Work equipment and mounting system

Abstract

This work device comprises: a work device body that can move along a mounting line; a detection sensor that can detect a distance and an angle at each detection point of an obstacle within a detection range surrounding the work device body; a storage unit that previously stores profile information of a line constituting member installed on a movement path of the work device body; and a determining unit. When an obstacle has been detected by the detection sensor, the determining unit determines whether the obstacle is a system constituting member or an obstacle other than the system constituting member by comparing the profile information about the obstacle obtained on the basis of the distance and the angle of each detection point of the obstacle and the profile information of a line constituting member stored in the storage unit. The determining unit allows movement of the work device body when it has been determined that the obstacle is a system constituting member and prohibits movement of the work device body until the obstacle is not detected when it has been determined that the obstacle is an obstacle other than the system constituting member.

Description

Technical Field

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

Background Art

[0002] Conventionally, as this type of working device, an autonomous mobile robot equipped with an obstacle detection device that detects obstacles such as people, pillars, walls, and fixed objects has been proposed (see, for example, Patent Document 1). The obstacle detection device measures the three-dimensional coordinates of the surface of the obstacle object, simplifies the identification target by excluding environmental fixed obstacles recognized in association with a surface that is continuous in the vertical direction and has a predetermined size or more from the measured three-dimensional coordinates, and then extracts individual obstacle candidates. Then, the obstacle detection device forms feature quantity combination data by stratifying the three-dimensional coordinate data of the obstacle candidates in the vertical height direction, and identifies the obstacle by comparing it with the combination reference data of the obstacle model.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the device described in Patent Document 1, although the identification of obstacles is described, in an implementation system including a plurality of component mounting machines that constitute an implementation line and a working device that moves along the implementation line to supply necessary components, there is no mention of identifying line configuration members installed on the movement path of the working device and other interfering objects, or the corresponding measures after identifying the interfering objects.

[0005] The primary purpose of this disclosure is to provide a work device for supplying necessary components to multiple component mounting machines constituting a mounting line, which can identify and appropriately address line component members and other interfering objects installed on the movement path of the work device with a simple configuration. [Means for solving the problem]

[0006] This disclosure employs the following means to achieve the primary objectives described above.

[0007] The work apparatus of this disclosure is a work apparatus for supplying necessary parts to a plurality of component mounting machines constituting a mounting line, comprising: a work apparatus body movable along the mounting line; a detection sensor installed on the work apparatus body and capable of detecting the distance and angle of each detection point of an interfering object within a detection range around the work apparatus body; a storage unit that pre-stores external shape information of line components that constitute a part of the mounting line and are installed on the movement path of the work apparatus body; and, when an interfering object is detected by the detection sensor, the external shape information of the interfering object obtained based on the distance and angle of each detection point of the interfering object and the external shape information of the line components stored in the storage unit, thereby determining that the interfering object is line Determine whether the object is a component or another interfering object, and if the interfering object is line The gist of the invention is that it includes a determination unit that, when it determines that an object is a component, permits the movement of the work device body, and when it determines that an object is any other object, prohibits the movement of the work device body until the object is no longer detected.

[0008] The work apparatus of this disclosure includes a detection sensor capable of detecting the distance and angle of each detection point of an interfering object within a detection range around the work apparatus body, and pre-stores the external shape information of line components installed on the movement path of the work apparatus body in a storage unit. When an interfering object is detected by the detection sensor, the work apparatus compares the external shape information of the interfering object obtained based on the distance and angle of each detection point of the interfering object with the external shape information of the line components stored in the storage unit to determine if the interfering object is detected. lineIt determines whether the object is a component or another interfering object. Then, the work device determines if the interfering object is line If it is determined that the object is a component, the movement of the work device body is permitted. If it is determined that the object is any other type of interfering object, the movement of the work device body is prohibited until the object is no longer detected. This allows for a simple configuration of the work device Main unit It is possible to identify line components installed on the movement path and other interfering objects, and to respond appropriately.

[0009] The implementation system disclosed herein comprises multiple component mounting machines that constitute an implementation line, The main body of the work device and A detection sensor capable of detecting the distance and angle of each detection point of an interfering object within its surrounding detection range. and A work device that includes and moves along the mounting line to supply necessary parts to the multiple component mounting machines, and a work device that constitutes a part of the mounting line and the work device Main unit An implementation system comprising line components installed on a movement path, the storage unit which stores in advance external shape information of the line components, and the work device Main unit When an interfering object is detected by the detection sensor during movement, the external shape information of the interfering object, obtained based on the distance and angle of each detection point of the interfering object, is compared with the external shape information of the line component stored in the storage unit, thereby determining that the interfering object is line Determine whether the object is a component or another interfering object, and if the interfering object is line If it is determined to be a component, the work device Main unit The movement of the interfering object is permitted, and if it is determined that the interfering object is any other interfering object, the working device will continue to operate until the interfering object is no longer detected. Main unit The gist of it is that it includes a determination unit that prohibits the movement of the unit.

[0010] The implementation system disclosed in this book comprises multiple component mounting machines that constitute an implementation line, The main body of the work device and A detection sensor capable of detecting the distance and angle of each detection point of an interfering object within its detection range. and A work device including, and a work device Main unitIt includes a line component installed on the movement path of the working device, a storage unit that stores in advance the external shape information of the line component, and a determination unit. The determination unit Main unit When an interfering object is detected by the detection sensor during the movement of the working device, it compares the external shape information of the interfering object obtained based on the distance and angle for each detection point of the interfering object with the external shape information of the line component to determine whether the interfering object line is a component or other interfering object. Then, when the determination unit determines that the interfering object line is a component, it permits the movement of the working device Main unit . When it determines that the interfering object is other interfering object, it prohibits the movement of the working device until the interfering object is no longer detected Main unit . Thus, with a simple configuration, it is possible to identify the line component installed on the movement path of the working device and other interfering objects and appropriately respond to them. Main unit

Brief Description of Drawings

[0011] [Figure 1] It is a schematic configuration diagram of a component mounting system. [Figure 2] It is a schematic configuration diagram of a component mounter and a feeder table. [Figure 3] It is a schematic configuration diagram of a feeder. [Figure 4] It is a schematic configuration diagram of a loader. [Figure 5] It is a schematic configuration diagram of a component mounter and a tray feeder. [Figure 6] It is a block diagram showing the electrical connection relationship of the component mounting system. [Figure 7] It is an explanatory diagram explaining the monitoring area of the monitoring sensor. [Figure 8] It is a flowchart showing an example of the work process executed by the loader control device. [Figure 9] It is an explanatory diagram showing the state of detecting a tray feeder by the monitoring sensor. [Figure 10] It is an explanatory diagram showing the state of detecting a tray feeder by the monitoring sensor. [Figure 11] ​It is an explanatory diagram showing a state where a tray feeder is detected by a monitoring sensor. [Figure 12] It is an explanatory diagram showing a state where a tray feeder is detected by a monitoring sensor. [Figure 13] It is an explanatory diagram showing a state where a person is detected by a monitoring sensor.

Mode for Carrying Out the Invention

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

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

[0014] The component mounting system 10 produces a substrate S on which components are mounted. As shown in FIG. 1, it includes a printing device 12, a printing inspection device 14, a plurality (5 units) of component mounting devices 20 (20A to 20E), a mounting inspection device (not shown), a reflow furnace 16, a loader 50, a plurality (2 units) of feeder storage units 70, and a management device 90 that manages the entire system. The printing device 12 prints solder on the surface of the substrate S. The printing inspection device 14 inspects the state of the solder printed by the printing device 12. The component mounting device 20 picks up components with a suction nozzle (collecting member) and mounts them on the substrate S. The mounting inspection device inspects the mounting state of the components mounted by the component mounting device 20. The reflow furnace 16 heats the substrate S to melt the solder on the substrate S and solder the mounted components. The printing device 12, the printing inspection device 14, the plurality of component mounting devices 20, the mounting inspection device, and the reflow furnace 16 are aligned in this order from upstream along the conveyance direction of the substrate S to form a mounting line (production line).

[0015] As shown in Figure 2, the component mounting apparatus 20 includes a component supply unit 21 for supplying components, a substrate transport device 22 for transporting the substrate S from left to right, a head 25 for picking up components supplied from the component supply unit 21 and mounting them onto the substrate S, a head moving device 24 for moving the head 25 horizontally (in the XY axis direction), and a mounting control device 29 (see Figure 6). The head 25, although not shown, includes a suction nozzle for picking up components and a lifting device for raising and lowering the suction nozzle. The head moving device 24 includes a slider 24a to which the head 25 is attached, and a motor (e.g., a linear motor) for moving the slider 24a horizontally (in the XY direction).

[0016] The component supply unit 21 is located at the front of the component mounting device 20, and a tape feeder 30 (see Figure 3) and a tray feeder 80 (see Figure 5) are detachably mounted on the component supply unit 21. As shown in Figures 3 and 6, the tape feeder 30 includes a reel 32 around which tape containing components arranged at predetermined intervals is wound, and components are supplied by pulling the tape from the reel 32 using a tape feeding mechanism 33. The tray feeder 80 includes a tray in which components are arranged in an orderly fashion, and components are supplied by pulling out the tray using a tray feeding mechanism.

[0017] The component mounting device 20 also includes a mark camera 26, a parts camera 27, and a nozzle stocker 28. The mark camera 26 captures a reference mark on the substrate S from above in order to detect its position. The parts camera 27 captures a part held by the suction nozzle from below in order to detect suction errors or misalignment. The nozzle stocker 28 stores multiple suction nozzles of different sizes.

[0018] The mounting control device 29 consists of a well-known CPU 29a, ROM 29b, RAM 29c, and a storage device 29d such as a hard disk or SSD. The mounting control device 29 receives image signals from the mark camera 26 and parts camera 27. The mounting control device 29 also outputs drive signals to the board transport device 22, the head 25, the head moving device 24, and so on.

[0019] Furthermore, the mounting control device 29 is communicated via connectors 35 and 45 with the feeder control device 39 of the tape feeder 30 mounted on the feeder stand 40. When the tape feeder 30 is mounted, the mounting control device 29 receives feeder information such as the feeder ID, part type, and remaining number of parts contained in the feeder control device 39 of the tape feeder 30 from the feeder control device 39. The mounting control device 29 also transmits the received feeder information and the mounting position (slot number) where the tape feeder 30 is mounted to the management device 90.

[0020] The CPU 29a of the mounting control device 29 executes a mounting process to mount components onto the substrate S. During the mounting process, the CPU 29a moves the head 25 above the component supply position of the tape feeder 30 using the head moving device 24. Next, the CPU 29a lowers the suction nozzle using the lifting device to pick up the component with the suction nozzle. The CPU 29a moves the component picked up by the suction nozzle above the part camera 27 using the head moving device 24, and the part camera 27 takes an image of the component. The CPU 29a processes the captured image of the component to measure the amount of suction displacement of the component and corrects the mounting position of the component on the substrate S. Then, the CPU 29a moves the component picked up by the nozzle above the corrected mounting position using the head moving device 24, and lowers the suction nozzle using the lifting device to mount the component onto the substrate S.

[0021] Each of the multiple feeder storage units 70 is incorporated into the mounting line (between the component mounting device 20 located at the uppermost position in the board transport direction among the multiple component mounting devices 20 and the printing inspection device 14), and serves as a temporary storage location for multiple tape feeders 30. For example, one feeder storage unit 70 mainly stores tape feeders 30 that are scheduled to be used by each component mounting device 20, while the other feeder storage unit 70 mainly stores used tape feeders 30 that have been used by each component mounting device 20. Replenishing the feeder storage units 70 with tape feeders 30 scheduled for use and collecting used tape feeders 30 are performed by workers or automated guided vehicles (AGVs).

[0022] Each feeder storage unit 70 is equipped with a feeder stand that has multiple slots 42 and connectors 45, similar to the feeder stand 40 provided in the component mounting device 20. When a tape feeder 30 is attached to a connector 45 in the feeder storage unit 70, feeder information such as the feeder ID, component type, and remaining number of components of the tape feeder 30, as well as the attachment position (slot number) in which the tape feeder 30 is attached, is transmitted to the management device 90.

[0023] As shown in Figure 1, the loader 50 moves along the line in front of the component mounting system 10 (mounting line) to retrieve tape feeders 30 to be used from the feeder storage unit 70 and replenish them to each component mounting device 20, and removes used tape feeders 30 from each component mounting device 20 and returns them to the feeder storage unit 70. As shown in Figures 4 and 6, the loader 50 comprises a loader body 50a, a loader moving device 51, a feeder transfer device 53, and a loader control device 59.

[0024] The loader moving device 51 moves the loader body 50a along a guide rail 18 positioned in front of the mounting line. This loader moving device 51 includes an X-axis motor 52a that drives a drive belt for moving the loader body 50a, and guide rollers 52b that roll along the guide rail 18 to guide the movement of the loader 50.

[0025] The feeder transfer device 53 transfers the tape feeder 30 between the component mounting device 20 and the loader 50 when the loader 50 is facing one of the component mounting devices 20, or transfers the tape feeder 30 between the feeder storage unit 70 and the loader 50 when the loader 50 is facing the feeder storage unit 70. The feeder transfer device 53 includes a clamping section 54 for clamping the tape feeder 30 and a Y-axis slider 55 for moving the clamping section 54 along the Y-axis guide rail 55b. The Y-axis slider 55 is equipped with a Y-axis motor 55a, which drives the clamping section 54 in the forward / backward direction (Y-axis direction).

[0026] The loader control device 59 consists of a well-known CPU 59a, ROM 59b, RAM 59c, and a storage device 59d such as a hard disk or SSD. The loader control device 59 receives detection signals from a position sensor 61 and two monitoring sensors 62 on the left and right. The position sensor 61 is an encoder and detects the position P of the loader body 50a along its movement path. The loader control device 59 calculates the movement speed of the loader body 50a based on the movement position detected by the position sensor 61. The loader control device 59 also outputs drive signals to the loader moving device 51 and the feeder transfer device 53.

[0027] The two monitoring sensors 62, one on the left and one on the right, monitor the presence or absence of interference within the semicircular area surrounding the loader body 50a, which is designated as monitoring area A. Figure 7 is an explanatory diagram illustrating the monitoring areas of the monitoring sensors. As shown in the figure, the left monitoring sensor 62 is mounted on the left side of the loader body 50a (opposite side from the board transport direction) and can mainly detect interference to the left of the loader body 50a. The right monitoring sensor 62 is mounted on the right side of the loader body 50a (same side as the board transport direction) and can mainly detect interference to the right of the loader 50.

[0028] Each monitoring sensor 62 detects the distance, angle, and relative velocity to an interfering object within the monitoring area A. In this embodiment, it is configured as a FMCW (Frequency Modulation Continuous Wave) MIMO (Multi-Input Multi-Output) radar sensor. The monitoring sensor 62 includes a transmitting antenna section 62a containing a plurality of (M) transmitting antennas arranged in an array at predetermined intervals, and a receiving antenna section 62b containing a plurality of (N) receiving antennas arranged in an array in the same direction as the transmitting antennas at intervals different from those of the transmitting antennas. By transmitting signals from the M transmitting antennas and simultaneously receiving them with the N receiving antennas, it can be considered a radar device that receives signals with M × N virtual receiving antennas for each transmitting antenna.

[0029] The monitoring sensor 62 transmits a frequency-modulated chirp signal from the transmitting antenna unit 62a, receives the reflected wave from the interfering object as a received signal in the receiving antenna unit 62b, and generates a beat signal, which is the difference frequency between the received signal and the transmitted signal. Based on the beat signal, the monitoring sensor 62 detects the distance to the interfering object. Furthermore, if the interfering object is moving, the received signal contains a frequency component corresponding to the relative velocity of the interfering object due to the Doppler effect, so the monitoring sensor 62 can also calculate the relative velocity of the interfering object. In addition, if the distance to the interfering object is sufficiently far from the spacing between each transmitting and receiving antenna, and the reflected wave from the interfering object can be considered a plane wave, a difference based on the angle of the interfering object occurs in the distance until the reflected wave is received by each receiving antenna. Therefore, a phase difference occurs between the received signals received by each receiving antenna according to the distance to reception. For this reason, the monitoring sensor 62 can also calculate the angle of the interfering object (angle with respect to a predetermined axis) based on the phase difference of each received signal. In this embodiment, the monitoring sensor 62 calculates the angle of the interfering object as the angle with respect to the Y axis.

[0030] The management device 90 is a general-purpose computer, and as shown in Figure 6, it consists of a CPU 91, ROM 92, RAM 93, and storage devices 94 such as a hard disk or SSD. The management device 90 is electrically connected to input devices 95 such as a keyboard or mouse and a display 96 such as a liquid crystal display device. The storage device 94 stores production plans, feeder ownership information, job information, status information, etc. This information is managed for each component mounting device 20. Here, the production plan is a plan that specifies which components to mount in what order in each component mounting device 20, and how many boards S (products) with such mounting will be manufactured (produced). The feeder ownership information is information about the tape feeders 30 owned by each component mounting device 20 and the feeder storage unit 70. The feeder ownership information includes feeder information such as feeder ID, component type, and remaining component count, as well as location information such as the device that owns the tape feeder 30 (component) (which component mounting device 20 or which feeder storage unit 70 it is) and the mounting position (slot number) of the tape feeder 30. The job information is information about the mounting process (job) that each component mounting device 20 should perform. This job information includes the type of circuit board to be produced, the type of component to be mounted, the mounting position for each component, and the components that each component mounting device 20 should mount. The status information is information indicating the operating status of each component mounting device 20. This status information includes statuses such as "in production," "changing setup," and "anomaly occurred."

[0031] The management device 90 is connected to the mounting control device 29 via a wired connection and exchanges various information with each component mounting device 20 of the component mounting system 10. The management device 90 receives operating status from each component mounting device 20 and updates the status information to the latest information. The management device 90 is also connected to the feeder control device 39 of the tape feeder 30 attached to the feeder stand 40 of each component mounting device 20 via the mounting control device 29. When the tape feeder 30 is removed from or attached to the component mounting device 20 or feeder storage 70, the management device 90 receives the attachment / detachment status from the corresponding component mounting device 20 or feeder storage 70 and updates the feeder ownership information to the latest information.

[0032] Furthermore, the control device 90 is wirelessly connected to the loader control device 59 and also manages the operation of the loader 50. Specifically, the CPU 91 of the control device 90 searches the feeder holding information in the feeder storage 70 for the parts necessary for the production of the next type of part in each part mounting machine 20 based on the production plan, and sends a supply command to the loader 50 so that a tape feeder 30 containing the corresponding parts is supplied to the target part mounting machine 20. The CPU 91 also sends a retrieval command to the loader 50 to collect used tape feeders 30 generated in each part mounting machine 20.

[0033] Figure 8 is a flowchart showing an example of a work process performed by the loader control device 59. This process is performed when a work command (the replenishment command or retrieval command described above) is received from the management device 90. If the tray feeder 80 is installed in front of any of the multiple component mounting devices 20, in order to prevent interference between the loader 50 and the tray feeder 80, the loader 50 is given a work command specifying a work position within its traversable range, from the feeder storage unit 60 to just before the tray feeder 80.

[0034] When a work process is executed, the CPU 59a of the loader control device 59 first determines whether or not an obstruction has been detected by the monitoring sensor 62 (step S100). If the CPU 59a determines that no obstruction has been detected, it determines whether or not the loader body 50a is stopped (step S110). This determination can be made based on the moving speed calculated from the moving position detected by the position sensor 61. If the CPU 59a determines that the loader body 50a is stopped, it controls the loader moving device 51 to start moving toward the work position (step S120) and proceeds to step S230. On the other hand, if the CPU 59a determines that the loader body 50a is not stopped but moving, it skips step S120 and proceeds to step S230.

[0035] Next, the CPU 59a obtains the movement position from the position sensor 61 (step S230) and determines whether or not the specified work position has been reached based on the obtained movement position (step S240). If the CPU 59a determines that the work position has not been reached, it returns to step S100 and continues moving. On the other hand, if the CPU 59a determines that the work position has been reached, it controls the loader moving device 51 to stop the movement of the loader 50 (step S250), executes the above-mentioned work related to the work command (step S260), and ends the work process.

[0036] If the CPU 59a determines in step S100 that an interference object has been detected, it determines whether the number of detection points for the interference object is two or more, or a predetermined number (step S130). If the CPU 59a determines that the number of detection points is less than the predetermined number, it returns to step S100 and waits until the number of detection points is two or more. On the other hand, if the CPU 59a determines that the number of detection points is two or more, it obtains the distance and angle for each detection point of the interference object (step S140), and calculates the outline of the interference object within monitoring area A from the obtained distance and angle for each detection point (step S150). The outline of the interference object can be calculated by calculating the coordinates of each detection point from the distance and angle for each detection point, and then calculating the coordinates of each detection point. Next, the CPU 59a reads the outline of the tray feeder 80 that has been pre-registered in the storage device 59d (step S160), and determines whether the outlines of the two match (step S170). This determination is made by determining, through pattern matching or other means, whether or not there is a part of the tray feeder 80's outer shape that matches the outer shape of the interfering object detected within monitoring area A.

[0037] If the CPU 59a determines that the shape of the interfering object detected by the monitoring sensor 62 matches the shape of the tray feeder 80, it determines whether the loader body 50a is moving (step S180). If the CPU 59a determines that the loader body 50a is moving, it obtains the moving speed calculated based on the moving position detected by the position sensor 61 (step S190), and also obtains the relative speed with respect to the interfering object detected by the monitoring sensor 62 (step S200), and determines whether the speeds of the two match (step S210). This determination determines whether the interfering object is stationary or not. The determinations in step S170 and step S210 determine whether the interfering object detected by the monitoring sensor 62 is the tray feeder 80 installed on the travel path of the loader 50.

[0038] If the CPU 59a determines that the external shape does not match or that the speed does not match (it is not a stationary object), it determines that the interfering object detected by the monitoring sensor 62 is not the tray feeder 80 but another interfering object such as a worker, and controls the loader moving device 51 to make an emergency stop of the loader body 50a to avoid a collision with the interfering object (step S220), and returns to step S100. On the other hand, if the CPU 59a determines that the external shape and speed match (it is a stationary object), it determines that the interfering object detected by the monitoring sensor 62 is the tray feeder 80, and proceeds to step S230 while continuing to move.

[0039] In step S170, the CPU 59a determined that the external shapes matched, but in step S180, it determined that the loader body 50a was not moving, i.e., stopped. Without determining whether the speeds matched, the CPU 59a determined that the interfering object was the tray feeder 80 and controlled the loader moving device 51 to start moving toward the work position (step S120), and proceeded to step S230.

[0040] Figures 9 to 12 are explanatory diagrams showing how the monitoring sensor detects the tray feeder. Figure 13 is an explanatory diagram showing how the monitoring sensor detects a person (worker). As shown in the figures, when the loader 50 is moving to a designated work position, the monitoring sensor 62 detects an obstruction, and when the number of detection points P of the obstruction exceeds a predetermined number, it performs a recognition process to determine whether the obstruction is a tray feeder 80 based on the information (distance and angle) for each detection point P. As shown in the figures, the tray feeder 80 is a plane whose detection surface detected by the monitoring sensor 62 extends in a direction perpendicular to the direction of movement of the loader 50. In contrast, since the detection surface detected by the monitoring sensor 62 for the worker, who is the target of monitoring, is an uneven surface, by pre-registering the outline of the tray feeder 80, it is possible to easily distinguish between the tray feeder 80 and the worker from the information for each detection point P.

[0041] In this embodiment, the CPU 59a uses a monitoring sensor 62 configured as a MIMO radar sensor to detect the outline of an interfering object and compares it with the outline of a pre-registered tray feeder 80 to select whether to recognize the interfering object and continue moving or to make an emergency stop. As a result, even if a work position is specified near the tray feeder 80, the loader 50 can move to the work position and perform the necessary work without making an emergency stop before reaching the work position, even if the tray feeder 80 is detected by the monitoring sensor 62. If the monitoring sensor 62 contains a predetermined number or more detection points P of the interfering object, the CPU 59a detects the outline of the interfering object within the range of those detection points and determines whether there is a part of the pre-registered outline of the tray feeder 80 that matches the outline of the detected interfering object. This makes it possible to quickly recognize the interfering object while ensuring a certain level of detection accuracy. Furthermore, while the loader body 50a is moving, the CPU 59a recognizes the tray feeder 80 by determining whether the interfering object is stationary based on whether the external shape matches, and whether the movement speed of the loader body 50a calculated from the movement position detected by the position sensor 61 matches the relative speed with the interfering object detected by the monitoring sensor 62. Therefore, it can accurately recognize whether the interfering object is a tray feeder 80. Also, when the loader body 50a is stopped, the CPU 59a determines whether the interfering object is a tray feeder 80 based only on whether the external shape matches. Therefore, it can appropriately recognize the interfering object even before the loader body 50a starts moving, such as immediately after power-on.

[0042] Here, we will explain the correspondence between the main elements of this embodiment and the main elements described in the claims section. Specifically, in this embodiment, the loader body 50a corresponds to the work device body, the monitoring sensor 62 corresponds to the detection sensor, the storage device 59d corresponds to the storage unit, the tray feeder 80 corresponds to the line component, and the CPU 59a corresponds to the determination unit. In addition, the position sensor 61 and the CPU 59a, which calculates the movement speed based on the movement position from the position sensor 61, correspond to the speed detection unit.

[0043] 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 this disclosure.

[0044] For example, in the embodiment described above, the loader 50 identifies the interfering object detected by the monitoring sensor 62, but this may be done by the management device 90. That is, the external shape of the tray feeder 80 as a line component is pre-registered in the storage device 94 of the management device 90. When an interfering object is detected in the monitoring area A by the monitoring sensor 62, the CPU 91 of the management device 90 obtains the detection information from the loader 50 via communication, and identifies the interfering object by comparing the external shape of the interfering object obtained from the acquired detection information with the pre-registered external shape of the tray feeder 80.

[0045] As described above, the work device of this disclosure is equipped with a detection sensor capable of detecting the distance and angle of each detection point of an interfering object within the detection range around the work device body, and stores the external shape information of line components installed on the movement path of the work device body in a storage unit in advance. When an interfering object is detected by the detection sensor, the work device compares the external shape information of the interfering object obtained based on the distance and angle of each detection point of the interfering object with the external shape information of the line components stored in the storage unit, thereby detecting the interfering object. line It determines whether the object is a component or another interfering object. Then, the work device determines if the interfering object is line If it is determined that the object is a component, the movement of the work device body is permitted. If it is determined that the object is any other type of interfering object, the movement of the work device body is prohibited until the object is no longer detected. This allows for a simple configuration of the work device Main unit It is possible to identify line components installed on the movement path and other interfering objects, and to respond appropriately.

[0046] In the work apparatus of the present disclosure, the determination unit determines that the interfering object is the same as the line component based on whether the external shape information of the interfering object and the external shape information of the line component match at a predetermined number of detection points. lineIt may be determined that it is a component. In this case, the interfering object can be identified as soon as a part of it enters the detection range.

[0047] Furthermore, the work apparatus of this disclosure includes a speed detection unit for detecting the movement speed of the work apparatus body, the detection sensor is further capable of detecting the relative speed with respect to an interfering object, and the determination unit compares the external shape information of the interfering object with the external shape information of the line component, and compares the relative speed with respect to the interfering object with the movement speed of the work apparatus body, thereby determining if the interfering object is line It is also possible to determine whether it is a component or some other interfering object. In this way, in addition to comparing external shape information, it is possible to determine whether the interfering object is stationary or not. line The accuracy of recognizing whether or not something is a component can be further improved. In this case, when the work device body is moving, the determination unit compares the external shape information of the interfering object with the external shape information of the line component, and compares the relative speed with the interfering object with the moving speed of the work device body, thereby determining whether the interfering object is line It is determined whether the object is a component or another interfering object, and when the work device body is stopped, the external shape information of the interfering object is compared with the external shape information of the line component to determine whether the interfering object is line It may also be possible to determine whether it is a component or some other interfering object. In this way, even when the work device itself is stopped, the interfering object detected by the detection sensor will be line It is possible to determine whether or not something is a component.

[0048] In this disclosure, the form is described as a work device, but it may also be described as an implementation system. [Industrial applicability]

[0049] This disclosure is applicable to the manufacturing industry, including work equipment and mounting systems. [Explanation of Symbols]

[0050] 10 Component mounting system, 12 Printing device, 14 Print inspection device, 16 Reflow oven, 18 Guide rail, 20 Component mounting device, 21 Component supply unit, 22 Board transport device, 24 Head moving device, 24a Slider, 25 Head, 26 Mark camera, 27 Part camera, 28 Nozzle stocker, 29 Mounting control device, 29a CPU, 29b ROM, 29c RAM, 29d Storage device, 30 Tape feeder, 32 Reel, 33 Tape feeding mechanism, 35 Connector, 39 Feeder control device, 40 Feeder stand, 42 Slot, 45 Connector, 50 Loader, 50a Loader body, 51 Loader moving device, 52a X-axis motor, 52b Guide roller, 53 Feeder transfer device, 54 Clamp unit, 55 Y-axis slider, 55a Y-axis motor, 55b Y-axis guide rail, 59 Loader control device, 59a CPU, 59b ROM, 59c RAM, 59d Storage device, 60 Feeder storage, 61 Position sensor, 62 Monitoring sensor, 62a Transmitting antenna unit, 62b Receiving antenna unit, 70 Feeder storage, 80 Tray feeder, 90 Management device, 91 CPU, 92 ROM, 93 RAM, 94 Storage device, 95 Input device, 96 Display.

Claims

1. A work device for supplying necessary components to multiple component mounting machines that make up a mounting line, A work device body that is movable along the aforementioned assembly line, A detection sensor is installed on the main body of the work device and is capable of detecting the distance and angle of each detection point of an interfering object within the detection range surrounding the main body of the work device. A storage unit that stores in advance information on the external shape of line components which constitute a part of the mounting line and are installed on the movement path of the work device body, When an interfering object is detected by the detection sensor, the determination unit compares the external shape information of the interfering object, obtained based on the distance and angle of each detection point of the interfering object, with the external shape information of the line component stored in the storage unit to determine whether the interfering object is a line component or another interfering object. If it is determined that the interfering object is a line component, the determination unit permits the movement of the work device body. If it is determined that the interfering object is another interfering object, the determination unit prohibits the movement of the work device body until the interfering object is no longer detected. A speed detection unit for detecting the movement speed of the main body of the work device, Equipped with, The aforementioned detection sensor is also capable of detecting the relative speed with respect to the interfering object. When the work device body is moving, the determination unit determines whether the interfering object is a line component or another interfering object by comparing the external shape information of the interfering object with the external shape information of the line component and by comparing the relative speed with the interfering object with the moving speed of the work device body; when the work device body is stopped, the determination unit determines whether the interfering object is a line component or another interfering object by comparing the external shape information of the interfering object with the external shape information of the line component. Work equipment.

2. A work apparatus according to claim 1, The determination unit determines that the interfering object is the line component based on whether the external shape information of the interfering object matches the external shape information of the line component at a predetermined number of detection points. It is determined that Work equipment.

3. A mounting system comprising: a plurality of component mounting machines constituting a mounting line; a work device that supplies necessary components to the plurality of component mounting machines, including a work device body that is movable along the mounting line and a detection sensor capable of detecting the distance and angle of each detection point of an interfering object within a detection range around the work device body; and a line component member that constitutes a part of the mounting line and is installed on the movement path of the work device body, A storage unit that pre-stores information about the external shape of the line component, When an obstruction is detected by the detection sensor while the work device body is moving, the determination unit compares the external shape information of the obstruction, obtained based on the distance and angle of each detection point of the obstruction, with the external shape information of the line component stored in the storage unit to determine whether the obstruction is a line component or another obstruction. If it is determined that the obstruction is a line component, the determination unit permits the movement of the work device body. If it is determined that the obstruction is another obstruction, the determination unit prohibits the movement of the work device body until the obstruction is no longer detected. Equipped with, The work device includes a speed detection unit that detects the movement speed of the work device body, The aforementioned detection sensor is also capable of detecting the relative speed with respect to the interfering object. When the work device body is moving, the determination unit determines whether the interfering object is a line component or another interfering object by comparing the external shape information of the interfering object with the external shape information of the line component and by comparing the relative speed with the interfering object with the moving speed of the work device body; when the work device body is stopped, the determination unit determines whether the interfering object is a line component or another interfering object by comparing the external shape information of the interfering object with the external shape information of the line component. Implementation System

Images