it is moving, it continues the movement.

[0036] When the CPU 59a determines in step S110 that there is an interfering object in the warning area B, it sets the safety curtain SC and sets the protection area A to the second area A2 (step S170). This process is to prevent the loader 50 from detecting the tray feeder 80 or the reflow furnace 16 (front overhanging part) as an interfering object in the protection area A (first area A1) and suddenly stopping in front of the working position when the loader 50 moves to the working position when the working position is designated near the tray feeder 80 or the reflow furnace 16, which are components (system components) of the component mounting system 10. When the tray feeder 80 is detected in the warning area B, the second area A2 is set to an area where a part of the first area A1 is cut out according to the size of the tray feeder 80 so that the tray feeder 80 is not detected in the protection area A even if the loader 50 approaches the tray feeder 80 further. Also, when the reflow furnace 16 (front overhanging part) is detected in the warning area B, the second area A2 is set to an area where a part of the first area A1 is cut out according to the size of the front overhanging part of the reflow furnace 16 so that the reflow furnace 16 is not detected in the protection area A even if the loader 50 approaches the reflow furnace 16 further. Thus, in the present embodiment, the second area A2 is set to an area where a part of the first area A1 is cut out with different sizes according to the detection positions in the warning area B. When the tray feeder 80 is detected in the warning area B, the safety curtain SC is set with the effective range between the light receiver 63 provided on the side surface of the loader main body 50a and the light projector 83 provided on the side surface of the tray feeder 80. Also, when the reflow furnace 16 (front overhanging part) is detected in the warning area B, the safety curtain SC is set with the effective range between the light receiver 63 and the light projector 17 provided on the side surface of the front overhanging part of the reflow furnace 16.

[0037] In this way, by changing the protection area A of the monitoring sensor 62 from the first area A1 to the second area A2, even if the loader 50 has a working position near the tray feeder 80 or the reflow furnace 16, the loader 50 can move to the working position without detecting the tray feeder 80 or the reflow furnace 16 as an interfering object. However, in this case, dead zones are formed between the loader 50 and the tray feeder 80 and between the loader 50 and the reflow furnace 16. If another interfering object enters these dead zones, the loader 50 cannot detect the interfering object and there is a risk of contact with the interfering object. Therefore, in the present embodiment, by covering the dead zones generated by the change of the protection area A with the safety curtain SC, even if another interfering object enters there, the loader 50 can detect the interfering object by the safety curtain SC.

[0038] Next, the CPU 59a determines whether there is an interfering object in the protection area A (second area A2) (step S180) and whether there is an interfering object in the safety curtain SC (step S190), respectively. In the process of step S190, based on whether the light receiving elements included in the above effective range among the plurality of light receiving elements of the light receiver 63 receive the light from the light projector, the presence or absence of an interfering object within the effective range is detected. When the CPU 59a determines that there is an interfering object in the protection area A (second area A2) or determines that there is an interfering object in the safety curtain SC, it controls the loader moving device 51 so that the movement of the loader 50 stops (emergency stop) (step S200), and returns to step S110. When the CPU 59a determines in steps S180 and S190 that there is no interfering object in either the protection area A (second area A2) or the safety curtain SC, it determines whether it is in the middle of an emergency stop (step S210). If it determines that it is in the middle of an emergency stop, it resumes traveling (step S220). Note that when the CPU 59a determines that it is not in the middle of an emergency stop, since it is moving, it continues to move.

[0039] Here, even when the CPU 59a detects a worker or the like instead of a system component such as the tray feeder 80 with the projector 83 or the reflow furnace 16 with the projector 17 in the warning area B, the safety curtain SC is set in step S170 and the protection area A is set to the second area A2. In this case, even if the safety curtain SC is set, actually the light receiver 63 does not receive the light from the projectors 17 and 83. Therefore, the CPU 59a determines that there is an interfering object in the safety curtain SC and stops (emergency stop) the movement of the loader 50. After the CPU 59a stops the loader 50 emergently, it returns to step S110. So, when the worker retreats from the warning area B and no interfering object is detected in the warning area B (\"YES\" in step S110), the setting of the safety curtain SC is released in step S120 and the protection area A is returned to the first area A1. Thereby, if no interfering object such as a worker is detected in the protection area A (the first area A1), the movement of the loader 50 is resumed.

[0040] Then, the CPU 59a acquires the moving position P from the position sensor 61 (step S230), and determines whether or not it has reached the working position based on the acquired moving position P (step S240). If the CPU 59a determines that it has not reached the working position, it returns to step S110 and continues the movement. On the other hand, if the CPU 59a determines that it has reached the working position, it controls the loader moving device 51 to stop the movement of the loader 50 (step S250), executes the above-described work related to the work instruction (step S260), and ends the work process.

[0041] Figs. 9 to 12 are explanatory diagrams showing the operation of the loader in the vicinity of the tray feeder 80. In the example of the figure, the case where the tray feeder 80 is installed in the component mounting apparatus 20C and the tape feeder 30 is conveyed from the feeder storage 70 to the component mounting apparatus 20B adjacent to the component mounting apparatus 20C is shown. As shown in the figure, during the movement of the loader 50, basically, the presence or absence of interfering objects is monitored by the protection area A (first area A1) and the warning area B (see Fig. 9). When the loader 50 detects the tray feeder 80 in the warning area B while moving to the working position, the protection area A is changed to the second area A2 in which a part of the first area A1 is cut out so as not to detect the tray feeder 80 in the protection area A (see Figs. 10 and 11). Thereby, it is possible to avoid the emergency stop of the loader 50 when the tray feeder 80 is detected in the protection area A. When the protection area A is changed to the second area A2, since it becomes a blind spot of the protection area A between the loader 50 and the tray feeder 80, the loader 50 monitors the blind spot portion by the safety curtain SC instead of the protection area A (see Fig. 12). Then, when the loader 50 arrives in front of the component mounting apparatus 20C, operations such as replacement and recovery of the tape feeder 30 are performed.

[0042] Figs. 13 to 16 are explanatory diagrams showing the operation of the loader near the reflow furnace. In the example of the figure, the case of transporting the tape feeder 30 to the component mounting apparatus 20E in which the reflow furnace 16 is installed downstream is shown. As shown in the figure, when the loader 50 moves to the vicinity of the reflow furnace 16 and the first area A1 is set in the protection area A, the protruding portion in front of the reflow furnace 16 is detected as an interfering object and the emergency stop occurs. In the present embodiment, when the loader 50 detects the protruding portion in front of the reflow furnace 16 in the warning area B while moving to the working position (see Figs. 13 and 14), the protection area A is changed to the second area A2 in which a part of the first area A1 is cut out so as not to detect the protruding portion in the protection area A (see Fig. 15). Thereby, it is possible to avoid the reflow furnace 16 being detected in the protection area A and the loader 50 being stopped emergently. When the protection area A is changed to the second area A2, since the area between the loader 50 and the reflow furnace 16 (the protruding portion in front) becomes a dead angle of the protection area A, the loader 50 monitors the dead angle portion by the safety curtain SC instead of the protection area A (see Fig. 16). Then, when the loader 50 arrives at the front of the component mounting apparatus 20E, operations such as replacement and collection of the tape feeder 30 are performed.

[0043] Here, the correspondence between the main elements of the present embodiment and the main elements described in the claims column will be described. That is, the loader main body 50a of the present embodiment corresponds to the working device main body, the loader moving device 51 corresponds to the moving device, the monitoring sensor 62 corresponds to the detection unit, the light receiver 63 corresponds to the light receiver, the protection area A corresponds to the first detection range, the warning area B corresponds to the second detection range, the safety curtain SC corresponds to the third detection range, and the loader control device 59 corresponds to the control unit. Further, the component mounting apparatuses 20A to 20E correspond to a plurality of mounting apparatuses, and the light projectors 17 and 83 correspond to the light projectors.

[0044] Note that the present disclosure is not limited to the above-described embodiment at all, and it goes without saying that the present disclosure can be implemented in various modes as long as it belongs to the technical scope of the present disclosure.

[0045] For example, in the above-described embodiment, the working device of the present disclosure is applied to the loader 50, but it may also be applied to an automated guided vehicle (AGV).

[0046] As described above, the working device of the present disclosure includes a detection unit and a light receiver in the working device main body. The detection unit has a first detection range and a second detection range that includes at least the outer side of the working device main body in the traveling direction with respect to the first detection range as a detection range. The light receiver is capable of receiving light from a light projector installed on a member provided on the movement path of the working device main body, and has a third detection range between the light projector and the light receiver. When no interfering object is detected in the second detection area by the detection unit, the working device sets the periphery of the working device main body as the first detection range. When an interfering object is detected within the first detection range by the detection unit, the movement of the working device main body is restricted. On the other hand, when an interfering object is detected within the second detection range by the detection unit, the working device sets, as the first detection range, a range that does not include the third detection range among the periphery of the working device main body. When an interfering object is detected within the first detection range by the detection unit or an interfering object is detected within the third detection range by the light receiver, the movement of the working device main body is restricted. Thereby, it is possible to perform work near a member installed on the movement path of the working device main body while monitoring the presence or absence of interfering objects in the surroundings by simple processing.

[0047] In such a working device of the present disclosure, when an interfering object is detected within the second detection range by the detection unit, the control unit may set the first detection range and the third detection range according to the detection position of the interfering object within the second detection range. By doing so, even when a plurality of members having different sizes are installed on the movement path of the working device main body, it is possible to approach the vicinity of these members while ensuring safety.

[0048] In the present disclosure, the form of the working device is adopted, but it may also be in the form of an implementation system.

Industrial Applicability

[0049] The present disclosure can be used in the manufacturing industry such as working devices and mounting systems.

Explanation of Signs

[0050] 10 Component mounting system, 12 Printing device, 14 Printing inspection device, 16 Reflow oven, 17 Light projector, 18 Guide rail, 20, 20A, 20B, 20C, 20D, 20E Component mounting device, 21 Component supply unit, 22 Substrate transfer device, 24 Head movement device, 24a Slider, 25 Head, 26 Mark camera, 27 Parts camera, 28 Nozzle stocker, 29 Mounting control device, 29a CPU, 29b ROM, 29c RAM, 29d Storage device, 30 Tape feeder, 32 Reel, 33 Tape feeding mechanism, 35 Connector, 39 Feeder control device, 40 Feeder table, 42 Slot, 45 Connector, 50 Loader, 50a Loader body, 51 Loader movement device, 52a X-axis motor, 52b Guide roller, 53 Feeder transfer device, 54 Clamp section, 55 Y-axis slider, 55a Y-axis motor, 55b Y-axis guide rail, 59 Loader control device, 59a CPU, 59b ROM, 59c RAM, 60 Feeder storage, 61 Position sensor, 62 Monitoring sensor, 62a Light projecting section, 62b Light receiving section, 63 Light receiver, 70 Feeder storage, 80 Tray feeder, 83 Light projector, 90 Management device, 91 CPU, 92 ROM, 93 RAM, 94 Storage device, 95 Input device, 96 Display, A Protection area, A1 First area, A2 Second area, B Warning area, SC Safety curtain.

Claims

1. A working device that performs operations on the mounting devices in a mounting line where a plurality of mounting devices are arranged, a working device main body, a moving device that moves the working device main body, a detection unit provided on the working device main body, having a first detection range and a second detection range including at least the outer side of the working device main body in the traveling direction with respect to the first detection range, and detecting the presence or absence of an interfering object within the first and second detection ranges respectively, a light receiver provided on the working device main body and capable of receiving light from a light projector installed on a member provided on the movement path of the working device main body, the light receiver detecting the presence or absence of an interfering object based on the light receiving state with the space between the light projector and the light receiver as a third detection range, a control unit that controls the moving device so that the working device main body moves, sets the periphery of the working device main body as the first detection range when no interfering object is detected within the second detection area by the detection unit, restricts the movement of the working device main body when an interfering object is detected within the first detection range by the detection unit, sets the range excluding the third detection range among the periphery of the working device main body as the first detection range when an interfering object is detected within the second detection range by the detection unit, and restricts the movement of the working device main body when an interfering object is detected within the first detection range by the detection unit or when an interfering object is detected within the third detection range by the light receiver, A working device comprising the above.

2. The working device according to claim 1, wherein when an interfering object is detected within the second detection range by the detection unit, the control unit sets the first detection range and the third detection range according to the detection position of the interfering object within the second detection range. A working device.

3. A mounting line where a plurality of mounting devices are arranged, a working device having a working device main body and a moving device that moves the working device main body, and performing operations on the mounting devices, a light projector installed on a member provided on the movement path of the working device main body, comprising, the working device, is provided on the working device main body, has a first detection range and a second detection range including at least the outer side of the working device main body in the traveling direction with respect to the first detection range, and a detection unit that detects the presence or absence of an interfering object within the first and second detection ranges respectively. A light receiver provided on the working device main body and capable of receiving light from the light projector, the light receiver detecting the presence or absence of an interfering object based on the light receiving state with the area between the light projector and the light receiver as a third detection range. A control unit that controls the moving device so that the working device main body moves, sets the periphery of the working device main body as the first detection range when no interfering object is detected in the second detection area by the detection unit, restricts the movement of the working device main body when an interfering object is detected in the first detection range by the detection unit, sets a range excluding the third detection range among the periphery of the working device main body as the first detection range when an interfering object is detected in the second detection range by the detection unit, and restricts the movement of the working device main body when an interfering object is detected in the first detection range by the detection unit or when an interfering object is detected in the third detection range by the light receiver. An implementation system including the above.

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