Production system

Abstract

To allow an operator to recognize a region around a direction of moving of a supply robot more easily and extend an operation time of the supply robot.SOLUTION: A production system includes: a production line including a plurality of modules lining along a floor surface of a production facility; a supply robot which moves along the production line and supplies each module with a member necessary for production; and a light source unit provided in each of the plurality of modules, the light source radiating light to the floor surface in a region around the direction of moving of the supply robot.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] This specification discloses a production system.

Background Art

[0002] Conventionally, there is known a component mounting system including a component mounting line on which a plurality of component mounters are arranged side by side and a mobile robot, and a component mounting system that notifies an operator of the moving range of the mobile robot. For example, in Patent Document 1, each component mounter is provided with a light emitting part, and by causing each light emitting part to emit light in different colors determined based on the distance from the current position of the mobile robot and the traveling direction, a movement inhibition area is notified to the operator. The movement inhibition area is an area where an obstacle (for example, an operator) inside may hinder the operation of the mobile robot. Further, in Patent Document 2, there is disclosed a warning area notification to an operator by irradiating the traveling direction of the mobile robot with a light emitting part provided on the mobile robot. The warning area is an area where a warning is issued when there is an obstacle inside.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the component mounting system disclosed in Patent Document 1, in order for the worker to recognize whether or not they are approaching a movement-obstructing area, they need to recognize the color of the light-emitting part and the distance corresponding to that color, and it is often difficult for the worker to intuitively recognize the movement-obstructing area. As a result, inexperienced workers may accidentally enter the movement-obstructing area. Furthermore, in the component mounting system disclosed in Patent Document 2, although the warning area is easy for the worker to recognize, the light-emitting part is powered by a battery in the mobile robot. As a result, the operating time of the mobile robot may be shortened.

[0005] The primary purpose of this disclosure is to make it easier for operators to recognize the area around the direction of travel of the supply robot and to reduce the power consumption of the supply robot.

[0006] In this disclosure, the following measures were taken to achieve the primary objectives described above. [Means for solving the problem]

[0007] The production system disclosed herein is A production line including multiple modules arranged along the floor of the production facility, A supply robot moves along the aforementioned production line and supplies the necessary materials for production to each module, Each of the aforementioned multiple modules is provided with a light source unit that illuminates the floor surface in the area surrounding the direction of travel of the moving supply robot, The gist of it is that it is equipped with the following features.

[0008] In this production system, each of the multiple modules is equipped with a light source that illuminates the floor surface in the area surrounding the direction of travel of the supply robot. This makes it easier for workers to recognize the area around the direction of travel of the supply robot. Furthermore, since the light source does not receive power from the supply robot, the power consumption of the supply robot can be reduced compared to when the supply robot has its own light source. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic diagram of the implemented system 10. [Figure 2] A block diagram showing the electrical connection relationships of the implemented system 10. [Figure 3] This flowchart shows an example of a light emission control processing routine. [Figure 4] This is an explanatory diagram showing how the light-emitting unit L irradiates light R onto the floor surface F. [Modes for carrying out the invention]

[0010] Embodiments of the implementation system of this disclosure will be described below with reference to the drawings. Figure 1 is a schematic diagram of the implementation system 10. Figure 2 is a block diagram showing the electrical connection relationships of the implementation system 10. In Figure 1, the left-right direction is the X direction, the front-back direction is the Y direction, and the up-down direction is the Z direction.

[0011] The mounting system 10 manufactures a circuit board with mounted components by receiving components from a feeder 100 in each of the mounting lines 20, which have multiple mounting machines 30 (five in this embodiment), and sequentially mounting the components onto the circuit board. As shown in Figure 1, the mounting system 10 includes a mounting line 20, light-emitting units 38 and 48, a mobile robot 50, and a system control device 60. The mounting line 20, light-emitting units 38 and 48, and the system control device 60 operate by receiving power from the commercial power supply. On the other hand, the mobile robot 50 operates by wireless power supply from the mounting line 20. In this embodiment, the light-emitting units 38 and 48 are sometimes collectively referred to as the light-emitting unit L.

[0012] The mounting line 20 includes a plurality of mounting machines 30 that mount components supplied from feeders 100 onto circuit boards, and a feeder storage unit 40 capable of storing the plurality of feeders 100. In the mounting line 20, the feeder storage unit 40 and the plurality of mounting machines 30 are arranged on the floor surface F of the production equipment in this order along a predetermined arrangement direction (here, the X direction, i.e., the left-right direction). The arrangement direction is parallel to the transport direction of the circuit boards in the mounting line 20 (the X direction). Of the X direction (left-right direction), the left side is the upstream side in the transport direction, and the right side is the downstream side in the transport direction. In this embodiment, the main body parts of the mounting machines 30 and the feeder storage unit 40 are sometimes collectively referred to as a module M.

[0013] As shown in Figure 2, the mounting machine 30 includes a substrate transport device 31, a head 32, a head movement mechanism 33, a plurality of connectors 34, an X-axis guide rail 35, a robot detection sensor 36, and a mounting control device 37. The mounting machine 30 also includes a non-contact power supply coil (not shown) arranged along the X direction on the front of the housing. The substrate transport device 31 transports the substrate in the X direction. The head 32 has a suction nozzle that picks up components supplied by the feeder 100. The head movement mechanism 33 includes, for example, a slider and a motor, and moves the head 32 in the XY direction.

[0014] As shown in Figure 1, the mounting machine 30 has a supply area 30A at its front. The supply area 30A has multiple slots on which feeders 100 can be mounted, corresponding to multiple connectors 34. Each feeder 100 loaded into a slot in the supply area 30A is connected to the corresponding connector 34.

[0015] The X-axis guide rail 35 is a component that guides the mobile robot 50 so that it moves along the mounting line 20 in the X-axis direction. The length of the X-axis guide rail 35 of the mounting machine 30 is the width corresponding to the width of the mounting machine 30 (length in the X-axis direction). The X-axis guide rail 35 of module M is detachably connected to the X-axis guide rail 35 of adjacent module M.

[0016] The robot detection sensor 36 is a sensor that detects the position of the mobile robot 50 with respect to the mounting line 20. The robot detection sensor 36 is a sensor capable of detecting whether the mobile robot 50 exists in front of the mounter 30. The robot detection sensor 36 may be, for example, a contact-type sensor disposed on the X-axis guide rail 35, or a non-contact sensor such as an infrared sensor. If the mobile robot 50 exists in front of the mounter 30, the robot detection sensor 36 outputs an ON signal to the mounting control device 37. If the mobile robot 50 does not exist in front of the mounter 30, the robot detection sensor 36 outputs an OFF signal to the mounting control device 37.

[0017] The mounting control device 37 includes a CPU, a ROM, a RAM, a storage (e.g., SSD or HDD), etc., and controls the entire mounter 30. The mounting control device 37 outputs drive signals to the substrate transfer device 31, the head 32, the head movement mechanism 33, etc., and a light emission signal to the light emission unit 38. The mounting control device 37 inputs a detection signal from the robot detection sensor 36.

[0018] As shown in FIG. 1, the light emission unit 38 is a line light capable of irradiating a linear light R onto the target. The light emission unit 38 is provided at the upper front of the mounter 30 and has a width in the X-axis direction corresponding to the width of the mounter 30 in the X-axis direction. The light emission unit 38 emits light obliquely downward to irradiate the floor surface F with a linear light R extending in the X-axis direction. Also, the light emission unit 38 irradiates the floor surface F on the opposite side of the mounter 30 (e.g., several tens of [cm] to about 1 [m] in the Y-axis direction in front of the mobile robot 50) with the light R with respect to the mobile robot 50 facing the corresponding mounter 30.

[0019] The feeder storage 40 is a device for storing the feeder 100 containing the parts to be used in the next production and the feeder 100 recovered from the mounter 30. As shown in FIG. 1, the feeder storage 40 has a storage area 40A, an X-axis guide rail 35, and a robot detection sensor 46 (see FIG. 2) on the front side of the housing. Also, the feeder storage 40 has a non-contact power supply coil (not shown) arranged along the X direction on the front surface of the housing C2.

[0020] The storage area 40A has a plurality of slots to which the feeder 100 can be attached. The storage area 40A is provided at the same height (Z-direction position) as the supply area 30A of the mounting machine 30. In the storage area 40A, a plurality of connectors 44 similar to the connector 34 are provided corresponding to each of the plurality of slots. The feeder 100 carried into the storage area 40A is connected to the connector 44 (see FIG. 2).

[0021] The X-axis guide rail 35 is the same as the one provided on the mounting machine 30. The length of the X-axis guide rail 35 of the feeder storage 40 corresponds to the width (length in the X-axis direction) of the feeder storage 40.

[0022] The robot detection sensor 46 is the same sensor as the robot detection sensor 36. The robot detection sensor 46 has a detection range in front of the feeder storage 40, and detects whether or not the mobile robot 50 exists in front of the feeder storage 40. If the mobile robot 50 exists in front of the feeder storage 40, the robot detection sensor 46 outputs an ON signal to the system control device 60. If the mobile robot 50 does not exist in front of the feeder storage 40, the robot detection sensor 46 outputs an OFF signal to the system control device 60. Among the robot detection sensor 36 and the robot detection sensor 46, the detection ranges of the two robot detection sensors of two adjacent modules M have an overlapping portion capable of detecting the mobile robot 50 together.

[0023] In this embodiment, the robot detection sensor 36 and the robot detection sensor 46 may be collectively referred to as the sensor S.

[0024] As shown in Figure 1, the light-emitting unit 48 is a line light capable of irradiating a linear beam of light R onto an object, similar to the light-emitting unit 38. The light-emitting unit 48 is located on the upper front of the feeder storage unit 40, and its width in the X-axis direction corresponds to the width of the feeder storage unit 50 in the X-axis direction. The light-emitting unit 48 emits light diagonally downwards and forwards, irradiating a linear beam of light R extending in the X-axis direction onto the floor surface F. The light-emitting unit 48 also irradiates light R onto the floor surface F on the opposite side of the feeder storage unit 40 from the mobile robot 50 facing the feeder storage unit 40 (for example, several tens of centimeters to about 1 meter in the Y-axis direction from the mobile robot 50).

[0025] The mobile robot 50 is a robot that retrieves feeders 100 from the feeder storage unit 40 and automatically replenishes the feeders 100 to the mounting machine 30, or retrieves used feeders 100 from the mounting machine 30 and automatically returns them to the feeder storage unit 40. As shown in Figure 2, the mobile robot 50 comprises a robot movement mechanism 51, a feeder transfer mechanism 52, an encoder 53, a monitoring sensor 54, and a robot control device 57. The mobile robot 50 also has a non-contact power receiving coil (not shown) on the side facing the mounting line 20. In the mobile robot 50, the non-contact power receiving coil faces the non-contact power supply coils of the mounting machine 30 and the feeder storage unit 40 while maintaining a predetermined distance, and receives the power necessary for its own operation, such as movement, from the mounting machine 30 and the feeder storage unit 40. In addition, the inside of the housing of the mobile robot 50 is provided with a robot transfer area (not shown) capable of accommodating multiple feeders 100. The robot transfer area has multiple slots capable of accommodating feeder 100.

[0026] The robot movement mechanism 51 includes, for example, a drive belt and a servo motor to drive it, and moves the mobile robot 50 in the X direction along the travel rail 55. The travel rail 55 is formed by connecting the X-axis guide rails 35 of adjacent modules M.

[0027] The feeder transfer mechanism 52 is a mechanism for moving the feeder 100 back and forth, and includes, for example, a clamping part for clamping the feeder 100, and a Y-axis motor and Y-axis slider for moving the clamping part in the Y direction. The feeder transfer mechanism 52 transports the feeder 100 housed in the robot transfer area forward and brings it into the supply area 30A of the mounting machine 30 or the storage area 40A of the feeder storage unit 40. The feeder transfer mechanism 52 also transports the feeder 100 installed in the supply area 30A of the mounting machine 30 or the storage area 40A of the feeder storage unit 40 backward and houses it in the robot transfer area. The supply area 30A of the mounting machine 30 and the storage area 40A of the feeder storage unit 40 are located at the same height (Z-direction position). Therefore, the mobile robot 50 can attach and detach the feeder 100 to the storage area 40A of the feeder storage unit 40 using the same operation as attaching and detaching the feeder 100 to the supply area 30A of the mounting machine 30. The encoder 53 is a device that detects the movement position in the X direction by the robot movement mechanism 51.

[0028] The monitoring sensor 54 is configured as a laser scanner having a light-emitting unit and a light-receiving unit. This monitoring sensor 54 detects obstacles by emitting laser light from the light-emitting unit and receiving reflected light from obstacles (e.g., workers) within the detection area with the light-receiving unit. The monitoring sensors 54 are installed on both the left and right sides so that the detection area covers a predetermined range in front of the mobile robot 50 in the direction of travel (left and right).

[0029] The robot control device 57 is equipped with a CPU, ROM, RAM, storage, etc., and controls the entire mobile robot 50. The robot control device 57 outputs drive signals to the robot movement mechanism 51 and the feeder transfer mechanism 52. The robot control device 57 receives detection signals from the encoder 53 to detect the current position of the mobile robot 50 in the X direction, and receives detection signals from the monitoring sensor 54 to restrict or allow the movement of the mobile robot 50 in the X-axis direction.

[0030] The feeder 100 is configured as a tape feeder equipped with a tape containing multiple components arranged at a predetermined pitch. The feeder 100 includes a reel around which the tape is wound, a tape feeding mechanism that pulls out and feeds the tape from the reel, a feeder control unit that controls the entire feeder, and a storage unit. In the feeder 100, the feeder control unit outputs a drive signal to the tape feeding mechanism, causing the tape to be fed out and the components contained on the tape to become ready to be picked up by the suction nozzle of the head 22. When the feeder 100 is connected to connector 34 or connector 44, the feeder control unit can communicate with the control unit to which it is mounted (mounting control device 37 or system control device 60) via these connectors 34 and 44.

[0031] The system control unit 60 controls the entire mounting system 10. As shown in Figure 2, the system control unit 60 is configured as a computer equipped with a CPU 61, ROM 62, RAM 63, storage 64, etc. The system control unit 60 receives various information from the feeder 100 attached to the supply area 30A via connector 34, and various information from the feeder 100 attached to the storage area 40A via connector 44. The system control unit 60 is communicatively connected to the mounting control unit 37, the feeder storage unit 40, and the robot control unit 57, and outputs various signals to them. The system control unit 60 also outputs a light emission signal to the light emission unit 48. Furthermore, the system control unit 60 receives information regarding the mounting status of the mounting machine 30 from the mounting control unit 37 and information regarding the driving status of the mobile robot 50 from the robot control unit 57.

[0032] As shown in Figure 2, the storage 64 stores production programs and feeder ownership information. The production program is a program that defines which components to mount on which circuit board using which mounting machine 30, and how many such mounted circuit boards to produce. The feeder ownership information is information about the feeders 100 set in each area: the supply area 30A, the robot transfer area, and the storage area 40A. The feeder ownership information 64b is, for example, information that associates area identification information that identifies each area, a slot number that represents the position of the feeder 100 within the area, and information such as the type of components stored in the feeder 100 and the remaining number of components stored in the feeder 100.

[0033] In this embodiment, the implementation control device 37 and the system control device 60 may be collectively referred to as control device C.

[0034] Next, the operation of the thus configured mounting system 10 will be described. First, the component mounting process performed by the mounting line 20 will be described. This process is performed by the mounting control devices 37 of each mounting machine 30 after receiving a production start instruction and production program from the system control device 60.

[0035] When the component mounting process begins, the mounting control device 37 first controls the substrate transport device 31 so that a substrate is fed in. Next, the mounting control device 37 controls the head movement mechanism 33 so that the head 32 moves above the component supply position on the feeder 100. Subsequently, the mounting control device 37 controls the head 32 to pick up components with the suction nozzle. Then, the mounting control device 37 controls the head movement mechanism 33 so that the components picked up by the suction nozzle move above the mounting position on the substrate. Next, the mounting control device 37 controls the head 32 so that the components picked up by the suction nozzle are mounted on the substrate. The mounting control device 37 repeats these processes, and after the mounting machine 30 has finished mounting all the components it will mount, it controls the substrate transport device 31 so that the substrate is discharged downstream.

[0036] Next, the replenishment or retrieval process performed by the robot control device 57 of the mobile robot 50 will be described. This process is performed after the system control device 60 inputs information regarding the location of the module M to be replenished or retrieved (hereinafter referred to as the target module) along with a replenishment or retrieval instruction. When this process starts, the robot control device 57 recognizes the position of the mobile robot 50 in the X-axis direction on the production line 20 based on the input signal from the encoder 53. Next, the robot control device 57 controls the robot movement mechanism 51 so that the mobile robot 50 moves to the target module. If, while the mobile robot 50 is moving in the direction of travel, a worker accidentally enters the detection area of ​​the monitoring sensor 54 in front of the mobile robot 50 in the direction of travel, the robot movement device 57 inputs a signal from the monitoring sensor 54 indicating that an obstacle has been detected in front of the direction of travel. Then, the robot control device 57 controls the robot movement mechanism 51 so that the mobile robot 50 stops. Then, if the monitoring sensor 54 inputs a signal indicating that it no longer detects an obstacle in the direction of travel, the robot control device 57 controls the robot movement mechanism so that the mobile robot 50 resumes moving toward the target module. Then, if the robot control device 57 determines, based on the input signal from the encoder 53, that the mobile robot 50 has reached the target module, the robot control device 57 controls the robot movement mechanism 51 so that the mobile robot 50 stops. Finally, the robot control device 57 controls the feeder transfer mechanism 52 so that a replenishment or retrieval operation of the feeder 100 is performed toward the target module.

[0037] Next, the light emission control processing routine performed by the CPU 61 of the system control device 60 will be explained using Figures 3 and 4. Figure 3 is a flowchart of an example of a light emission control processing routine. The light emission control processing routine is executed after a replenishment instruction or retrieval instruction is output to the mobile robot 50.

[0038] When this routine is started, the CPU 61 first determines whether or not the mobile robot 50 is moving (S100). Specifically, the CPU 61 communicates with the robot control device 57 to receive the detection signal from the encoder 53, and if the detection signal from the encoder 53 changes over time, it determines that the mobile robot 50 is moving and makes an affirmative judgment. Otherwise, the CPU 61 determines that the mobile robot 50 is stopped and makes a negative judgment. The mobile robot 50 may be stopped if, for example, a worker enters the detection area of ​​the monitoring sensor 54, causing the monitoring sensor 54 to detect an obstacle in front of the mobile robot 50 in the direction of travel, and the robot control device 57 controls the robot movement mechanism 51 to stop the movement of the mobile robot 50.

[0039] If a positive determination is made in S100, the CPU 61 recognizes the module M from which the sensor S is inputting an ON signal (S105). This process is executed as follows: The CPU 61 communicates with the mounting control device 37 of each mounting machine 30 to input the detection signal from the robot detection sensor 36 provided on each mounting machine 30. The CPU 61 then recognizes the module M that is inputting an ON signal. Here, if the position of the mobile robot 50 is in the overlapping area of ​​the detection ranges of the sensors S provided on adjacent module Ms, and ON signals are being input from the sensors S provided on each of the two module Ms, the CPU 61 recognizes that the two module Ms are modules M that are inputting an ON signal.

[0040] Next, the CPU 61 communicates with the robot control device 57 to receive detection signals from the encoder 53 and recognizes the direction of travel of the mobile robot (left or right) based on the input detection signals (S110). Then, the CPU 61 determines that each module M from the module M recognized in S105 that has input an ON signal to a predetermined number (2 in this embodiment) of modules M located forward in the direction of travel will be a lit module, and the remaining modules M will be a non-lit module (S115). A lit module is a module M whose light-emitting part L is lit and irradiates light R onto the floor surface F. A non-lit module is a module M whose light-emitting part L is turned off and does not irradiate light R onto the floor surface F. If in S105 the CPU 61 recognizes that two modules M have input an ON signal, the CPU 61 determines that each module M from the module M located behind the module M in the direction of travel to a module M located (a predetermined number + 1) forward in the direction of travel will be a lit module.

[0041] The CPU 61 then outputs a turn-on command to the lighting module and a turn-off command to the off module (S120). The control device C of module M that received a turn-on command maintains the lit state if the light-emitting part L is already lit, and turns on the light-emitting part L if it is not yet lit. The control device C of module M that received a turn-off command turns off the light-emitting part L if it is lit, and maintains the off state if the light-emitting part L is already off.

[0042] Here, we will explain the process when a negative determination is made in S100. If a negative determination is made in S100, the CPU 61 determines that all modules are off modules (S125). Next, the CPU 51 outputs an off command to the off modules (S130). The control device C of the module M that received the off command turns off the light-emitting part L if it is lit, or maintains the off state if the light-emitting part L is already off. After S120 or after S130, the CPU 61 terminates this routine.

[0043] Here, using Figure 4, an example of the processing in S100 to S120 when the mobile robot 50 is moving from right to left in the figure will be explained. If the CPU 61 determines that the mobile robot 50 is moving (YES in S100), first, as shown in Figure 4(a), the CPU 61 recognizes that the module M receiving the ON signal from the sensor S is the second mounting unit 30 from the right (S105), and obtains left as the direction of travel for the mobile robot 50 (S110). Next, the CPU 61 determines each module M from the second to fourth mounting units 30 from the right as a module to be lit, and the remaining modules M as modules to be turned off (S115). Then, the CPU 61 outputs a lit-up instruction to the lit-up modules and a turn-off instruction to the turn-off modules (S120). As a result, as shown in Figure 4(a), the light-emitting parts 38 provided on the second to fourth mounting units 30 from the right are lit, and a linear beam of light R is projected onto the floor surface F.

[0044] The CPU 61 repeatedly executes the processes from S100 to S120, and when the mobile robot 50 moves between the second and third mounting machines 30, as shown in Figure 4(b), the CPU 61 adds a lighting module to the module M in the direction of travel (the fifth mounting machine 30 from the right) (S115). The CPU 61 then outputs a lighting command to the lighting modules (the second to fifth mounting machines 30 from the right) and a turning-off command to the turning-off module (S120). As a result, as shown in Figure 4(b), the light-emitting parts 38 provided on the second to fifth mounting machines 30 from the right light up, and a linear beam of light R is projected onto the floor surface F.

[0045] The CPU 61 repeatedly executes the processes from S100 to S120, and as shown in Figure 4(c), when the mobile robot 50 moves in front of the third mounting machine 30, the CPU 61 determines that the third to fifth mounting machines 30 from the right are the illuminated modules (S115). At this time, the CPU 61 determines that the module M at the rear in the direction of travel (the second mounting machine 30 from the right) is the unilluminated module. Then, the CPU 61 outputs an illumination command to the illuminated modules and an unilluminated command to the unilluminated modules (S120). As a result, as shown in Figure 4(c), the light-emitting part 38 on the second mounting machine 30 from the right is turned off, the light-emitting parts 38 on the third to fifth mounting machines 30 from the right are turned on, and a linear beam of light R is projected onto the floor surface F.

[0046] In this way, in the implementation system 10, the loader light-emitting unit L irradiates a linear beam of light R extending in the X-axis direction onto the floor surface F of the mobile robot 50. Furthermore, in the implementation system 10, as the mobile robot 50 moves, the light-emitting units L located on modules M positioned in front of the direction of travel are sequentially designated as illuminated modules. Similarly, modules M positioned behind the direction of travel are sequentially designated as unlit modules. Then, an illumination command is output to the illuminated modules, and an unlit command is output to the unlit modules. Therefore, as the mobile robot 50 moves in the direction of travel, the linear beam of light R irradiated onto the floor surface F also moves in the direction of travel. Thus, the operator can intuitively grasp the area in front of the mobile robot 50 in the direction of travel, including the detection area of ​​the detection sensor 54. This prevents situations where the operator accidentally enters the detection area of ​​the mobile robot 50's monitoring sensor 54, causing the mobile robot 50 to stop. In addition, the light-emitting unit L emits light by receiving power from the commercial power supply, not from the mobile robot 50. Therefore, compared to the case where the mobile robot 50 is equipped with a light-emitting unit, the power consumption of the mobile robot 50 can be reduced. The mobile robot 50 receives the power necessary for operation from a non-contact power supply coil. Since it is difficult to obtain a large amount of power from a non-contact power supply coil, reducing the power consumption of the mobile robot 50 is of great significance.

[0047] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. Specifically, the mounting system 10 corresponds to the production system of the present disclosure, the mounting line 20 corresponds to the production line, the mobile robot 50 corresponds to the replenishment robot, and the light-emitting unit L corresponds to the light source unit. Furthermore, the CPU 61 that executes the processing of S105 and S110 of the replenishment processing routine corresponds to the acquisition unit, and the CPU 61 that executes the processing of S115 and S120 of the replenishment processing routine corresponds to the light source control unit.

[0048] In the implementation system 10 described in detail above, each of the multiple modules M is provided with a light-emitting unit L that illuminates the area around the direction of travel of the mobile robot onto the floor surface F with light R. This makes it easier for the worker to recognize the area around the direction of travel of the mobile robot 50. Furthermore, since the light-emitting unit L receives power from the commercial power supply rather than from the mobile robot 50, the power consumption of the mobile robot 50 can be reduced compared to when the light-emitting unit is provided on the mobile robot 50.

[0049] Furthermore, the implementation system 10 acquires the position of the mobile robot 50 relative to the implementation line 20 and the direction of travel of the mobile robot 50. Based on the acquired position of the mobile robot 50, it recognizes the module M facing the mobile robot 50 and illuminates the light-emitting parts L of each module M from the module M facing the mobile robot 50 to a predetermined number of modules M located ahead of the module M in the direction of travel of the mobile robot 50. This makes it easier for the operator to recognize the area around the direction of travel.

[0050] Furthermore, in the implemented system 10, as the mobile robot 50 moves in the direction of travel, the light-emitting parts L of module M located in front of the direction of travel are sequentially turned on, while the light-emitting parts L of module M located behind the direction of travel are sequentially turned off. As a result, the light R illuminating the area around the direction of travel moves along with the movement of the mobile robot 50. Therefore, it becomes easier for the operator to recognize the area around the direction of travel.

[0051] Furthermore, in the implemented system 10, the light-emitting unit L projects a linear beam of light onto the floor surface F on the opposite side of the module M from the mobile robot 50, along the direction in which the multiple modules M are arranged. This allows the boundary of the area around the direction of travel to be represented as a straight line along the direction in which the modules M are arranged, making it easier for the operator to recognize the area around the direction of travel.

[0052] It goes without saying that this disclosure is not limited in any way to the embodiments described above, and can be implemented in various forms as long as they fall within the technical scope of the present invention.

[0053] In the embodiment described above, in step S105 of the light emission control processing routine, the CPU 61 recognized, based on the detection signal from the sensor S, which is located in any module M of the mounting line 20 and is inputting an ON signal. However, in step S105 of the light emission control processing routine, the CPU 61 may also recognize, based on the position information input from the encoder 53, which module M of the mounting line 20 the mobile robot 50 is facing.

[0054] In the embodiment described above, in the light emission control processing routine S115, each module M from the module M recognized in S105 as receiving an ON signal from the sensor S to a predetermined number of modules M located forward in the direction of travel was determined to be a lit module. However, in S105, each module M from the module M recognized as receiving an ON signal from the sensor S to the target module may also be determined to be a lit module. Alternatively, in S105, all modules M located forward in the direction of travel from the module M recognized as receiving an ON signal from the sensor S may be determined to be a lit module.

[0055] In the embodiment described above, the number of modules M that light up the light-emitting section was set to a predetermined number (3 or 4). However, the CPU 61 may acquire the movement speed of the mobile robot 50 and increase the number of modules M that light up the light-emitting section L as the movement speed increases.

[0056] In the embodiment described above, the mounting line 20 includes a feeder storage unit 40 and a plurality of mounting machines 30. However, the mounting line 20 may also include a printing device for printing solder onto a substrate, a printing inspection device for inspecting the solder printed on the substrate by the printing device, a reflow device for melting the solder printed on the substrate, an appearance inspection device for inspecting the appearance of the substrate, etc. In this case, a light-emitting unit may be provided in the device that replenishes the materials necessary for production using a mobile robot 50.

[0057] In the embodiment described above, the mobile robot 50 receives the power necessary for its own movements and other operations via wireless power supply from the mounting line 20. However, the mobile robot 50 may also operate by receiving power from a battery. In this case, the operating time of the mobile robot 50 can be extended because the power consumption of the mobile robot 50 can be suppressed.

[0058] Furthermore, this specification also discloses a technical concept in which the "production system described in claim 1 or 2" in the original claim 4 has been changed to "production system described in any one of claims 1 to 3".

[0059] This disclosure can be used in mounting systems for placing components on a substrate, etc. [Explanation of Symbols]

[0060] 10 Assembly system, 20 Assembly line, 22 Head, 30 Assembly machine, 30A Supply area, 31 Board transport device, 32 Head, 33 Head movement mechanism, 34 Connector, 35 X-axis guide rail, 36 Robot detection sensor, 37 Assembly control device, 38 Light-emitting unit, 40 Feeder storage, 40A Storage area, 44 Connector, 46 Robot detection sensor, 48 Light-emitting unit, 50 Mobile robot, 51 Robot movement mechanism, 52 Feeder transfer mechanism, 53 Encoder, 54 Monitoring sensor, 55 Travel rail, 57 Robot control device, 60 System control device, 61 CPU, 62 ROM, 63 RAM, 64 Storage, 100 Feeder, C Control device, F Floor surface, L Light-emitting unit, M Module, R Light, S Sensor.

Claims

1. A production line including multiple modules arranged along the floor of the production facility, A supply robot moves along the aforementioned production line and supplies the necessary materials for production to each module, Each of the aforementioned multiple modules is provided with a light source unit that illuminates the floor surface in the area surrounding the direction of travel of the moving supply robot, A production system equipped with the following features.

2. A production system according to claim 1, An acquisition unit that acquires the position of the supply robot relative to the production line and the direction of travel of the supply robot, Based on the position of the supply robot acquired by the acquisition unit, the light source control unit recognizes the module facing the supply robot and causes the light source units of each module from the module facing the supply robot to a predetermined number of modules located in front of the supply robot in the direction of travel to emit light. A production system equipped with the following features.

3. A production system according to claim 1 or 2, As the supply robot moves in the direction of travel, the light source control unit sequentially illuminates the light sources of modules located in front of the direction of travel and sequentially turns off the light sources of modules located behind the direction of travel. A production system equipped with the following features.

4. A production system according to claim 1 or 2, The light source unit projects linear light onto the floor surface in a direction aligned with the arrangement of the multiple modules, on the side opposite to the module relative to the supply robot. Production system.

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