Pallet automated warehouse and tray parts management system

Abstract

To store a pallet with a tray attached as is.SOLUTION: An automated pallet warehouse includes a pallet storage portion that can store multiple pallets with trays attached, which are used to supply trays containing a part to a part removal position of a part mounting device that mounts the part on a board, and a pallet transport device that removes the tray-mounted pallet to be shipped from the pallet storage portion and stores it in a magazine that can store multiple tray-mounted pallets with the trays attached and that can be transported by an automated guided vehicle that moves around the factory floor on which the part mounting device is installed.SELECTED DRAWING: Figure 17

Description

[Technical Field]

[0001] The present disclosure relates to an automated pallet warehouse and a tray component management system. [Background technology]

[0002] Tape reels wound with carrier tape that holds multiple components are known. A component mounting device that mounts components onto a board removes the components from the carrier tape wound around the tape reel and mounts them on the board. Patent Document 1 discloses an automated warehouse that automatically stores, stores, and retrieves trays loaded with tape reels wound with carrier tape. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-89619 Summary of the Invention [Problem to be solved by the invention]

[0004] Components are supplied to component mounting devices not only using carrier tapes, but also using trays with multiple compartments that can store components. In this case, components are supplied to the component mounting device in units of pallets with trays attached. Therefore, if pallets with trays can be stored as they are, it will lead to improved work efficiency.

[0005] An object of the present disclosure is to provide a technology that allows pallets with attached trays to be stored as they are. [Means for solving the problem]

[0006] The automated pallet warehouse of the present disclosure comprises a pallet storage unit capable of storing multiple pallets with trays attached, which are used to supply trays containing components to a component removal position of a component mounting device that mounts the components on a board, and a pallet transport device that removes the tray-equipped pallet to be shipped from the pallet storage unit and stores it in a magazine that can store multiple tray-equipped pallets with trays attached, and that can be transported by an automated guided vehicle that moves around the factory floor where the component mounting device is installed.

[0007] The tray component management system of the present disclosure comprises an automated pallet warehouse that stores pallets used to supply trays containing components to a component removal position of a component mounting device that mounts the components onto a board, a server device that manages component location information that associates component information about the components on the trays with address information that indicates the storage location within the automated pallet warehouse of the tray-mounted pallet on which the tray containing the components is mounted, and a magazine that can be transported by an automated guided vehicle that moves around the factory floor on which the component mounting device is installed, and the automated pallet warehouse has a pallet transport device that removes the tray-mounted pallet to be shipped from the pallet storage section and stores it in the magazine. [Effects of the Invention]

[0008] According to the present disclosure, the pallet with the tray attached can be stored as is. [Brief explanation of the drawings]

[0009] [Figure 1] Conceptual diagram showing an example of a printed circuit board manufacturing system installed on a factory floor [Figure 2] FIG. 1 is a diagram showing an example of the overall configuration of a tray processing device, as viewed from above; [Figure 3] Schematic diagram showing an example of the configuration of a component mounting device and a tray component supply device. [Figure 4] FIG. 1 is a perspective view showing an example of the configuration of a tray and a pallet; [Figure 5]FIG. 10 is a perspective view showing an example of a state after the tray is positioned relative to the pallet; [Figure 6] FIG. 1 is a perspective view showing an example of the configuration of a magazine; [Figure 7] Schematic diagram showing an example of the configuration of a pallet collection unit [Figure 8A] Schematic diagram showing an example of a state before the pallet pushing device pushes out the pallet in the magazine. [Figure 8B] Schematic diagram showing an example of the state after the pallet pushing device pushes out the pallet in the magazine. [Figure 9] Schematic diagram showing a configuration example of a tray removal unit [Figure 10] FIG. 10 is a perspective view of a main part showing a configuration example of a tray removal unit; [Figure 11A] A perspective view showing an example of the magnet bar configuration [Figure 11B] Longitudinal cross section showing an example of the magnet bar configuration [Figure 12] FIG. 1 is a perspective view showing an example of the configuration of a magnet bar transport head; [Figure 13] Magnet bar transfer head operation diagram [Figure 14] Schematic diagram showing an example of the configuration of the tray mounting section [Figure 15] FIG. 10 is a perspective view of a main part showing a configuration example of a tray mounting section; [Figure 16] FIG. 10 is a perspective view of the main part showing an example of the configuration of the information writing unit and the pallet dispensing unit; [Figure 17] Side view showing an example of the configuration of an automated pallet warehouse [Figure 18] FIG. 1 is a perspective view of a main part showing an example of the configuration of a pallet storage unit; [Figure 19] View of the automated pallet warehouse from arrow A in Figure 17 [Figure 20] ZX cross-sectional view of the pallet extracting device shown in FIG. 17 [Figure 21] Block diagram showing an example of the system configuration of a tray component management system [Figure 22] A plan view showing a modified configuration of an automated pallet warehouse DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings as appropriate. However, more detailed descriptions than necessary may be omitted. For example, detailed descriptions of already well-known matters and redundant descriptions of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure and are not intended to limit the subject matter of the claims. In the description of each figure, the axis extending from top to bottom on the page is referred to as the X-axis, the axis extending from left to right on the page is referred to as the Y-axis, and the axis extending from the back to the front on the page is referred to as the Z-axis. The positive direction of the X-axis is referred to as the "front," the negative direction of the X-axis is referred to as the "rear," the positive direction of the Y-axis is referred to as the "right," the negative direction of the Y-axis is referred to as the "left," the positive direction of the Z-axis is referred to as the "up," and the negative direction of the Z-axis is referred to as the "down." Note that these directional expressions are used for convenience of explanation and are not intended to limit the orientation of the structure during actual use.

[0011] <Factory floor configuration example> FIG. 1 is a conceptual diagram showing an example of a mounting substrate manufacturing system installed on a factory floor.

[0012] 1, the mounted board manufacturing system installed on the factory floor includes, for example, a mounted board manufacturing line 1 (1A, 1B), a preparation area 83, a board stock section 84, a taping component stock section 85, a tray component stock section 86, a tray processing device 100, an automated pallet warehouse 800, an AGV 60, and a control room 80. Note that each of these components may be one or more.

[0013] <<Mounted board manufacturing line>> Mounted board production line 1 is a line for mounting components on boards 13, and is made up of multiple devices. For example, mounted board production line 1 includes a board supply device 2, a solder printing device 3, a solder inspection device 4, a component mounting device 5, a component mounting inspection device 6, a reflow device 7, a soldering inspection device 8, and a mounted board recovery device 9.

[0014] The board supplying device 2 is a device that supplies boards 13 to the solder printing device 3. The solder printing device 3 is a device that prints solder on the boards 13 supplied from the board supplying device 2. The solder inspection device 4 is a device that inspects the solder printing state of the boards 13 supplied from the solder printing device 3.

[0015] The component mounting device 5 is a device that mounts components onto the board 13 supplied from the solder inspection device 4. As shown in FIG. 1, the mounting board production line 1 may be equipped with a plurality of component mounting devices 5. The component mounting device 5 may be configured to include a feeder cart 61. The feeder cart 61 may be a cart equipped with a tape feeder for removing components from a carrier tape. The feeder cart 61 may be detachable from the component mounting device 5. The component mounting device 5 may also be configured to include a tray component supply device 20. The tray component supply device 20 may be read as a tray feeder. The tray component supply device 20 may be detachable from the component mounting device 5. Details of the component mounting device 5 and the tray component supply device 20 will be described later.

[0016] The component mounting inspection device 6 is a device that inspects the component mounting state of the board 13 supplied from the component mounting device 5. The reflow device 7 is a device that performs reflow on the board 13 supplied from the component mounting inspection device 6. The soldering inspection device 8 is a device that inspects the soldering state of the board 13 supplied from the reflow device 7. The mounted board recovery device 9 is a device that recovers the board 13 supplied from the soldering inspection device 8 on which components have been mounted.

[0017] <<Preparation Area>> The preparation area 83 is an area where workers perform preparations (pre-processing) for the operation of the mounted board production line 1. The preparation area 83 may include a feeder cart 61, a tray component supply device 20, and a registration device 1000. In the preparation area 83, workers may perform the task of setting carrier tape on the feeder cart 61. In the preparation area 83, workers may perform the task of mounting trays 30 containing components on pallets 40. Hereinafter, the pallet 40 on which the trays 30 are mounted may be referred to as the tray-mounted pallet 40. The worker may perform the task of setting the tray-mounted pallet 40 on the tray component supply device 20. The registration device 1000 will be described later.

[0018] <<Board Stock Section>> The board stock section 84 is a device for stocking the boards 13. The board stock section 84 may stock the boards 13 that have been brought into the factory and have not yet been equipped with components. The board stock section 84 may stock the boards 13 that have been brought out of the factory and have had components equipped.

[0019] <<Taping Components Stock Section>> The taping component stock section 85 is a device for stocking carrier tapes. The taping component stock section 85 may stock carrier tapes that have been brought into the factory.

[0020] <<Tray parts stock section>> The tray parts stock unit 86 is a device for stocking trays 30 containing parts. The tray parts stock unit 86 may stock trays 30 containing parts that have been brought into the factory. A worker may attach the trays 30 to the pallet 40 in the tray parts stock unit 86 (i.e., prepare the tray-attached pallet 40).

[0021] <<Tray processing device>> The tray processing device 100 is a device that processes the trays 30, and specifically, is a device that automatically performs processes such as removing the trays 30 from the pallet 40 and attaching the trays 30 to the pallet 40. Details of the tray processing device 100 will be described later.

[0022] <<Automated Pallet Warehouse>> The automated pallet warehouse 800 is a device that automatically receives, stores, and retrieves tray-mounted pallets 40. As shown in FIG. 1, the automated pallet warehouse 800 is placed in a location separate from the mounted board production line 1 (component mounting device 5). The automated pallet warehouse 800 may also be read as a pallet storage device. Details of the automated pallet warehouse 800 will be described later.

[0023] < <agv>> The AGV 60 is a device that travels unmanned within a factory floor. The AGV 60 may also be referred to as an automated guided vehicle. The AGV 60 may move between various devices within the factory floor, carrying a magazine 50 containing tray-mounted pallets 40 or an empty magazine 50. For example, the AGV 60 moves to the position of the tray processing device 100 and has the tray processing device 100 store the tray-mounted pallet 40 in the magazine 50. The AGV 60 then moves to the position of the tray component supply device 20 of the component mounting device 5 and delivers the tray-mounted pallet 40 from the magazine 50 to the tray component supply device 20. For example, the AGV 60 moves to the position of the tray processing device 100 and has the tray processing device 100 store the tray-mounted pallet 40 in the magazine 50. The AGV 60 then moves to the position of the tray processing device 100 and has the tray processing device 100 store the tray-mounted pallet 40 from the magazine 50. The AGV 60 then moves to the automated pallet warehouse 800 and delivers the tray-mounted pallet 40 from the magazine 50 to the automated pallet warehouse 800.

[0024] <<Control room>> The control room 80 is a place for managing, monitoring, and controlling each device on the factory floor. The control room 80 is equipped with, for example, a server 900, a work instruction unit 81, and an AGV operation management device 82. The work instruction unit 81 may be interpreted as a higher-level system. Each device in the control room 80 and each device on the factory floor are connected by a wired or wireless communication network, and can send and receive information to and from each other.

[0025] The work instruction unit 81 is a device that receives work instructions from workers and manages and monitors each device on the factory floor. Details of the work instruction unit 81 will be described later.

[0026] The server 900 is a device that stores information related to work and controls each device on the factory floor. Details of the server 900 will be described later.

[0027] The AGV operation management device 82 is a device that manages the operation of the AGV 60.

[0028] <Overall configuration of tray processing device> 2 is a diagram showing an example of the overall configuration of the tray processing device 100 according to the present embodiment, and is a top view of the tray processing device 100. Next, an outline of the configuration of the tray processing device 100 will be described with reference to FIG.

[0029] The tray processing device 100 includes a conveyor 110, a pallet collection unit 200, a tray removal unit 300, a tray installation unit 400, a pallet registration unit 500, and a pallet discharge unit 600.

[0030] For example, the AGV 60 retrieves from the tray component supply device 20 the magazine 50 that stores the pallet 40 on which the tray 30 is mounted after components have been supplied, and delivers the magazine 50 to the location of the pallet recovery unit 200. As described above, the pallet 40 on which the tray 30 is mounted is referred to as the tray-mounted pallet 40. Note that the trays 30 in the tray-mounted pallet 40 may or may not store components.

[0031] The pallet collection unit 200 is a device and area that performs the work of collecting tray-equipped pallets 40 from the magazines 50 delivered by the AGV 60 and placing the collected tray-equipped pallets 40 on the conveyor 110. Details of the pallet collection unit 200 will be described later (see FIGS. 7 and 8).

[0032] The tray removal section 300 is a device and area that removes the trays 30 from the tray-mounted pallets 40 transported by the conveyor 110 and collects the trays 30 in the tray collection section 330. The pallets 40 from which the trays 30 have been removed are transported by the conveyor 110. Details of the tray removal section 300 will be described later (see FIG. 9).

[0033] The tray mounting section 400 is a device and an area that retrieves trays 30 stored in the tray stock section 430 and mounts the retrieved trays 30 on pallets 40 transported by the conveyor 110. The tray stock section 430 is a device or an area that stocks trays 30 that store components. The tray-mounted pallets 40 that store components are transported by the conveyor 110. Details of the tray mounting section 400 will be described later (see FIG. 15).

[0034] The pallet registration unit 500 is a device and area that reads out identification information of a pallet 40 (hereinafter referred to as "pallet identification information") from the wireless tag 44 (see FIG. 4) of a pallet 40 on which a tray 30 storing parts is attached, via a reader 501. Details of the pallet registration unit 500 will be described later (see FIG. 16).

[0035] The pallet ejection section 600 is a device and area that stores the tray-mounted pallets 40 in the magazine 50. Additionally, the pallet ejection section 600 loads the magazine 50 (hereinafter referred to as the "storage magazine") in which the tray-mounted pallets 40 are stored onto the AGV 60. Details of the pallet ejection section 600 will be described later (see FIG. 16). The AGV 60 loads the storage magazine 50 and moves to, for example, the location of the tray component supply device 20 or the location of the automated pallet warehouse 800.

[0036] 2, it is possible to automate the operations of removing the tray 30 from the pallet 40 and mounting the tray 30 on the pallet 40. This will be described in detail below.

[0037] <Configuration of component mounting equipment> 3 is a schematic diagram showing an example of the configuration of the component mounting device 5. Next, the component mounting device 5 will be described in detail with reference to FIG.

[0038] As shown in FIG. 3, the component mounting device 5 includes a component mounting device main body 10 and a tray component supply device 20. The component mounting device main body 10 includes a board transport unit 11 and a component mounting head 12. The board transport unit 11 is a device that transports boards 13 and is configured, for example, by a belt, chain, or roller. The board transport unit 11 may be interpreted as another term such as a conveyor. The component mounting head 12 is a device that mounts components supplied by the tray component supply device 20 onto the boards 13 transported by the board transport unit 11.

[0039] The tray component supply device 20 includes a mechanism for attaching and detaching the magazine 50, and a pallet moving device 21 that can be raised and lowered by an elevating mechanism. The tray component supply device 20 is detachable from the component mounting device main body 10.

[0040] The component mounting device main body 10 and the tray component supply device 20 perform, for example, the following operations.

[0041] (S11) The pallet moving device 21 moves to a position at the same height as one of the support rails 51 in the magazine 50, and pulls out the tray-mounted pallet 40 stored on the support rail 51 at that height. Then, the pallet moving device 21 places the tray-mounted pallet 40 on it and moves to a predetermined height (for example, the highest position).

[0042] (S12) The component mounting head 12 picks up a component from the tray 30 of the tray mounting pallet 40 placed on the pallet moving device 21, and mounts the component on the board 13.

[0043] (S13) When the mounting of one or more components onto the board 13 is completed, the board transport unit 11 transports the board 13 to a working device for the next process.

[0044] (S14) When the trays 30 are emptied of components, the pallet moving device 21 places the tray-mounted pallet 40 on it, moves it to the same height as an empty support rail 51 in the magazine 50, and stores the tray-mounted pallet 40 on that support rail 51. Also, when changing the type of components to be supplied to the component mounting head 12, the pallet moving device 21 stores the tray-mounted pallet 40 on the empty support rail 51, and pulls out the tray-mounted pallet 40 with trays 30 containing a different type of components from another support rail 51 and moves it to a predetermined height.

[0045] When the tray 30 components in the magazine 50 run out of stock, or when a changeover is required to start manufacturing a different model of board 13, the magazine 50 of the tray component supply device 20 may be replaced with another magazine 50. In this case, a replacement magazine 50 may be delivered by the AGV 60.

[0046] <Tray positioning> Fig. 4 is a perspective view showing an example of the configuration of the tray 30 and the pallet 40. Fig. 5 is a perspective view showing an example of the state after the tray 30 has been positioned relative to the pallet 40. Next, with reference to Figs. 4 and 5, the configurations of the tray 30 and the pallet 40, and the positioning of the tray 30 on the pallet 40 will be described in detail.

[0047] The tray 30 has a thin, substantially rectangular shape. A plurality of recesses 31 are formed on the top surface of the tray 30, and components are stored in each recess 31. The tray 30 is made of, for example, resin.

[0048] The pallet 40 includes a pallet body 41, tray positioning pieces 42A and 42B, an engaging portion 43, and a wireless tag 44.

[0049] The pallet main body 41 has a substantially rectangular flat plate shape and is made of a magnetic material.

[0050] The engaging portion 43 is provided on the front side E1 of the pallet main body 41, and is a member that engages with the pallet moving device 21 of the tray component supply device 20. The pallet moving device 21 engages with the engaging portion 43, and can pull out the pallet 40 from the magazine 50 or store the pallet 40 in the magazine 50.

[0051] The tray positioning pieces 42A and 42B are shaped like elongated protrusions and are provided on the upper surface of the pallet main body 41. For example, the tray positioning piece 42A is provided parallel to the front side E1 of the pallet main body 41, and the tray positioning piece 42B is provided parallel to the left side E2 of the pallet main body 41. Therefore, the tray 30 can be positioned relative to the pallet 40 by abutting the front side F1 and the left side F2 of the tray 30 against the tray positioning pieces 42A and 42B, respectively.

[0052] A magnet bar 70, which is an example of a tray fixing device, is used to fix the position of the tray 30. The magnet bar 70 has a generally rod-like shape. The magnet bar 70 has a magnet portion 72 (see FIGS. 11A and 11B) on its underside. Details of the magnet bar 70 will be described later (see FIGS. 11A and 11B).

[0053] After the tray 30 has been positioned by the tray positioning pieces 42A and 42B, as shown in Fig. 4, the two magnet bars 70 are placed on the pallet 40 so as to abut (contact) the remaining two sides of the tray 30 (the rear side F3 and the right side F4 in Fig. 4). Because the pallet 40 is made of a magnetic material, the two magnet bars 70 are firmly fixed to the top surface of the pallet 40. As a result, as shown in Fig. 5, the tray 30 is fixed on all four sides and does not shift in position in the XY plane of the pallet 40.

[0054] The wireless tag 44 is a circuit that can read information wirelessly. The wireless tag 44 may be read as RFID (Radio Frequency IDentification). The wireless tag 44 may be provided at the edge of the upper or lower surface of the pallet main body 41. The wireless tag 44 stores pallet identification information. The pallet registration unit 500 reads the pallet identification information from the wireless tag 44 via a reader 501. Details of reading the wireless tag 44 will be described later (see FIG. 16).

[0055] The two-dimensional code 45 is provided on the top surface of the tray 30. The two-dimensional code 45 may be interpreted as a QR code (registered trademark). The two-dimensional code 45 includes component information, which is information for identifying the components stored in the tray 30. The pallet registration unit 500 reads the component information indicated by the two-dimensional code 45 using the camera 502. Details of the recognition of the two-dimensional code 45 will be described later (see FIG. 16).

[0056] <Magazine configuration> 6 is a perspective view showing an example of the configuration of the magazine 50. Next, the configuration of the magazine 50 will be described in detail with reference to FIG.

[0057] The magazine 50 has a substantially rectangular parallelepiped shape and is composed of a bottom plate 52, a top plate 53, a left side plate 54A, and a right side plate 54B. That is, the front and rear of the magazine 50 are open.

[0058] A plurality of support rails 51 are provided at the same height on each of the left and right plates 54A, 54B, which are parallel to the bottom plate 52. Each pair of left and right support rails 51 supports one tray-mounted pallet 40. In other words, the magazine 50 can store a number of tray-mounted pallets 40 corresponding to the number of pairs of left and right support rails 51.

[0059] <Configuration and operation of the pallet collection unit> 7 is a schematic diagram showing an example of the configuration of the pallet collection unit 200. Next, the configuration and operation of the pallet collection unit 200 will be described in detail with reference to FIG.

[0060] The pallet collection unit 200 includes a magazine transport device 210 , a pallet collection stage 220 , a drive unit 230 , and a pallet push-out device 240 .

[0061] The magazine transport device 210 is a device that transports the magazine 50. The magazine transport device 210 includes an XY table 211 that is movable in the X and Y axes directions, and an end effector 212 that is connected to the XY table 211 and movable in the Z axis direction. The end effector 212 has a mechanism that can grip the magazine 50 from above.

[0062] The pallet collection stage 220 is a stage on which the magazine 50 is placed. The pallet collection stage 220 is provided above the drive unit 230.

[0063] The driving unit 230 is a device that raises and lowers the pallet collection stage 220. In addition, the driving unit 230 is a device that rotates the pallet collection stage 220 by 90 degrees.

[0064] The pallet pushing device 240 is a device that pushes the pallet 40 in the magazine 50 toward the conveyor 110.

[0065] The pallet collection unit 200 performs the following operations, for example.

[0066] (S21) The AGV 60 carrying the magazine 50 storing the tray-mounted pallet 40 arrives next to the pallet recovery stage 220.

[0067] (S22) The magazine transport device 210 drives the XY table 211 and the end effector 212 to pick up the magazine 50 on the AGV 60 and place the picked-up magazine 50 on the pallet recovery stage 220.

[0068] (S23) The driving unit 230 rotates the pallet collection stage 220 by 90 degrees, thereby changing the front of the magazine 50 from the Y-axis direction to the X-axis direction.

[0069] (S24) The driving unit 230 raises (or lowers) the pallet collection stage 220 so that one tray-mounted pallet 40 in the magazine 50 is at the height position of the pallet push-out device 240.

[0070] (S25) The pallet push-out device 240 pushes out the tray-mounted pallet 40 at that position from the magazine 50. The pushed-out tray-mounted pallet 40 is placed on the conveyor 110. Details of the operation of the pallet push-out device 240 will be described later (see FIGS. 8A and 8B).

[0071] (S26) The drive unit 230 and the pallet push-out device 240 repeat S24 and S25 until all the tray-mounted pallets 40 in the magazine 50 have been pushed out.

[0072] (S27) The magazine transport device 210 picks up the magazine 50 from which all of the tray mounting pallets 40 have been pushed out, and places the picked-up magazine 50 on the AGV 60. However, some of the tray mounting pallets 40 may remain in the magazine 50.

[0073] Fig. 8A is a schematic diagram showing an example of a state before the pallet push-out device 240 pushes out the pallet 40 in the magazine 50. Fig. 8B is a schematic diagram showing an example of a state after the pallet push-out device 240 pushes out the pallet 40 in the magazine 50. Next, the operations of S24 and S25 in Fig. 7 will be described in detail with reference to Figs. 8A and 8B.

[0074] The pallet pushing device 240 includes a rod-shaped pusher 241 that is slidable in the X-axis direction.

[0075] As shown in FIG. 8A, in S24, the pusher 241 is at the same height as one of the tray-mounted pallets 40.

[0076] 8B, in S25 above, the pallet pushing-out device 240 slides the pusher 241 toward the pallet 40 (in the positive direction of the X-axis). As a result, the tray-mounted pallet 40 that is at the same height as the pusher 241 is pushed out by the pusher 241 and placed on the conveyor 110.

[0077] <Configuration and operation of the tray removal unit> Fig. 9 is a schematic diagram showing an example of the configuration of the tray removal section 300. Fig. 10 is a perspective view of the essential parts showing an example of the configuration of the tray removal section 300. Next, the configuration and operation of the tray removal section 300 will be described in detail with reference to Figs. 9 and 10.

[0078] The tray removal section 300 includes a tray removal section 310 , a magnet bar removal device 320 , and a tray collection section 330 .

[0079] The tray removal unit 310 is a device that removes the tray 30 from the pallet 40. The tray removal unit 310 has an XY table 311 that is movable in the X and Y directions, an elevator unit 312 that is connected to the XY table 311 and is movable in the Z direction, and a tray suction head 313 that is connected to the elevator unit 312 and is capable of suctioning the tray 30.

[0080] The magnet bar remover 320 is an example of a release unit that releases the state in which the tray 30 is fixed to the pallet 40. For example, the magnet bar remover 320 is a device that removes the magnet bar 70 from the pallet 40. The magnet bar remover 320 has an XY table 321 that is movable in the X and Y axes directions, a Z table 322 that is connected to the XY table 321 and is movable in the Z axis direction, and a magnet bar transfer head 323 that is connected to the Z table 322 and is capable of transferring the magnet bar 70.

[0081] The tray collection section 330 is a device or a place where the trays 30 collected from the pallets 40 are placed.

[0082] The tray removal unit 300 performs the following operations, for example.

[0083] (S31) As shown in Fig. 10, the magnet bar remover 320 drives the XY table 321, the Z table 322, and the magnet bar transfer head 323 to remove the magnet bar 70 from the pallet 40 transported by the conveyor 110, and places the magnet bar 70 at a predetermined position away from the tray 30 on the pallet 40. Details of the operation of the magnet bar transfer head 323 will be described later (see Fig. 12).

[0084] (S32) As shown in FIG. 10, the tray removal unit 310 drives the XY table 311, the lifting unit 312, and the tray suction head 313 to adsorb the tray 30 on the pallet 40 to the tray suction head 313, and transfers the adsorbed tray 30 to the tray recovery unit 330.

[0085] <Magnet bar configuration> Fig. 11A is a perspective view showing an example of the configuration of magnet bar 70. Fig. 11B is a longitudinal cross-sectional view showing an example of the configuration of magnet bar 70. Next, the structure of magnet bar 70 will be described in detail with reference to Figs. 11A and 11B.

[0086] The magnet bar 70 includes a main body portion 71, a magnet portion 72, a recess 73, lever portions 74A and 74B, and a shaft portion 75.

[0087] The main body 71 has a generally horizontally elongated rod shape. The magnet part 72 is provided on the lower surface of the main body 71 and is attached to the upper surface of the pallet 40. The recess 73 is formed on the upper surface of the main body 71 in the longitudinal direction.

[0088] Lever portions 74A and 74B are attached to both ends of main body portion 71 by shaft portions 75. Lever portions 74A and 74B have a sloped shape in which the lower surface approaches the upper surface toward the tip on the side farther from shaft portion 75. Lever portions 74A and 74B can swing around shaft portion 75.

[0089] <Configuration and operation of magnet bar transfer head> 12 is a perspective view showing an example of the configuration of magnet bar transfer head 323. Next, the configuration of magnet bar transfer head 323 will be described in detail with reference to FIG.

[0090] The magnet bar transfer head 323 has a horizontally elongated, generally rectangular parallelepiped shape and includes a holding portion 324, lever operating portions 325A and 325B, pins 326A and 326B, and rods 327A and 327B.

[0091] The holding portion 324 constitutes the vicinity of the center of the magnet bar transfer head 323. The upper surface of the holding portion 324 is connected to the Z table 322 of the magnet bar remover 320.

[0092] The pins 326A and 326B have a rod-like shape extending downward from the lower surface of the holding portion 324. The pins 326A and 326B have a thickness and shape that allow them to be inserted into the recesses 73 of the magnet bar 70. The magnet bar transfer head 323 can move the pins 326A and 326B in the longitudinal direction to move the pins 326A and 326B closer to or farther apart from each other.

[0093] The lever operating parts 325A and 325B are connected to both ends of the holding part 324 in the longitudinal direction, respectively.

[0094] Rods 327A and 327B are rod-shaped and extendable downward from the lower surfaces of lever operation portions 325A and 325B, respectively. The positions of rods 327A and 327B correspond to the positions of lever portions 74A and 74B of magnet bar 70, respectively. In other words, the distance between rods 327A and 327B corresponds to the distance between lever portions 74A and 74B of magnet bar 70.

[0095] 13 is a diagram illustrating the operation of the magnet bar transfer head 323. Next, the operation of the magnet bar transfer head 323 to transfer the magnet bar 70 will be described in detail with reference to FIG.

[0096] (S31) The magnet bar transfer head 323 inserts the tips of the pins 326A and 326B into the recesses 73 of the magnet bar 70, as shown in FIG. 13(a).

[0097] (S32) As shown in Figure 13(b), the magnet bar transfer head 323 extends the rod 327A downward and pushes the tip of the lever portion 74A of the magnet bar 70 from above. As a result, by the principle of leverage, the tip of the lever portion 74A serves as the point of force, a portion P on the sloped lower surface of the lever portion 74A near the shaft portion 75 serves as the fulcrum, and the shaft portion 75 of the lever portion 74A serves as the point of action, pushing up the main body portion 71 of the magnet bar 70. As a result, the attractive force of the magnet portion 72 of the magnet bar 70 weakens.

[0098] (S33) As shown in FIG. 13(c), the magnet bar transfer head 323 extends the rod 327B downward and pushes the lever portion 74B of the magnet bar 70 from above. As a result, the main body portion 71 of the magnet bar 70 is pushed up, as described above. This further weakens the attractive force of the magnet portion 72 of the magnet bar 70. In addition, since the pins 326A and 326B are inserted into the recessed portion 73 of the magnet bar 70 in S31, the magnet bar 70 does not shift or bounce even when the operations of S32 and S33 are performed. Therefore, when the magnet bar 70 is removed, components inside the tray 30 do not fly off.

[0099] (S34) The magnet bar transfer head 323 widens the gap between the pins 326A and 326B until they abut against the edge of the recess 73, as shown in FIG. 13(c).

[0100] (S35) The magnet bar transfer head 323 moves up while widening the gap between the pins 326A and 326B, as shown in Figure 13(d). This allows the magnet bar transfer head 323 to lift the magnet bar 70.

[0101] (S36) The magnet bar transfer head 323 transfers the lifted magnet bar 70 to a predetermined position on the pallet 40 away from the tray 30 and places it there.

[0102] <Configuration and operation of the tray mounting unit> Fig. 14 is a schematic diagram showing an example of the configuration of the tray mounting section 400. Fig. 15 is a perspective view of a main part showing an example of the configuration of the tray mounting section 400. Next, the configuration and operation of the tray mounting section 400 will be described in detail with reference to Figs. 14 and 15.

[0103] The tray mounting section 400 includes a tray transfer section 410 , a magnet bar moving device 420 , and a tray stock section 430 .

[0104] The tray mounting unit 400 is a device that mounts trays 30 containing parts on a pallet 40. The tray mounting unit 400 has an XY table 411 that is movable in the X and Y directions, an elevator unit 412 that is connected to the XY table 411 and is movable in the Z direction, and a tray transfer head 413 that is connected to the elevator unit 412 and can transfer the trays 30.

[0105] Magnet bar moving device 420 is an example of a tray fixing device, and is a device that moves magnet bar 70 of pallet 40. Magnet bar moving device 420 has an XY table 421 that is movable in the X and Y axes directions, a Z table 422 that is connected to XY table 421 and is movable in the Z axis direction, and a magnet bar transfer head 423 that is connected to Z table 422 and is capable of transferring magnet bar 70. Magnet bar transfer head 423 may have a configuration similar to that of magnet bar transfer head 323 described with reference to FIGS. 12 and 13.

[0106] The tray stock section 430 is a device or a place where trays 30 containing parts are stocked.

[0107] The tray mounting unit 400 performs the following operations, for example.

[0108] (S41) As shown in Fig. 15, the tray mounting unit 400 drives the XY table 411, the lifting unit 412, and the tray transfer head 413 to transfer the tray 30 containing the parts from the tray stock unit 430 onto the pallet 40 transported by the conveyor 110. At this time, the tray mounting unit 400 abuts the edges of the tray 30 against the tray positioning pieces 42A and 42B of the pallet 40, as shown in Fig. 5.

[0109] (S42) As shown in Fig. 15, the magnet bar moving device 420 drives the XY table 421, the Z table 422, and the magnet bar transfer head 423 to remove the magnet bar 70 from the pallet 40. The magnet bar 70 is then placed in a position where the tray 30 will be fixed, as shown in Fig. 5. This positions and fixes the tray 30.

[0110] <Configuration and operation of the pallet registration unit and pallet delivery unit> 16 is a perspective view of the essential parts showing an example of the configuration of the pallet registration unit 500 and the pallet dispensing unit 600. Next, the pallet registration unit 500 and the pallet dispensing unit 600 will be described in detail with reference to FIG.

[0111] A reader 501 and a camera 502 are connected to the pallet registration unit 500 via a wired LAN (Local Area Network) or a wireless LAN. The reader 501 is a device that reads the wireless signal from the wireless tag 44 on the pallet 40. The pallet registration unit 500 can also send and receive information to and from the server 900 via a communication network such as a wired LAN, a wireless LAN, the Internet, a mobile phone network, or a combination thereof.

[0112] The pallet registration unit 500 reads the pallet identification information of the pallet 40 from the wireless tag 44 of the pallet 40 via the reader 501. The pallet registration unit 500 reads the component information indicated by the two-dimensional code 45 attached to the tray 30 attached to the pallet 40 via the camera 502. The pallet registration unit 500 associates the pallet identification information read via the reader 501 with the component information read via the camera 502 and transmits them to the server 900. The server 900 associates the transmitted component information with the pallet identification information and registers them in the storage unit 902. This allows the server 900 to manage the relationship between the pallet 40, the tray 30, and the component. The component information may be, for example, the component name, the manufacturer name, the product lot number, the component dimension and shape data, and / or specification information. The pallet identification information may be, for example, an ID or serial number that can uniquely identify the pallet 40. Note that multiple trays 30 may be attached to one pallet 40. By using the pallet identification information, such a pallet 40 equipped with a plurality of trays 30 can also be identified and managed.

[0113] The pallet discharge unit 600 includes a pallet transfer robot 601. The pallet transfer robot 601 is a device that stores tray-mounted pallets 40 containing components in a magazine 50. The pallet transfer robot 601 may determine the magazine 50 in which to store the tray-mounted pallet 40 containing components. For example, the pallet transfer robot 601 determines, based on the pallet identification information, whether to store the tray-mounted pallet 40 containing components in the magazine 50 destined for the automated pallet warehouse 800, the magazine 50 in the row of mounted board production line 1A (see FIG. 1), or the magazine 50 in the row of mounted board production line 1B (see FIG. 1). The pallet transfer robot 601 may also pick up the magazine 50 and place it on the AGV 60 corresponding to the destination of the magazine 50.

[0114] <Configuration and operation of automated pallet warehouse> Figure 17 is a side view showing an example of the configuration of the automated pallet warehouse 800. Figure 18 is a perspective view of the main parts showing an example of the configuration of the pallet storage section 810. Figure 19 is a view seen from the arrow A of the automated pallet warehouse 800 shown in Figure 17. That is, Figure 19 is a view of the automated pallet warehouse 800 shown in Figure 17 as viewed in the positive direction of the X axis. Figure 20 is a ZX cross-sectional view of the pallet pulling device 823 shown in Figure 17. Next, the configuration and operation of the automated pallet warehouse 800 will be described with reference to Figures 17 to 20.

[0115] The automated pallet warehouse 800 is a warehouse that can automatically store, store, and retrieve pallets 40 with trays 30 attached (i.e., tray-attached pallets 40). The automated pallet warehouse 800 includes a base unit 801, a pallet storage unit 810, an entry / exit station 840, a magazine transport device 850, and an in-storage pallet transport device 820.

[0116] The base portion 801 forms the floor surface of the automated pallet warehouse 800 .

[0117] The pallet storage unit 810 is a device for storing (keeping) tray-equipped pallets 40. For example, as shown in FIG. 18 , the pallet storage unit 810 is configured to include a plurality of partition plates 811 extending upward. The distance W between adjacent partition plates 811 may be the same dimension as the opening width of the magazine 50 of the tray component supply device 20. In addition, the partition plates 811 are provided with a plurality of ribs 812 that support the stored tray-equipped pallets 40. This allows the pallet storage unit 810 to store tray-equipped pallets 40 at each position in the height direction determined by the ribs 812.

[0118] The loading / unloading station 840 is a place for receiving tray-equipped pallets 40 to be loaded and for handing over tray-equipped pallets 40 to be unloaded. For example, in the loading / unloading station 840, a table 841 is placed on the base part 801.

[0119] The magazine transport device 850 is a device for transporting magazines 50 between the AGV 60 and the table 841 of the loading / unloading station 840. For example, as shown in Fig. 19 , the magazine transport device 850 picks up the magazine 50 that stores the tray-mounted pallet 40 to be stored, which has been transferred by the AGV 60, and places it on the table 841 of the loading / unloading station 840. The magazine transport device 850 picks up the magazine 50 that stores the tray-mounted pallet 40 to be unloaded, which is on the table 841 of the loading / unloading station 840, and places it on the AVG 60.

[0120] 17 , a relay rack 842 may be fixedly installed on a table 841 of the receiving / receiving station 840 to transfer tray-equipped pallets 40 to be stored or removed from the station. The relay rack 842 may have a configuration similar to that of the magazine 50. For example, the worker manually stores the tray-equipped pallet 40 to be stored in the relay rack 842. For example, the worker manually removes the tray-equipped pallet 40 to be removed that is stored in the relay rack 842.

[0121] The internal pallet transport device 820 is a device that transports tray-equipped pallets 40 between the pallet storage unit 810 and the loading / unloading station 840. For example, the internal pallet transport device 820 pulls out a tray-equipped pallet 40 from a magazine 50 or a relay rack 842 on a table 841 of the loading / unloading station 840, and stores it in an empty position in the pallet storage unit 810. For example, the internal pallet transport device 820 pulls out a tray-equipped pallet 40 that has been specified for unloading from the pallet storage unit 810, and stores it in a magazine 50 or a relay rack 842 on a table 841 of the loading / unloading station 840.

[0122] Next, the configuration of the in-warehouse pallet transport device 820 will be described in detail with reference to FIGS.

[0123] The in-warehouse pallet transport device 820 includes an upper rail 821, a lower rail 822, a pallet pull-out device 823, a lifting device 829, and a horizontal movement device 835.

[0124] The lower rail 822 may be installed on the base unit 801 along (for example, parallel to) the opening surface of the pallet storage unit 810. The upper rail 821 may be installed on the ceiling surface of the automated pallet warehouse 800, parallel to the lower rail 822.

[0125] The lifting device 829 is a device that moves (ie, raises and lowers) the pallet drawing device 823 in the vertical direction.

[0126] The horizontal movement device 835 is a device that moves the lifting device 829 in the horizontal direction along the upper rail 821 and the lower rail 822. For example, the lifting device 829 is connected to the upper rail 821 and the lower rail 822 so that it can move horizontally, and moves horizontally along the upper rail 821 and the lower rail 822 as the horizontal movement device 835 is driven. The horizontal movement device 835 moves the lifting device 829 in the horizontal direction, and the lifting device 829 moves the pallet pulling device 823 (see FIGS. 19 and 20) in the vertical direction, so that the pallet pulling device 823 can be moved to any position in the pallet storage unit 810.

[0127] As shown in FIGS. 19 and 20, the pallet drawing device 823 includes a lifting platform 824, a pallet drawing lifting unit 825, a pallet drawing unit 827, and a pallet transport rack 826.

[0128] The lifting platform 824 constitutes the bottom surface of the pallet drawing device 823 and is raised and lowered by the drive of the lifting device 829 .

[0129] Pallet drawer lifting / lowering section 825 is a device that extends upward from lifting platform 824 and moves pallet drawer section 827 in the up and down direction (that is, raises and lowers it).

[0130] The pallet transport rack 826 is a rack for transporting tray-mounted pallets 40 between the loading / unloading station 840 and the pallet storage unit 810. The pallet transport rack 826 may be capable of storing the same number of pallets 40 as the magazine 50.

[0131] The pallet drawer 827 draws the tray-equipped pallet 40 from the magazine 50 or relay rack 842 of the loading / unloading station 840, and stores it in the pallet transfer rack 826. The pallet drawer 827 pushes out the tray-equipped pallet 40 stored in the pallet transfer rack 826, and stores it in the pallet storage unit 810. The pallet drawer 827 draws the tray-equipped pallet 40 from the pallet storage unit 810, and stores it in the pallet transfer rack 826. The pallet drawer 827 pushes out the tray-equipped pallet 40 stored in the pallet transfer rack 826, and stores it in the magazine 50 or relay rack 842 of the loading / unloading station 840.

[0132] When pulling out tray-equipped pallets 40 from the magazine 50 and storing them in the pallet transfer rack 826, the pallet puller 827 may pull out the tray-equipped pallets 40 in order from the top to the bottom of the magazine 50. When pushing out tray-equipped pallets 40 from the pallet transfer rack 826 into the magazine 50, the pallet puller 827 may push out the tray-equipped pallets 40 in order from the bottom to the top of the pallet transfer rack 826. The pallet puller 827 may include a pallet towing tool 830 for pulling the pallet 40, and may pull out the tray-equipped pallet 40 using the pallet towing tool 830.

[0133] The pallet pull-out unit 827 may also be equipped with a reader 828. The reader 828 may read the pallet identification information from the wireless tag 44 of the pallet 40 when the pallet pull-out unit 827 pulls out or pushes out the tray-equipped pallet 40. This makes it possible to recognize the pallet identification information of the tray-equipped pallet 40 being stored or retrieved.

[0134] The operations of the magazine transport device 850, the in-storage pallet transport device 820, the pallet drawer device 823, and the like described above may be controlled by the automated warehouse control unit 870. The automated warehouse control unit 870 may be provided at a predetermined position within the automated pallet warehouse 800 as a predetermined control device. However, the automated warehouse control unit 870 is not limited to being provided inside the automated pallet warehouse 800, and may also be provided outside the automated pallet warehouse 800.

[0135] <System configuration of tray parts management system> FIG. 21 is a block diagram showing an example of the system configuration of a tray component management system.

[0136] The tray component management system may include a server 900, a work instruction unit 81, an automated pallet warehouse 800, a tray processing device 100, and a registration device 1000.

[0137] <<Server>> The server 900 includes at least a control unit 901 and a memory unit 902. The control unit 901 may be replaced with other terms such as a processor or a CPU (Central Processing Unit). The memory unit 902 may be replaced with other terms such as a memory. The memory unit 902 may be configured with a ROM (Real-Only Memory) and a RAM (Random Access Memory). The memory unit 902 may further include a storage (for example, a flash memory or an HDD (Hard Disk Drive)), which is an example of a non-volatile storage medium. The control unit 901 may implement the processing described in this embodiment by executing a program in cooperation with the memory unit 902.

[0138] The storage unit 902 stores pallet registration information 903, pallet location information 904, and part location information 905.

[0139] The pallet registration information 903 is information that associates pallet identification information with part information. That is, the pallet registration information 903 is information that indicates, for tray-mounted pallets 40 stored in the automated pallet warehouse 800, which pallet 40 has mounted thereon which tray 30 stores which parts.

[0140] The pallet location information 904 is information that associates pallet identification information with address information. The address information is information that indicates the location of a shelf in the pallet storage unit 810. In other words, the pallet location information 904 is information that indicates which pallet 40 is stored on which shelf in the pallet storage unit 810.

[0141] Component location information 905 is information that associates component information with address information. In other words, component location information 905 is information that indicates which component is stored on which shelf in pallet storage unit 810. Note that component location information 905 can be created based on pallet registration information 903 and pallet location information 904, so server 900 does not need to store component location information 905.

[0142] <<Work instruction section>> The work instruction unit 81 is a device for issuing instructions to the automated pallet warehouse 800 to store (store in) or to dispense (take out) the tray-mounted pallet 40. The instructions may be issued by a worker or automatically by the work instruction unit 81. Examples of situations in which a dispense instruction is issued include parts replenishment based on the remaining number of parts or preparation based on a production plan. Examples of situations in which a storage instruction is issued include a request from the tray processing device 100.

[0143] <<Automated Pallet Warehouse>> The automated pallet warehouse 800 may include a magazine transport device 850, an in-warehouse pallet transport device 820, an operation input unit 860, a reader 828, and an automated warehouse control unit 870.

[0144] The magazine transport device 850 and the in-storage pallet transport device 820 are as described with reference to FIGS.

[0145] The operation input unit 860 is a device that accepts operations or inputs for the automated pallet warehouse 800. Examples of the operation input unit 860 include a touch panel, a barcode reader, or a wireless reader. For example, an operator can operate the operation input unit 860 to request the automated pallet warehouse 800 to perform a storage operation (storage operation) or a withdrawal operation (shipping operation) of a tray-mounted pallet 40.

[0146] 20, the reader 828 is provided in the pallet drawer 827 and reads the wireless tag 44 of the pallet 40. The reader 828 may transmit the pallet identification information read from the wireless tag 44 to the automated warehouse control unit 870.

[0147] The automated warehouse control unit 870 may be a control device that controls the automated pallet warehouse 800. The processing of the automated warehouse control unit 870 may be realized by cooperative operation of a processor, memory, etc. provided in the device. The automated warehouse control unit 870 includes a storage processing unit 871, a dispensing processing unit 872, and an information update unit 873.

[0148] When the storage processing unit 871 receives a storage instruction from the work instruction unit 81, it controls the operation of the in-warehouse pallet transport device 820 to store the tray-mounted pallet 40 on an empty shelf in the pallet storage unit 810.

[0149] When the dispensing processing unit 872 receives a dispensing instruction from the work instructing unit 81, it controls the in-storage pallet transport device 820 to dispense the tray-equipped pallet 40 from the pallet storage unit 810. For example, the dispensing processing unit 872 transmits the pallet identification information included in the dispensing instruction to the server 900, and receives from the server 900 the address information associated with the pallet identification information by the pallet location information 904. The dispensing processing unit 872 then controls the in-storage pallet transport device 820 to dispense the tray-equipped pallet 40 from the shelf in the pallet storage unit 810 indicated by the received address information.

[0150] The information updating unit 873 updates the pallet location information 904 in the memory unit 902 of the server 900 in response to a storage operation or a removal operation. For example, when a tray-equipped pallet 40 is stored on a shelf in the pallet storage unit 810 during a storage operation, the information updating unit 873 registers the pallet location information 904, which associates the pallet identification information of the tray-equipped pallet 40 with the address information of the shelf, in the memory unit 902 of the server 900. For example, when a tray-equipped pallet 40 is removed from a shelf in the pallet storage unit 810 during a removal operation, the information updating unit 873 deletes the pallet location information 904, which associates the pallet identification information of the tray-equipped pallet 40 with the address information of the shelf, from the memory unit 902 of the server 900.

[0151] <<Tray processing device>> The tray processing device 100 includes a pallet registration unit 500 , a reader 501 , and a camera 502 .

[0152] As explained in FIG. 16, the pallet registration unit 500 may generate pallet registration information 903 by associating pallet identification information read from the wireless tag 44 of the pallet 40 via the reader 501 with component information read from the two-dimensional code 45 of the tray 30 via the camera 502, and register the pallet registration information 903 in the memory unit 902 of the server 900.

[0153] <<Registered Device>> The registration device 1000 is installed, for example, in a preparation area 83 on a factory floor, and is used when an operator manually registers pallet registration information 903 in a memory unit 902 of a server 900. The registration device 1000 includes a pallet registration unit 1001 and an input unit 1002.

[0154] The input unit 1002 is, for example, a device that can read both the two-dimensional code 45 on the tray 30 and the wireless tag 44 on the pallet 40 .

[0155] The pallet registration unit 1001 may generate pallet registration information 903 by associating the pallet identification information read by the worker from the wireless tag 44 of the pallet 40 with the component information read from the two-dimensional code 45 of the tray 30 via the input unit 1002, and register the pallet registration information 903 in the memory unit 902 of the server 900.

[0156] The input unit 1002 may be a keyboard. In this case, the worker operates the keyboard to input the pallet identification information of the pallet 40 and the component information of the tray 30, and the pallet registration unit 1001 associates the input pallet identification information with the component information to generate pallet registration information 903 and registers it in the storage unit 902 of the server 900.

[0157] <Modification of automated pallet warehouse> FIG. 22 is a plan view showing a modified example of the configuration of the automated pallet warehouse 800.

[0158] As shown in Figure 22, a modified automated pallet warehouse 800 has a rectangular pillar-shaped housing extending upward, and may include a pallet storage section 810, an in-and-out station 840, a turning device 831, a lifting device 829, and a pallet pulling device 823 within the housing.

[0159] The pallet storage section 810 is arranged along each inner wall surface of the housing. The loading / unloading station 840 is arranged on one side of the rectangular pillar of the housing. The swivel device 831 is arranged in the center of the bottom surface of the housing and is capable of swiveling approximately parallel to the bottom surface. The lifting device 829 is fixed to the swivel device 831 and extends upward. A pallet pulling device 823 is connected to the lifting device 829 and can raise and lower the pallet pulling device 823.

[0160] The automated warehouse control unit 870 rotates the turning device 831 and raises and lowers the pallet pulling device 823 with the lifting device 829, thereby moving the pallet pulling device 823 to the desired position in the pallet storage unit 810 or to the position of the loading / unloading station 840. Therefore, even with the configuration of the automated pallet warehouse 800 shown in Figure 22, it is possible to store tray-mounted pallets 40 on the shelves of the pallet storage unit 810 and pull out tray-mounted pallets 40 from the shelves of the pallet storage unit 810.

[0161] Summary of this disclosure The contents of the present disclosure can be expressed as follows.

[0162] (Expression 1) The automated pallet warehouse (pallet storage device) 800 comprises a pallet storage section 810 capable of storing pallets 40 with trays 30 attached, which are used to supply trays 30 containing components to the component removal position of a component mounting device 5 that mounts the components on a board 13; an in-storage / outlet station 840 that takes in and out tray-mounted pallets 40, which are pallets 40 with trays 30 attached; and an in-storage pallet transport device (pallet transport section) 820 that transports the tray-mounted pallet 40 placed on the in-storage / outlet station 840 to the pallet storage section 810, or that removes the tray-mounted pallet 40 from the pallet storage section 810 and transports it to the in-storage / outlet station 840. This allows pallets with trays containing components attached (i.e., tray-attached pallets 40) to be automatically stored, stored, and retrieved, thereby efficiently supplying components to the component mounting device 5. Furthermore, trays 30 containing components not used by the component mounting device 5 can also be stored attached to the pallets 40, eliminating the need to remove the trays 30 from the pallets 40.

[0163] (Expression 2) In the description of expression 1, the in-warehouse pallet transport device 820 may include a pallet pull-out device 823 that pulls out the tray-mounted pallet 40 from the pallet storage section 810. This allows the tray-mounted pallet 40 to be automatically drawn out from the pallet storage section 810.

[0164] (Expression 3) In the description of expression 3, the in-warehouse pallet transport device 820 may further include a pallet transfer rack 826 capable of storing a plurality of tray-mounted pallets 40 pulled out from the pallet storage section 810 by the pallet pulling device 823. This allows the in-warehouse pallet transport device 820 to transport a plurality of tray-mounted pallets 40 together.

[0165] (Expression 4) In the description of expression 3, the in-warehouse pallet transport device 820 may further include a lifting device 829 that raises and lowers the pallet pull-out device 823 and the pallet transfer rack 826, and a horizontal movement device 835 that moves the pallet pull-out device 823 and the pallet transfer rack 826 horizontally. This allows the in-warehouse pallet transport device 820 to move freely in the vertical and horizontal directions.

[0166] (Expression 5) In any one of expressions 2 to 4, the pallet 40 may be provided with a wireless tag 44 that stores pallet identification information, which is identification information for the pallet 40, and the pallet pulling device 823 may be provided with a reader (reading device) 828 that can read the pallet identification information from the wireless tag 44 of the tray-mounted pallet 40 to be pulled out. This allows the pallet identification information of the tray-mounted pallet 40 drawn out by the pallet drawing device 823 to be recognized.

[0167] (Expression 6) In the description of expression 5, the device may further include an information update unit 873 that registers pallet location information 904 in a specified memory unit 902, which associates the pallet identification information of the tray-equipped pallet 40 read by the reader 828 with address information indicating the address of the pallet storage unit 810 in which the tray-equipped pallet 40 is stored by the in-warehouse pallet conveying device 820. As a result, it is possible to recognize which tray-mounted pallet 40 is stored in which pallet storage unit 810 using the pallet location information 904.

[0168] (Expression 7) In the description of Expression 6, the system may further include an ejection processing unit 872 that refers to pallet registration information 903, which associates pallet identification information of the tray-mounted pallet 40 with part information indicating the parts of the tray 30 to be mounted on the tray-mounted pallet 40, to identify the pallet identification information associated with the part information instructed to be ejected, refers to pallet location information 904, to identify address information associated with the identified pallet identification information, and controls the in-warehouse pallet conveying device 820 to eject the tray-mounted pallet 40 from the position in the pallet storage unit 810 indicated by the identified address information. This allows the tray mounting pallet 40 holding the component indicated by the specified component information to be removed from the pallet storage unit 810.

[0169] (Expression 8) In the description of expression 7, the information update unit 873 may delete the pallet location information 904 relating to the tray-mounted pallet 40 dispensed by the dispensing processing unit 872 from the storage unit 902. This allows the pallet location information 904 of the dispensed tray-mounted pallet 40 to be deleted from the storage unit 902.

[0170] (Expression 9) In the description of Expression 5, the system may further include an information update unit 873 that refers to pallet registration information 903 that associates pallet identification information of the tray-mounted pallet 40 with component information indicating the components of the trays 30 to be mounted on the tray-mounted pallet 40, identifies the component information associated with the pallet identification information read by the reader 828, and registers in a specified memory unit 902 component location information 905 that associates the identified component information with address information indicating the address of the pallet storage unit 810 in which the tray-mounted pallet 40 is stored by the in-warehouse pallet conveying device 820. As a result, it is possible to recognize from the component location information 905 which pallet storage unit 810 stores the tray mounting pallet 40 that holds which component.

[0171] (Expression 10) In the description of Expression 9, the system may further include a dispensing processing unit 872 that identifies address information associated with the part information instructed to be dispensed based on the part location information 905, and controls the in-warehouse pallet conveying device 820 to dispense the tray-mounted pallet 40 from the position in the pallet storage unit 810 indicated by the identified address information. This allows the tray mounting pallet 40 holding the component indicated by the specified component information to be removed from the pallet storage unit 810.

[0172] (Expression 11) In the description of expression 10, the information update unit 873 may delete the component location information 905 relating to the tray mounting pallet 40 dispensed by the dispensing processing unit 872 from the storage unit 902. As a result, the component location information 905 of the dispensed tray mounting pallet 40 can be deleted from the storage unit 902.

[0173] (Expression 12) The tray component management system includes a component mounting device 5 that mounts components stored in trays 30 attached to a pallet 40 onto a board 13, an automated pallet warehouse (pallet storage device) 800 that stores tray-mounted pallets 40, which are pallets 40 with trays 30 attached, and a server 900 that manages component location information 905 that associates component information indicating the components on the trays 30 with address information indicating the storage location within the automated pallet warehouse 800 of the tray-mounted pallet 40 with the trays 30 containing the components attached. This makes it possible to manage the storage locations of tray-mounted pallets 40 in the automated pallet warehouse 800. Therefore, tray-mounted pallets 40 can be stored and retrieved from the automated pallet warehouse 800 as needed, allowing for efficient component supply work to the component mounting device 5. In addition, trays 30 containing components that have not been used by the component mounting device 5 can also be stored attached to the pallet 40, eliminating the need to remove the trays 30 from the pallet 40.

[0174] (Expression 13) The description of expression 12 may further include an AGV (guided vehicle) 60 that carries the tray-mounted pallet 40 out of the automated pallet warehouse 800 and carries it into the component mounting device 5, or that carries the tray-mounted pallet 40 out of the component mounting device 5 and carries it into the automated pallet warehouse 800. This allows the tray-mounted pallet 40 to be automatically stored in and taken out of the automated pallet warehouse 800 using the AGV 60, thereby enabling the component supply work to the component mounting device 5 to be carried out efficiently.

[0175] Although the embodiments have been described above with reference to the accompanying drawings, the present disclosure is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications, alterations, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also fall within the technical scope of the present disclosure. Furthermore, the components in the above-described embodiments may be combined in any manner without departing from the spirit of the invention.

[0176] This application is based on a Japanese patent application (Patent Application No. 2021-041373) filed on March 15, 2021, the contents of which are incorporated by reference into this application. [Industrial Applicability]

[0177] The techniques of the present disclosure are useful for improving the efficiency of substrate manufacturing. [Explanation of symbols]

[0178] 1. Mounting board production line 2 Substrate supply device 3 Solder printing equipment 4. Solder inspection equipment 5. Parts mounting equipment 6. Parts mounting inspection equipment 7 Reflow equipment 8 Soldering inspection equipment 9 Mounted board recovery device 10. Component mounting device main body 11 Substrate transport section 12 Component placement head 13 PCB 20 Tray parts supply device 21 Pallet moving device 30 trays 31 Recess 40 pallets 41 Pallet body 42A, 42B Tray positioning pieces 43 Engagement part 44 Wireless tags 45 2D Code 50 magazines 51 Support rail 52 Bottom plate 53 Top plate 54A Left side plate 54B Right side plate 60 AGV 61 Feeder cart 70 Magnet Bar 71 Main body 72 Magnet section 73 Recess 74A, 74B Lever section 75 Shaft 80 Control room 81 Work instruction department 82 AGV operation control device 83 Preparation Area 84 PCB Stock Section 85 Taping Parts Stock Section 86 Tray Parts Stock Section 100 Tray processing device 110, 111 Conveyor 200 Pallet Collection Department 210 Magazine transport device 211 XY table 212 End Effector 220 Pallet Collection Stage 230 Drive Unit 240 Pallet extrusion device 241 Pusher 300 Tray removal section 310 Tray removal section 311 XY table 312 Lifting section 313 Tray suction head 320 Magnetic bar removal device 321 XY table 322 Z-table 323 Magnetic bar transfer head 324 Holding part 325A, 325B lever operation part 326A, 326B pins 327A, 327B Rod 330 Tray collection section 400 Tray attachment part 410 Tray transfer section 411 XY table 412 Lifting section 413 Tray transfer head 420 Magnet bar moving device 421 XY table 422 Z-table 423 Magnet bar transfer head 430 Tray Stock Section 500 Palette Registration Unit 501 Leader 502 Camera 600 Pallet delivery section 601 Pallet Transfer Robot 700 Pallet Storage Unit 701 Stock Shelf 702 Pallet transport robot 800 pallet automated warehouse 801 base 810 Pallet storage area 811 Partition 812 Ribs 820 In-warehouse pallet transport device 821 Upper rail 822 Lower rail 823 Pallet Extraction Device 824 Lift Platform 825 Pallet drawer lifting unit 826 Pallet transport rack 827 Pallet drawer 828 Leader 829 Lifting device 830 Pallet Towing Equipment 831 Swivel 835 Horizontal displacement device 840 Intake / Outtake Station 841 Table 842 Relay rack 850 Magazine transport device 860 Operation input section 870 Automated warehouse control unit 871 Storage Processing Unit 872 Payment Processing Unit 873 Information update department 900 Server 901 Control Unit 902 Storage section 903 Pallet Registration Information 904 Pallet location information 905 Parts location information 1000 Registration Device 1001 Palette registration unit 1002 Input section< / agv>

Claims

1. a pallet storage unit capable of storing a plurality of pallets with trays attached thereto, the pallets being used to supply trays containing the components to a component removal position of a component mounting device that mounts the components on a board; a pallet transport device that takes out the tray-equipped pallet to be shipped from the pallet storage unit, and stores it in a magazine that can store a plurality of tray-equipped pallets, which are pallets with the trays attached, and which can be transported by an automatic guided vehicle that moves on a factory floor where the component mounting device is installed, The magazine has a plurality of pairs of left and right support rails extending horizontally, one above the other, and stores one tray-mounted pallet between the pair of left and right support rails. the pallet transport device includes a pallet puller that pulls out the tray-mounted pallet on the support rails. Automated pallet warehouse.

2. The pallet conveying device further includes a pallet transport rack capable of storing a plurality of the tray-mounted pallets pulled out by the pallet pulling device. The automated pallet warehouse according to claim 1.

3. The pallet conveying device is a lifting device that lifts and lowers the pallet drawing device and the pallet transport rack; a horizontal movement device that moves the pallet pull-out device and the pallet transport rack in a horizontal direction, The automated pallet warehouse according to claim 2.

4. The pallet includes a wireless tag that stores pallet identification information that is identification information of the pallet, The pallet pull-out device includes a reader capable of reading the pallet identification information from the wireless tag of the tray-mounted pallet to be pulled out. The automated pallet warehouse according to any one of claims 1 to 3.

5. an information updating unit that registers, in a predetermined storage unit, pallet location information that associates the pallet identification information of the tray-equipped pallet read by the reading device with address information that indicates the address of the pallet storage unit in which the tray-equipped pallet is stored by the pallet transport device, The automated pallet warehouse according to claim 4.

6. a delivery processing unit that refers to pallet registration information in which the pallet identification information of the tray-equipped pallet is associated with component information indicating the components of the trays to be attached to the tray-equipped pallet, identifies the pallet identification information associated with the component information instructed to be delivered, refers to the pallet location information, identifies the address information associated with the identified pallet identification information, and controls the pallet transport device to deliver the tray-equipped pallet from the position of the pallet storage unit indicated by the identified address information. The automated pallet warehouse according to claim 5.

7. the information update unit deletes the pallet location information relating to the tray-mounted pallet dispensed by the dispense processing unit from the storage unit. The automated pallet warehouse according to claim 6.

8. an information updating unit that refers to pallet registration information in which the pallet identification information of the tray-equipped pallet is associated with component information indicating the components of the trays to be attached to the tray-equipped pallet, identifies the component information associated with the pallet identification information read by the reading device, and registers component location information in a predetermined storage unit in which the identified component information is associated with address information indicating the address of the pallet storage unit in which the tray-equipped pallet is stored by the pallet transport device. The automated pallet warehouse according to claim 4.

9. a delivery processing unit that identifies the address information associated with the part information instructed to be delivered based on the part location information, and controls the pallet transport device to deliver the tray-mounted pallet from the position of the pallet storage unit indicated by the identified address information, The automated pallet warehouse according to claim 8.

10. the information update unit deletes the component location information relating to the tray-mounted pallet dispensed by the dispense processing unit from the storage unit. The automated pallet warehouse according to claim 9.

11. an automated pallet warehouse that stores pallets used to supply trays containing components to a component removal position of a component mounting device that mounts the components on a board; a server device that manages part location information that associates part information about the parts on the tray with address information that indicates a storage location in the pallet automated warehouse of a tray-mounted pallet on which the tray storing the parts is mounted; a magazine that can be transported by an automated guided vehicle that moves on a factory floor where the component mounting device is installed; The automated pallet warehouse has a pallet transport device that takes out a tray-mounted pallet to be removed from a pallet storage unit and stores it in the magazine, The magazine has a plurality of pairs of left and right support rails extending horizontally, one above the other, and stores one tray-mounted pallet between the pair of left and right support rails. the pallet transport device includes a pallet puller that pulls out the tray-mounted pallet on the support rails. Tray parts management system.

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