Management device, management method, management program, and component mounting system for transport robots.

Abstract

To reduce a possibility for a mounting operation of a surface mounting machine to be stopped by exhausting components of a component holder in which the other component holder is not set for supplying the same kind of components instead in a case where components are exhausted.SOLUTION: The present invention relates to a production management PC 15 for managing a carrier robot 13 automatically carrying a cassette 20 to a surface mounting machine 21 including an attachment part 32B to which the cassette 20 holding a component 40 to be mounted on a substrate P is attached. The carrier robot 13 includes an exchange part for removing a cassette 20, in which the component is exhausted, from the attachment part 32B and attaching a cassette 20 for exchange loaded in the carrier robot 13 to the attachment part 32B. The production management PC 15 comprises a control section 70 and a communication section 72 for communicating with the carrier robot 13. The control section 70 instructs the carrier robot 13 to move to the surface mounting machine 21 before the component in the cassette 20, of which alternate cassette setting is "absent", in the cassettes 20 attached to the attachment part 32B and to wait in a state where the removal of the cassette 20 is prepared.SELECTED DRAWING: Figure 12

Description

Technical Field

[0001] The technology disclosed in this specification relates to a management device, a management method, a management program, and a component mounting system for a transfer robot that transfers a component holder to a surface mounter having a mounting portion to which a component holder holding a component to be mounted on a substrate is attached.

Background Art

[0002] Conventionally, a component holder holding a component to be mounted on a substrate has been automatically supplied to a surface mounter having a mounting portion to which the component holder is attached (see, for example, Patent Document 1). Specifically, the component mounting system described in Patent Document 1 includes a moving table that can travel between a component storage and a plurality of mounting machine modules (corresponding to surface mounters), and a replenishment unit that is mounted on the moving table, supports a component supply element (corresponding to a component holder), replenishes the component supply element to the plurality of mounting machine modules, and recovers it from the plurality of mounting machine modules.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the component mounting system described in Patent Document 1 had room for improvement in reducing the downtime of the mounting machine module due to component shortage. In this specification, a technology is disclosed that can reduce the possibility that a component holder for which no other component holder for supplying the same type of component is set when the component runs out will run out of components and cause the mounting operation of the surface mounter to stop.

Means for Solving the Problems

[0005] A management device for managing a transport robot that transports component holders to a surface mount machine having a mounting section to which the component holders are attached, wherein the transport robot has a replacement section for removing a component holder that has run out of components from the mounting section and attaching a replacement component holder mounted on the transport robot to the mounting section, the management device comprises a control unit and a communication unit for communicating with the transport robot, the control unit instructs the transport robot to move to the surface mount machine before a component holder runs out of components among the one or more component holders attached to the mounting section, for which no other component holder is set to supply the same type of component in the event that the component holder runs out of components, and to wait in a state where it is ready to remove the component holder. [Effects of the Invention]

[0006] According to the above configuration, the possibility of a component holder running out of parts and causing the surface mount machine to stop operating is reduced, as there are no other component holders set up to supply similar parts in case of a component shortage. [Brief explanation of the drawing]

[0007] [Figure 1] Schematic diagram of the component mounting system according to Embodiment 1 [Figure 2] Top view showing the schematic configuration of a surface mount machine. [Figure 3] Side view of the head unit [Figure 4] A schematic perspective view of a cassette. [Figure 5] Schematic diagram showing the installation of a cassette into a parts supply device. [Figure 6] Side view showing the schematic configuration of the temporary stand. [Figure 7] A top view showing the schematic configuration of the parts supply device and transport robot (before docking). [Figure 8] A top view showing the schematic configuration of the parts supply device and transport robot (after docking). [Figure 9]Schematic diagram for explaining removal of cassette [Figure 10] Block diagram showing electrical configuration of production management PC [Figure 11] Schematic diagram of setup list [Figure 12] Flowchart of process for instructing cassette replacement<00​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​​(1) The management device for a transfer robot according to the present disclosure is a management device that manages a transfer robot that transfers a component holder that holds components mounted on a substrate to a surface mounter having a mounting portion to which the component holder is attached. The transfer robot has an exchange unit that removes the component holder that has run out of components from the mounting portion and attaches the replacement component holder mounted on the transfer robot to the mounting portion. The management device includes a control unit and a communication unit that communicates with the transfer robot. The control unit instructs the transfer robot to move to the surface mounter before the component holder that has run out of components and for which no other component holder that supplies the same type of components is set among one or more component holders attached to the mounting portion runs out of components, and to wait in a state where preparations for removing the component holder are complete.

[0009] When attaching a replacement component holder to the surface mounter, first, the component holder that has run out of components is removed from the mounting portion of the surface mounter, and in some cases, the replacement component holder is attached to the mounting portion where the component holder that has run out of components was attached. For example, Patent Document 1 mentioned above describes that "first, the tape feeder 34 that has run out of components may be collected by the feeder recovery unit 51B of the feeder supply unit 51, and then, the tape feeder 34 to be supplied may be supplied to the empty slot."

[0010] When a transport robot removes a component holder from the mounting section of a surface mount machine, preparatory actions may be required to remove the component holder. In such cases, if the preparatory actions begin only after the component holder has run out of parts, it will take time for a replacement component holder to be installed. If there is no other component holder set up to supply the same type of part in case of a component holder running out of parts, the mounting operation of the surface mount machine may stop if it takes time for a replacement component holder to be installed. The component mounting system described in Patent Document 1 did not address this issue (the issue that the mounting operation of the surface mount machine may stop if the preparatory actions begin only after the component holder has run out of parts).

[0011] According to the management device described in (1) above, the transport robot is instructed to move to the surface mount machine and wait in a ready state to remove the component holder before it runs out of parts, for component holders that are not set up to supply the same type of parts in case the component holder runs out of parts. Therefore, when a component holder for which no other component holder is set up to supply the same type of parts in case the component holder runs out of parts, the transport robot can quickly remove the component holder that has run out of parts. Therefore, according to the management device described in (1) above, the possibility that the mounting operation of the surface mount machine will stop when a component holder for which no other component holder is set up to supply the same type of parts in case the component holder runs out of parts can be reduced.

[0012] (2) The control unit may set a higher priority for the part holders that hold the parts that will be used next sooner after the part supply becomes unavailable, and instruct the transport robot to replace the part holders in order of priority.

[0013] The phrase "unable to supply parts" above is not limited to cases where a parts holder runs out of parts. For example, if a parts holder has other parts holders that supply the same type of part if the original part runs out, then the part can still be supplied by the other parts holders even if the original part runs out. "Unable to supply parts" refers to the case where all parts holders that hold the same type of part run out of parts.

[0014] The term "a parts holder that holds a part that will be used sooner after the supply of that part has become unavailable" is not limited to a parts holder that holds a part that will become unavailable sooner. For example, suppose a component holder (let's call it component holder A) is installed to hold component A, and another component holder (let's call it component holder B) is installed to hold component B, and neither of these is equipped with another component holder that can supply the same type of component. In this case, if component A and then B become unavailable, component A will become unavailable first. In this case, if part holder A runs out of parts (i.e., part A becomes unavailable), and the next time part A is used is 10:00, and part holder B runs out of parts (i.e., part B becomes unavailable), and the next time part B is used is 10:10, then part A is the part that will be used earlier after it becomes unavailable. Therefore, in this case, part holder A is given a higher priority than part holder B.

[0015] In contrast, if part A becomes unavailable and the next time part A is used is 10:20, then the part that will be used earlier after part A becomes unavailable is part B. In this case, although part A becomes unavailable earlier, part holder B is given a higher priority than part holder A. "The component that will be used sooner after the supply of other components becomes unavailable" can also be rephrased as "the component that will cause the surface mount machine to stop operating sooner if the supply of other components becomes unavailable."

[0016] According to the management device described in (2) above, after a component supply becomes unavailable, a higher priority is set for component holders that hold the next component to be used, thus reducing the possibility that the mounting operation of the surface mount machine will stop due to a component supply failure. In the management device described in (2) above, if a component holder has the highest priority and no other component holder is set to supply the same type of component in case of component depletion, the transport robot will move to the surface mount machine before the component holder runs out of components and wait in a state where it is ready to remove the component holder. If the component holder has a low priority, the transport robot will replace it with another component holder with a higher priority and then wait in a state where it is ready to remove the component holder before the component holder runs out of components.

[0017] (3) The control unit may instruct the transport robot to replace the other component holders before the component holder with the highest priority if it can complete the replacement of the other component holders before the component holder with the highest priority runs out of parts.

[0018] According to the management device described in (3) above, the replacement of all component holders is completed earlier compared to replacing the component holder with the highest priority first, and then replacing the other component holders. As a result, the transport robot can start transporting component holders to another surface mount machine at an earlier stage. This reduces the possibility of the mounting operation of the other surface mount machine stopping.

[0019] (4) The transport robot transports the component holders to a plurality of surface mount machines, and the control unit may determine whether it can complete the replacement of the other component holders before the component holder with the highest priority runs out of components, taking into account the travel time between the surface mount machines.

[0020] If a component holder attached to another surface mount machine needs to be replaced before the highest-priority component holder, travel time is required because the robot will need to move between the surface mount machine containing the highest-priority component holder and the other surface mount machine. In this case, if the travel time of the transport robot is not taken into account, the replacement of the highest-priority component holder may not be completed in time, and the mounting operation of the surface mount machine containing the highest-priority component holder may stop.

[0021] According to the management device described in (4) above, it is determined whether the replacement of other component holders can be completed before the component holder with the highest priority runs out of parts, taking into account the travel time between surface mount machines. This reduces the possibility of the surface mount machine with the highest priority component holder installed stopping its mounting operation, while allowing lower-priority component holders to be replaced first.

[0022] (5) If there are multiple other component holders that can be replaced before the component holder with the highest priority runs out of parts, the control unit may instruct the transport robot to replace the other component holders before the component holder with the highest priority, and to prioritize the replacement of the component holder attached to the surface mount machine to which the component holder with the highest priority is attached.

[0023] For example, suppose the first component holder attached to the first surface mount machine has the highest priority, followed by the second component holder attached to the second surface mount machine, then the third component holder attached to the first surface mount machine, and then the fourth component holder attached to the second surface mount machine.

[0024] In this case, if the robot is instructed to replace the other component holders (the second to fourth component holders) before the first component holder, which has the highest priority, and to replace the other component holders while maintaining their priority, the transport robot will operate as follows. In the following operation, it is assumed that the surface mount machine where the transport robot is currently located is the first surface mount machine (the surface mount machine to which the highest priority component holder is attached). The transport robot moves from the first surface mount machine to the second surface mount machine and replaces the second component holder. The transport robot then moves from the second surface mount machine to the first surface mount machine and replaces the third component holder. The transport robot then moves from the first surface mount machine to the second surface mount machine and replaces the fourth component holder. The transport robot then moves from the second surface mount machine to the first surface mount machine and waits, ready to remove the first component holder.

[0025] In the operation described above, the transport robot has to make two round trips between the first and second surface mount machines, which is inefficient. According to the control device described in (5) above, it instructs the surface mount machine to prioritize the replacement of the component holder that has the highest priority among multiple other component holders. Therefore, the replacement order will be the third component holder, the second component holder, the fourth component holder, and the first component holder, and the round trip between the first and second surface mount machines will be only once. This reduces movement between surface mount machines and allows for efficient replacement of component holders.

[0026] [Details of the embodiments of this disclosure] Embodiments of the present disclosure are described below. The present disclosure is not limited to these examples, but is indicated by the claims, and all modifications within the meaning and scope equivalent to the claims are intended. Embodiments of the present disclosure can be implemented in various forms, such as apparatus, methods, computer programs for realizing the functions of such apparatus or methods, and recording media on which such computer programs are stored.

[0027] <Embodiment 1> Embodiment 1 will be described with reference to Figures 1 to 12. In the following description, reference numerals in the drawings may be omitted for identical components, with some exceptions.

[0028] (1) Component mounting system Referring to Figure 1, the component mounting system 1 according to Embodiment 1 will be described. The component mounting system 1 is a system for mounting components onto a circuit board. The component mounting system 1 includes one or more production lines 10, a storage unit 11, one or more temporary placement tables 12, one or more transport robots 13, a material management PC (personal computer) 14, a production management PC 15 (an example of a management device and computer), and an intermediate work area PC 16. These devices (excluding the temporary placement tables 12) are connected to communicate via a communication network 17. The temporary placement tables 12 may also be connected to the communication network 17.

[0029] The intermediate work area 80 shown in Figure 1 is a place for setting up the cassette 20, which will be described later. As will be explained in more detail later, the cassette 20 is a component holder that holds components to be mounted on a circuit board. The intermediate work area 80 is equipped with a temporary stand 12 and an intermediate work area PC 16. The operator 18 is the worker who performs the setup work. The waiting area 81 is where the transport robot 13 waits. The waiting area 81 is located near the intermediate work area 80.

[0030] Production line 10 is equipped with multiple surface mount machines 21 (21A-21C and 21D-21F). The surface mount machines 21 are devices that mount components supplied by cassettes 20 onto circuit boards. The configuration of the surface mount machines 21 will be described later. In addition to the surface mount machines 21, production line 10 is also equipped with other devices that perform operations on circuit boards (loaders, screen printers, print inspection machines, dispensers, post-mounting visual inspection machines, reflow machines, post-curing visual inspection machines, unloaders, etc.), but these other devices are omitted in Figure 1.

[0031] The storage unit 11 consists of an automated storage unit that has the function of automatically receiving and retrieving reels 20A (described later), and storage shelves where tape feeders 20B (described later) and empty cassettes 20 are stored. The automated storage unit is connected to a communication network 17. During setup, the operator 18 places the reels 20A and tape feeders 20B into an empty cassette 20 and attaches the cassette 20 to the temporary stand 12. The temporary stand 12 is a platform for transferring the cassette 20 between the intermediate work area 80 and the transport robot 13. The configuration of the temporary stand 12 will be described later.

[0032] The transport robot 13 is a robot that automatically transports the cassette 20 to the surface mount machine 21. A description of the transport robot 13 will be given later. The component management PC 14 is a computer that manages information such as the types of cassettes 20 installed in the surface mount machine 21, information about the mounting section in the surface mount machine 21 where the cassettes 20 are installed, the remaining number of components held in the cassettes 20, and component inventory information. The component management PC 14 also performs the process of creating a setup list, which will be described later, from the remaining number of components in each cassette 20 set in the surface mount machine 21 and the production plan for the circuit board. As will be described in more detail later, the setup list is a list of cassettes 20 that will be replaced from among the cassettes 20 installed in the surface mount machine 21. The component management PC 14 sends the created setup list to the production management PC 15.

[0033] The production management PC 15 is a computer that oversees and manages the production of circuit boards. The production management PC 15 performs tasks such as formulating and monitoring production plans, formulating and monitoring the work plans of operators 18, transmitting setup lists received from the material management PC 14 to the intermediate work area PC 16, and managing the operation of transport robots 13 based on the setup lists. The configuration of the production management PC 15 will be described later. The intermediate work area PC16 is a computer that displays the setup list received from the production management PC15. The operator 18 performs the setup work by looking at the displayed setup list.

[0034] Although not shown in Figure 1, the component mounting system 1 may have a line management PC for each production line 10. The line management PC is a computer that performs processes such as executing production plans and storing production programs.

[0035] (1-1) Configuration of a surface mount machine Referring to Figure 2, the schematic configuration of the surface mount machine 21 will be described. The surface mount machine 21 includes a frame 30, a transport conveyor 31, four component supply devices 32, a head unit 33, a head movement unit 34, a control unit (not shown), and an operation unit (not shown).

[0036] The mounting base 30 has a rectangular shape in plan view and a flat top surface. In Figure 2, the area A shown by the dashed line is the working position where the circuit board P is fixed when mounting components 40 onto the circuit board P. The transport conveyor 31 is equipped with a pair of conveyor belts (front conveyor belt 31A and rear conveyor belt 31B) that circulate in the X-axis direction, a conveyor drive motor that drives the conveyor belts, and the like. The transport conveyor 31 transports the substrate P brought in from the upstream side to the work position A, and then transports the substrate P with the components 40 mounted on it to the downstream side at the work position A.

[0037] The four parts supply devices 32 are arranged in a total of four locations, two on each side of the conveyor belt 31, aligned in the X-axis direction. Multiple cassettes 20 are mounted on the parts supply devices 32, aligned side by side in the X-axis direction. The head unit 33 is equipped with multiple mounting heads 35 for picking up and releasing components 40. The head unit 33 will be described later.

[0038] The head movement unit 34 is a mechanism that moves the head unit 33 in the X-axis direction and the Y-axis direction within a predetermined range of motion. The head movement unit 34 includes a beam 36 that supports the head unit 33 so that it can reciprocate in the X-axis direction, a pair of Y-axis guide rails 37 that support the beam 36 so that it can reciprocate in the Y-axis direction, an X-axis servo motor 41 that moves the head unit 33 back and forth in the X-axis direction, and a Y-axis servo motor 42 that moves the beam 36 back and forth in the Y-axis direction.

[0039] Referring to Figure 3, the head unit 33 will be described. The head unit 33 is a so-called inline type, with multiple mounting heads 35 arranged in the X-axis direction. The head unit 33 is equipped with a Z-axis servo motor to individually raise and lower these mounting heads 35, and an R-axis servo motor to rotate these mounting heads 35 simultaneously around their axes.

[0040] Each mounting head 35 is used to attract and release parts 40, and has a nozzle shaft 35A and a suction nozzle 35B that is detachably attached to the lower end of the nozzle shaft 35A. Negative and positive pressure are supplied to the suction nozzle 35B via the nozzle shaft 35A from an air supply device (not shown). The suction nozzle 35A attracts the parts 40 when negative pressure is supplied and releases the parts 40 when positive pressure is supplied. Here, we have used an inline type head unit 33 as an example, but the head unit 33 may also be a so-called rotary head in which multiple mounted heads 35 are arranged around a circumference.

[0041] Referring to Figure 4, the cassette 20 will be described. The cassette 20 is a box that houses a reel 20A around which a component tape containing multiple components 40 is wound, and an electric tape feeder 20B that feeds out the component tape wound on the reel 20A. The cassette 20 is provided with an engaging portion 20C.

[0042] Referring to Figure 5, the attachment of the cassette 20 to the parts supply device 32 will be described. The parts supply device 32 has a flat support 32A. Multiple grooves 32B (hereinafter referred to as mounting portions 32B) extending in the front-to-back direction (perpendicular to the plane of the paper in Figure 5) are formed on the upper surface of the support 32A in a horizontal arrangement. The width of the mounting portions 32B in the horizontal direction is approximately equal to the thickness of the cassette 20. The cassette 20 is supported on the support 32A in an upright position by fitting its lower end into the mounting portions 32B.

[0043] (1-2) Configuration of the temporary stand As shown in Figure 6, the temporary stand 12 is formed in a box shape and has a through-hole 12A with a rectangular cross-section that penetrates in the direction perpendicular to the plane of the paper. The through-hole 12A constitutes a storage space in which the cassettes 20 are housed. A flat support plate 12B that supports multiple cassettes 20 is placed on the bottom surface of the through-hole 12A. The configuration of the support plate 12B is substantially the same as the support plate 32A provided by the parts supply device 32. The cassettes 20 are supported in an upright position on the support plate 12B by fitting their lower ends into grooves 12C.

[0044] (1-3) Transport robots Referring to Figure 1, the transport robot 13 will be described. As mentioned above, the transport robot 13 is a robot that automatically transports the cassette 20 to the surface mount machine 21. Specifically, the transport robot 13 performs the following operations.

[0045] • An operation to automatically load the replacement cassette 20, which is attached to the temporary stand 12, onto the transport robot 13. • An operation that automatically transports the installed replacement cassette 20 to the surface mount machine 21. • An operation to automatically replace a cassette 20 with a replacement cassette 20 that has run out of components and is attached to the surface mount machine 21. • Automatic return operation from the surface mount machine 21 to the temporary placement table 12. - An operation to automatically return the cassette 20 (a cassette 20 with no components remaining) removed from the surface mount machine 21 to the temporary storage stand 12.

[0046] As shown in Figure 7, the transport robot 13 includes a towing trolley 50, a loader unit 51, and a control unit (not shown). The loader unit 51 and the control unit constitute a replacement unit for changing the cassette 20. The control unit includes a microcomputer with a CPU and RAM integrated into a single chip, a memory unit, and a wireless communication unit. The transport robot 13 is wirelessly connected to the communication network 17 via the wireless communication unit.

[0047] The towing platform 50 is an AGV (Automatic Guided Vehicle) that automatically moves guided by a dielectric such as a magnetic tape. The towing platform 50 may also be an AMR (Autonomous Mobile Robot) that moves autonomously without requiring a dielectric. The loader section 51 comprises a base 52, a trunk section 53, and an arm section 54. The base 52 is a plate-shaped member fixed to the upper surface of the towing trolley 50. The trunk section 53 is a mechanism for supporting multiple cassettes 20 and comprises a support 53A and a support movement mechanism (not shown) for moving the support 53A in the left-right direction.

[0048] The support 53A is a flat plate-shaped member that supports multiple cassettes 20 and is supported on the base 52 so as to be movable in the left-right direction. The configuration of the support 53A is substantially the same as the configuration of the support 32A provided in the parts supply device 32. The cassettes 20 are supported on the support 53A in an upright position by fitting their lower ends into grooves 53B. Grooves 53B also serve as guides to guide the cassettes 20 in the front-rear direction. A support movement mechanism (not shown) is provided on the base 52. The support drive mechanism is equipped with a motor, and the driving force of the motor moves the support 53A in the left-right direction.

[0049] Referring to state 1 in Figure 9, the arm section 54 will be described. The arm section 54 is a mechanism for moving the cassette 20 in the front-rear direction and comprises a hand section 54A, a first rail 54B extending in the front-rear direction, and two second rails 54C extending parallel to each other in the left-right direction. The two second rails 54C support the first rail 54B so that it can move in the left-right direction. One of the two second rails 54C is provided with a first rail moving mechanism (not shown) that moves the first rail 54B in the left-right direction. The first rail moving mechanism is equipped with a motor, and the driving force of the motor moves the first rail 54B in the left-right direction.

[0050] The first rail 54B supports the hand section 54A so that it can move in the front-rear direction. The first rail 54B is provided with a hand movement mechanism (not shown) that moves the hand section 54A in the front-rear direction. The hand movement mechanism is equipped with a motor, and the driving force of the motor moves the hand section 54A in the front-rear direction. The hand portion 54A includes an engaging portion that can be displaced between an engaging position and an unengaged position with respect to the engaged portion 20C of the cassette 20, and a displacement mechanism (not shown) that displaces the engaging portion. The displacement mechanism is equipped with a motor, and the engaging portion is displaced by the driving force of the motor.

[0051] Referring to Figures 7 to 9, we will explain how to remove a cassette 20 that is out of parts and attached to the parts supply device 32. Here, we will explain using the case of removing a cassette 20 that is attached to the second mounting part 32B from the left of the parts supply device 32 as an example. In the following explanation, the Nth mounting part 32B from the left of the parts supply device 32 will be referred to as the Nth mounting part 32B.

[0052] As shown in Figure 7, the transport robot 13 moves to the front of the parts supply device 32 and adjusts the left-right position of the towing trolley 50 so that the left-right positions of the positioning pins 60 of the surface mount machine 21 and the positioning holes 61 of the towing trolley 50 coincide. Next, as shown in Figure 8, the transport robot 13 moves forward towards the parts supply device 32. As the transport robot 13 moves forward, the positioning pin 60 is inserted into the positioning hole 61. This causes the transport robot 13 to dock with the parts supply device 32.

[0053] Next, as shown in states 1 and 2 of Figure 9, the transport robot 13 moves the support 53A in the left-right direction using the support movement mechanism, aligning it so that one of the open grooves 53B of the support 53A is located in front of the second mounting portion 32B. State 2 shows the aligned state. Next, as shown in state 3, the transport robot 13 moves the first rail 54B to the front side of the second mounting portion 32B using the first rail moving mechanism.

[0054] Next, as shown in state 4, the transport robot 13 moves the hand portion 54A to the rear using the hand movement mechanism. After moving the hand portion 54A to the rear, the transport robot 13 displaces the engaging portion of the hand portion 54A using the displacement mechanism to engage it with the engaged portion 20C of the cassette 20. This prepares the cassette 20, which is attached to the second mounting portion 32B of the parts supply device 32, for removal.

[0055] Next, as shown in state 5, the transport robot 13 moves the hand portion 54A forward. When the hand portion 54A moves forward, the cassette 20 is pulled out and fits into the empty groove 53B of the support 53A. This removes the cassette 20 that is missing parts. After removing the cassette 20, the transport robot 13 displaces the engaging portion of the hand portion 54A to release the engagement with the cassette 20.

[0056] This section describes the installation of a replacement cassette 20 into the second mounting section 32B from which the defective cassette 20 was removed. Here, it is assumed that the replacement cassette 20 is supported in the third groove 53B from the left of the support 53A. The transport robot 13, while docked with the parts supply device 32, moves the support body 53A in the left-right direction, aligning it so that the third groove 53B of the support body 53A (i.e., the groove 53B that supports the replacement cassette 20) is located in front of the second mounting portion 32B.

[0057] Next, the transport robot 13 moves the first rail 54B in the left-right direction, aligning it so that the first rail 54B is positioned in front of the second mounting portion 32B of the parts supply device 32. Next, the transport robot 13 moves its hand unit 54A to the rear. This pushes the replacement cassette 20 onto the second mounting unit 32B of the parts supply device 32.

[0058] (1-4) Electrical configuration of the production management PC Referring to Figure 10, the electrical configuration of the production management PC 15 will be described. The production management PC 15 comprises a control unit 70, a storage unit 71, a communication unit 72, a display unit 73, and an operation unit 74. The control unit 70 comprises a CPU 70A and a RAM 70B. The control unit 70 controls each part of the production management PC 15 by executing programs stored in the storage unit 71. The storage unit 71 is a storage device having a storage medium such as a hard disk. Various programs and data are stored in the storage unit 71. These various programs include a management program for transport robots.

[0059] The communication unit 72 is a communication circuit for connecting the production management PC 15 to the communication network 17. The display unit 73 consists of a display device such as a liquid crystal display, a drive circuit for driving the display device, etc. The operation unit 74 consists of a keyboard, mouse, touch panel, etc.

[0060] (2) Procedure list Referring to Figure 11, the setup list according to Embodiment 1 will be described. As mentioned above, the setup list is a list of cassettes 20 to be replaced from among the cassettes 20 installed in the surface mount machine 21. Each row of the setup list corresponds to one cassette 20.

[0061] The setup list for Embodiment 1 includes seven data items: part type, feeder ID, temporary stand number, mounting part number, work deadline, status, and alternative cassette setting. The part type is the type of part 40 to be replaced. The feeder ID is the identifier of the feeder used to supply the part 40. The temporary stand number is the identifier of the temporary stand 12 to which the replacement cassette 20 is mounted. The mounting part number is the number of the mounting part 32B on the surface mount machine 21 to which the cassette 20 to be replaced is mounted.

[0062] The deadline is the time by which cassette 20 must be replaced. If cassette 20 is not replaced by the deadline, the surface mount machine 21 will stop its mounting operation. However, if "Available" is set in the replacement cassette setting described later, the mounting operation will continue even after the deadline has passed, as the same type of component 40 will be supplied by the replacement cassette 20.

[0063] The status indicates whether or not the replacement of the cassette 20 attached to the surface mount machine 21 has been completed. "Not yet" means that it has not been completed, and "Completed" means that it has been completed. Each time the transport robot 13 replaces the cassette 20 with a replacement cassette 20 attached to the surface mount machine 21, it notifies the production management PC 15 that the replacement has been completed. When the production management PC 15 is notified that the replacement has been completed, it changes the status to "Completed".

[0064] The alternative cassette setting can be set to "Yes" or "No". "Yes" means that when cassette 20 runs out of parts, another cassette 20 (alternative cassette 20) is set to supply the same type of parts 40 in place of the cassette 20 that ran out of parts. "No" means that no alternative cassette 20 is set. The above setup list omits the time when cassette 20 runs out of parts, but the setup list should include the time when cassette 20 runs out of parts. Once cassette 20 runs out of parts, it becomes replaceable. Therefore, the time when cassette 20 runs out of parts can also be rephrased as the time when cassette 20 becomes replaceable. In Embodiment 1, a setup list is created for each surface mount machine 21. The transport robot 13 according to Embodiment 1 replaces the cassette 20 of one surface mount machine 21 in a single movement.

[0065] (3) Specific examples of cassette replacement operations When the parts management PC 14 creates a setup list, it sends the created setup list to the production management PC 15. The production management PC 15 sends the received setup list to the intermediate work area PC 16. The intermediate work area PC 16 displays the received setup list on its display unit.

[0066] Operator 18 looks at the displayed setup list and performs the setup work, attaching the replacement cassette 20 to the groove 12C on the temporary mounting base 12, indicated by the mounting base number, which is indicated by the temporary mounting base number. Therefore, the position of the groove 12C on the temporary mounting base 12 where the replacement cassette 20 is attached is the same as the position of the mounting part 32B on the surface mounting machine 21 where the cassette 20 to be replaced is attached. After the operator 18 has placed all the cassettes 20 listed in the setup list into the grooves 12C of the temporary stand 12, the operator 18 operates the intermediate work area PC 16 to notify the production management PC 15 that the setup work is complete.

[0067] When the production management PC 15 receives notification from the operator 18 that the setup work is complete, it sends a setup list to the transport robot 13. Upon receiving the setup list, the transport robot 13 automatically loads the cassettes 20 listed in the setup list from the temporary stand 12 onto the transport robot 13. Once the transport robot 13 has finished loading the cassettes 20, it notifies the production management PC 15 that the loading of the cassettes 20 is complete.

[0068] When the production management PC 15 is notified by the transport robot 13 that the loading of the cassette 20 is complete, it instructs the transport robot 13 to move one or more cassettes 20 listed in the setup list that does not have a replacement cassette setting (i.e., a cassette 20 for which no other cassette 20 is set to supply the same type of component 40 in case that cassette 20 runs out of components) to the surface mount machine 21 before it runs out of components, and to wait in a state where it is ready to remove the cassette 20.

[0069] For example, in the setup list shown in Figure 11, cassette 20 with an alternative cassette setting of "none" is cassette 20 for component 40B. Therefore, the production management PC 15 instructs the transport robot 13 to move cassette 20 for component 40B to the surface mount machine 21 before the component runs out, and to wait in a state where it is ready to remove cassette 20 for component 40B.

[0070] Here, the example shown in Figure 11 illustrates the case where there is only one cassette 20 with no alternative cassette setting, but there may also be multiple cassettes 20 with no alternative cassette setting. In that case, the production management PC 15 instructs the system to wait in a state where it is ready to remove the cassette 20 among the cassettes 20 with no alternative cassette setting that will run out of parts the earliest.

[0071] The instructed transport robot 13 moves to the surface mount machine 21 before the cassette 20 of component 40B runs out of components, and waits, ready to remove the cassette 20 of component 40B. As soon as the cassette 20 of component 40B runs out of components, the transport robot 13 immediately removes the cassette 20 of component 40B and attaches the replacement cassette 20 mounted on the transport robot 13 to the mounting section 32B where the cassette 20 of component 40B was attached. This replaces the cassette 20 of component 40B.

[0072] After replacing the cassette 20 containing part 40B, the transport robot 13 waits, ready to remove the cassette 20 containing the next part 40 that will run out of parts soon. As soon as that cassette 20 runs out of parts, the transport robot 13 immediately replaces it with a replacement cassette 20. The transport robot 13 repeats this operation until all the cassettes 20 on board have been replaced, and then returns to the waiting area 81.

[0073] (4) Flowchart for instructing a cassette replacement Referring to Figure 12, the flow of the process for instructing the replacement of the cassette 20, which is executed by the control unit 70 that runs the management program for the transport robot, will be described.

[0074] In S101, the control unit 70 obtains from the setup list the time when one or more cassettes 20 listed in the setup list will run out of parts if the alternative cassette setting is "none". In S102, the control unit 70 instructs the transport robot 13 to move the cassette 20, which has "none" as the alternative cassette setting, to the surface mount machine 21 before it runs out of parts, and to wait in a state where it is ready to remove the cassette 20.

[0075] (5) Effects of the embodiment According to the production management PC 15 of Embodiment 1, the transport robot 13 is instructed to move to the surface mount machine 21 before any of the one or more cassettes 20 attached to the mounting section 32B of the surface mount machine 21 that has a "none" alternative cassette setting run out of parts, and to wait in a state where it is ready to remove the cassette 20. As a result, when a cassette 20 with a "none" alternative cassette setting runs out of parts, the transport robot 13 can quickly remove the cassette 20 that has run out of parts. Therefore, according to the production management PC 15, the possibility of the surface mount machine 21 stopping its mounting operation due to a cassette 20 with a "none" alternative cassette setting running out of parts can be reduced.

[0076] <Embodiment 2> Embodiment 2 will be explained with reference to Figures 13 and 14. The control unit 70 according to Embodiment 2 sets replacement priorities for the cassettes 20 listed in the setup list and instructs the unit to replace the cassettes 20 in order of priority. In Embodiment 2, the control unit 70 instructs the transport robot 13 to move to the surface mount machine 21 before the time when the cassette 20 with the highest priority will run out of parts, and to wait in a state where it is ready to remove the cassette 20. Therefore, if the cassette 20 with no alternative cassette setting has the highest priority, the transport robot 13 will move to the surface mount machine 21 before the cassette 20 with no alternative cassette setting runs out of parts, and will wait in a state where it is ready to remove the cassette 20. If the cassette 20 with no alternative cassette setting has a low priority, the transport robot 13 will replace it with another cassette 20 with a higher priority, and then wait in a state where it is ready to remove the cassette 20 before the cassette 20 runs out of parts.

[0077] (1) Procedure list Referring to Figure 13, the setup list for Embodiment 2 will be described. The setup list for Embodiment 2 includes seven data items: mounting part number, part type, alternative cassette setting, time when part supply will become unavailable, time when the part will be used next after part supply becomes unavailable, time when it can be replaced, and priority. Note that the setup list for Embodiment 2 also includes data items such as feeder ID, temporary stand number, and status, similar to Embodiment 1, but these data items are omitted in Figure 13.

[0078] The time when parts supply will become unavailable is, if no alternative cassette is set, the time when part 40 for cassette 20 runs out. If an alternative cassette is set, the time when all parts 40 for the alternative cassette 20 of cassette 20 are used up. "The time when the parts will be used next after parts supply has ceased" is the time when the parts 40 of the replacement cassette 20 for cassette 20 will be used next, after all of the parts 40 of the replacement cassette 20 for cassette 20 have been used up. The time at which replacement is possible is the time when cassette 20 runs out of parts.

[0079] The priority is the priority for replacing cassette 20. A lower number indicates a higher priority. The production management PC 15 sets a higher priority for cassette 20 that have an earlier "time when the next part will be used after the part supply has failed". In the setup list shown in Figure 13, the parts 40B, 40F, 40E, 40C, 40A, and 40D have the earliest "time when the next part will be used after the part supply has failed" in that order. Therefore, the priority is set in this order. In other words, the production management PC 15 sets a higher priority for cassette 20 that hold parts 40 that will cause the surface mount machine 21 to stop its mounting operation earlier if the part supply fails.

[0080] (3) Flowchart for instructing a cassette replacement Referring to Figure 14, the flow of the process for instructing cassette replacement, which is performed by the control unit 70 according to Embodiment 2, will be described.

[0081] In S201, the control unit 70 sets a higher priority for the cassettes 20 listed in the setup list, with the cassette 20 having an earlier "time when parts will be used next after parts supply becomes unavailable". In S202, the control unit 70 instructs the transport robot 13 to move to the surface mount machine 21 by the time when the cassette 20 with the highest priority can no longer be supplied with components, and to wait in a state where it is ready to remove the cassette 20.

[0082] (4) Effects of the Embodiment According to the control unit 70 of Embodiment 2, after component supply becomes impossible, a higher priority is set for the cassette 20 holding the component 40 that will be used next earlier, thereby reducing the possibility that the mounting operation of the surface mount machine 21 will stop due to component supply failure.

[0083] <Embodiment 3> Embodiment 3 will be explained with reference to Figures 15 to 20. In Embodiment 3, if the control unit 70 can complete the replacement of other lower-priority cassettes 20 before the higher-priority cassette 20 runs out of parts, it instructs the transport robot 13 to replace the other lower-priority cassettes 20 first.

[0084] (1) Specific examples Specific examples 1 to 3 of Embodiment 3 will be described below.

[0085] [Specific examples] In the setup list shown in Figure 15, the priority is set in the order of parts 40B, 40F, 40E, 40C, 40A, and 40D. In the setup list shown in Figure 15, let's assume that the transport robot 13 arrives at the surface mount machine 21 at 8:30. The cassette 20 for part 40B, which has the highest priority, has not yet reached its replacement time, but the cassettes 20 for parts 40A, 40D, and 40E, which have lower priority than part 40B, have reached their replacement time. Therefore, the control unit 70 instructs the transport robot 13 to replace the cassettes 20 for parts 40A, 40D, and 40E before replacing the cassette 20 for part 40B. When replacing the cassettes 20 for parts 40A, 40D, and 40E, the control unit 70 instructs the robot to replace them in order of highest priority (i.e., parts 40E, 40A, and 40D).

[0086] However, if the time for replacing the cassette 20 of component 40B is reached while the replacement of any of the cassettes 20 is in progress, the control unit 70 instructs the transport robot 13 not to replace that cassette 20, but to wait while ready to remove the cassette 20 of component 40B. For example, in the example shown in Figure 16, the replacement of the cassettes 20 for parts 40E and 40A is completed before the time when the cassette 20 for part 40B becomes replaceable, but the cassette 20 for part 40D reaches the time when the cassette 20 for part 40B becomes replaceable during the replacement of the cassette 20 for part 40D. In this case, the control unit 70 replaces the cassettes 20 for parts 40E and 40A before replacing the cassette 20 for part 40B, and after replacing the cassette 20 for part 40A, it does not replace the cassette 20 for part 40D, but instead instructs the transport robot 13 to wait in a state where it is ready to remove the cassette 20 for part 40B.

[0087] [Specific Example 2] In the setup list shown in Figure 15, let's assume that the transport robot 13 arrives at the surface mount machine 21 at 8:40. The cassette 20 for component 40B, which has the highest priority, has reached its replacement time at 8:40, so the control unit 70 instructs to replace the cassette 20 for component 40B. After replacing the cassette 20 for component 40B, the next highest priority is the cassette 20 for component 40F. When the replacement of the cassette 20 for component 40B is complete, the cassette 20 for component 40F has not yet reached its replacement time, but the cassettes 20 for components 40A, 40D, and 40E have reached their replacement time. Therefore, the control unit 70 instructs the transport robot 13 to replace the cassettes 20 for parts 40A, 40D, and 40E before replacing the cassette 20 for part 40F. When replacing the cassettes 20 for parts 40A, 40D, and 40E, the control unit 70 instructs the robot to replace them in order of priority (i.e., parts 40E, 40A, and 40D).

[0088] However, if the time for replacing the cassette 20 of component 40F is reached while the replacement of any of the cassettes 20 is underway, the control unit 70 instructs the transport robot 13 not to replace that cassette 20, but to wait in a state where it is ready to remove the cassette 20 of component 40F. For example, in the example shown in Figure 17, the replacement of cassette 20 for component 40E is completed before the time when cassette 20 for component 40F becomes replaceable, but the replacement of cassette 20 for component 40A is interrupted when the time when cassette 20 for component 40F becomes replaceable is reached. In this case, the control unit 70 instructs the transport robot 13 not to replace cassette 20 for component 40A, but to wait with the cassette 20 for component 40F ready to be removed.

[0089] [Specific Example 3] Specific example 3 is an example in which one transport robot 13 transports cassettes 20 to multiple surface mount machines 21. In specific example 3, the control unit 70 sets a priority for all cassettes 20 installed in the multiple surface mount machines 21. In this case, if the control unit 70 can complete the replacement of other cassettes 20 with lower priority before the cassette 20 with the highest priority runs out of parts, it instructs the transport robot 13 to replace the other cassettes 20 with lower priority first.

[0090] Referring to Figure 18, the setup list for Specific Example 3 will be explained. In the setup list for Specific Example 3, information indicating which surface mount machine 21's mounting part 32B it is is added to the mounting part number. For example, if the mounting part number is "Mounting machine 21B-1", it means that it is the first mounting part 32B of surface mount machine 21B.

[0091] In the setup list shown in Figure 18, the priority is set in the following order: parts 40B (mounting machine 21A), 40F (mounting machine 21B), 40E (mounting machine 21A), 40C (mounting machine 21A), 40A (mounting machine 21B), and 40D (mounting machine 21B). In the setup list shown in Figure 18, let's assume that the transport robot 13 arrives at the surface mounting machine 21 at 8:40. In this case, the cassette 20 of part 40B, which has the highest priority, has reached its replacement time at 8:40, so the control unit 70 first instructs to replace the cassette 20 of part 40B.

[0092] After replacing the cassette 20 of part 40B, the next highest priority is the cassette 20 of part 40F, but the time when the cassette 20 of part 40F can be replaced is 8:50. Therefore, when the replacement of the cassette 20 of part 40B is completed, the cassette 20 of part 40F has not yet reached its replacement time, but the cassettes 20 of parts 40A, 40D, and 40E have reached their replacement time. For this reason, the control unit 70 instructs the transport robot 13 to replace the cassettes 20 of parts 40A, 40D, and 40E before replacing the cassette 20 of part 40F. When replacing the cassettes 20 of parts 40A, 40D, and 40E, the control unit 70 instructs them to be replaced in order of highest priority (i.e., parts 40E, 40A, and 40D).

[0093] However, if the time for replacing the cassette 20 of component 40F is reached while the replacement of any of the cassettes 20 is underway, the control unit 70 instructs the transport robot 13 not to replace that cassette 20, but to wait in a state where it is ready to remove the cassette 20 of component 40F. For example, in the example shown in Figure 19, the replacement of the cassette 20 for component 40E is completed before the time when the cassette 20 for component 40F becomes replaceable. In contrast, the cassette 20 for component 40A is moved from the surface mount machine 21A to the surface mount machine 21B, and while in the process of replacing the cassette 20, the time when the cassette 20 for component 40F becomes replaceable is reached. In this case, the control unit 70 instructs the transport robot 13 not to replace the cassette 20 for component 40A, but to wait in a state where it is ready to remove the cassette 20 for component 40F.

[0094] (2) Determination process for which cassette to replace before the cassette with the highest priority Referring to Figure 20, the process of determining which cassette to replace before the cassette with the highest priority, which is performed by the control unit 70, will be described. This process is performed when the control unit 70 receives a setup list from the parts management PC 14. This process is also performed after the cassette 20 with the highest priority has been replaced. When the cassette 20 with the highest priority has been replaced, this process is performed with the next highest priority cassette 20 as the cassette 20 with the highest priority.

[0095] In S301, the control unit 70 determines whether the replacement time for the cassette 20 with the highest priority has been reached. If the replacement time for the cassette 20 with the highest priority has not been reached, the process proceeds to S302; otherwise, this process is terminated. If this process is terminated, it means that there are no other cassettes 20 that will be replaced before the cassette 20 with the highest priority.

[0096] In S302, the control unit 70 assigns 2 to the variable N, which represents the priority. In S303, the control unit 70 determines whether the replacement time for cassette 20 with priority N is earlier than the replacement time for cassette 20 with the highest priority. If it is earlier than the replacement time for cassette 20 with the highest priority, the control unit 70 proceeds to S304; otherwise, it proceeds to S306.

[0097] In S304, the control unit 70 determines whether the replacement of cassette 20 with priority N will be completed before the cassette 20 with the highest priority runs out of parts (i.e., before the time when cassette 20 with the highest priority becomes replaceable). Specifically, for example, the control unit 70 determines that the replacement of the cassette 20 with the highest priority will be completed before the cassette 20 with the highest priority runs out of parts. This is determined by adding the time required to prepare for replacing the cassette 20 with the highest priority, the time required to replace the cassette 20 with the highest priority, and the time required to prepare for replacing the cassette 20 with the highest priority (after replacing the cassette 20 with the highest priority), which is the time when the replacement of the cassette 20 with the highest priority can be started. In some cases, preparations for replacing cassette 20 with priority N may be completed before the time when the replacement of cassette 20 with priority N can begin. In that case, it is not necessary to add the time required for preparations to replace cassette 20 with priority N. In specific example 3, the travel time between surface mount machines 21 is also added.

[0098] The "time at which replacement of cassette 20 can begin" mentioned above does not necessarily coincide with the time when cassette 20 can be replaced. For example, if multiple cassettes 20 are to be replaced before the cassette 20 with the highest priority runs out of parts, the time when the cassette 20 with the highest priority can be replaced is the time when replacement of that cassette 20 can begin. For the other cassettes 20, if the time at which the replacement of the cassette 20 to be replaced is completed is later than the time when replacement of the other cassettes 20 is completed, the time at which the replacement of the cassette 20 to be replaced is completed becomes the time when replacement of the cassette 20 can begin. If the time at which the replacement of the cassette 20 to be replaced is completed is earlier than the time when replacement of the other cassettes 20 is completed, the time when replacement of the other cassettes 20 becomes the time when replacement of the other cassettes 20 can begin.

[0099] In the case where a single transport robot 13 transports cassettes 20 to multiple surface mount machines 21, as in Specific Example 3, the control unit 70 determines whether the replacement of cassette 20 with priority N can be completed before the replacement time for the cassette 20 with the highest priority becomes available, taking into account the travel time between surface mount machines 21. Specifically, for cassette 20 with priority N, the control unit 70 determines whether, after the transport robot 13 replaces that cassette 20, it can return to the surface mount machine 21 where the cassette 20 with the highest priority is installed and wait in a ready state to remove the cassette 20 before the replacement time for the cassette 20 with the highest priority becomes available, taking into account the travel time between surface mount machines 21. The control unit 70 proceeds to S305 if the replacement of the cassette 20 is complete, and to S306 if it is not complete.

[0100] In S305, the control unit 70 decides to replace cassette 20, which has priority N, first. In S306, the control unit 70 determines whether it has made a decision regarding all cassettes 20 listed in the setup list (except for the cassette 20 with the highest priority). If it has not made a decision, it proceeds to S307; if it has made a decision, it terminates the process. In S307, the control unit 70 adds 1 to N. The control unit 70 then returns to S303 and repeats the process.

[0101] (3) Effects of the embodiment According to the production management PC 15 of Embodiment 3, the transport robot 13 will replace the other cassettes 20 first if it can complete the replacement of the other cassettes 20 before the cassette 20 with the highest priority runs out of parts. In this way, the replacement of all cassettes 20 is completed earlier compared to replacing the cassette 20 with the highest priority first and then replacing the other cassettes 20. As a result, the transport robot 13 can start transporting the cassettes 20 to another surface mount machine 21 at an earlier stage. This reduces the possibility of the mounting operation of the other surface mount machine 21 stopping.

[0102] According to the production management PC 15, it determines whether the replacement of other cassettes 20 can be completed before the highest-priority cassette 20 runs out of parts, taking into account the travel time between surface mount machines 21. This reduces the possibility of the surface mount machine 21, which has the highest-priority cassette 20 installed, stopping its mounting operation, while allowing lower-priority cassettes 20 to be replaced first.

[0103] <Embodiment 4> Embodiment 4 will be explained with reference to Figures 21 to 23. Embodiment 4 is a modification of Embodiment 3. In Embodiment 4, when a single transport robot 13 transports cassettes 20 to multiple surface mount machines 21, if there are multiple other cassettes 20 that can be replaced before the cassette 20 with the highest priority runs out of parts, the lower-priority cassette 20 that is mounted in the surface mount machine 21 where the cassette 20 with the highest priority is mounted will be replaced first.

[0104] In the setup list shown in Figure 21, let's assume that the transport robot 13 arrives at the surface mount machine 21 at 8:45. In this case, the cassette 20 containing component 40B, which has the highest priority, has reached its replacement time (in other words, it is out of parts), so the control unit 70 instructs the transport robot 13 to first replace the cassette 20 containing component 40B.

[0105] The next highest priority is cassette 20 of part 40F, but the time when cassette 20 of part 40F can be replaced is 8:55. Therefore, when the replacement of cassette 20 of part 40B is completed, cassette 20 of part 40F has not yet reached its replacement time. The next highest priority after component 40F is the cassette 20 of component 40C in surface mount machine 21B. However, since the transport robot 13 is in surface mount machine 21A when the replacement of cassette 20 of component 40B is completed, it needs to move to surface mount machine 21B in order to replace the cassette 20 of component 40C.

[0106] In this case, in order to reduce the time lost by moving back and forth between the surface mount machine 21A and the surface mount machine 21B, the control unit 70 instructs the machine to first replace the cassette 20 for component 40E, which is the next highest priority cassette 20 after the cassette 20 for component 40C among the cassettes 20 installed in the surface mount machine 21A, rather than replacing the cassette 20 for component 40C. Even after the replacement of the cassette 20 for component 40E is completed, it is still not time for the replacement of the cassette 20 for component 40F, so the control unit 70 instructs the transport robot 13 to replace component 40C.

[0107] However, if the cassette 20 of component 40F becomes ready for replacement during the replacement of cassette 20, the control unit 70 instructs the transport robot 13 not to replace cassette 20, but to wait while ready to remove cassette 20 of component 40F. For example, in the example shown in Figure 22, after replacing the cassette 20 of part 40E, the next highest priority is the cassette 20 of part 40C. However, while the cassette 20 of part 40C is being replaced, the time for replacing the cassette 20 of part 40F is reached. In this case, the control unit 70 instructs the transport robot 13 to wait after replacing the cassette 20 of part 40E, with the cassette 20 of part 40F ready to be removed.

[0108] Referring to Figures 23 and 24, the process for determining which cassette to replace before the cassette with the highest priority according to Embodiment 4 will be described. Here, it will be explained assuming that there are two surface mount machines 21.

[0109] In S401, the control unit 70 determines whether the time for replacing the cassette 20 with the highest priority has been reached. If the time has not been reached, the control unit 70 proceeds to S402; otherwise, it terminates the process. In S402, the control unit 70 sets the priority of the next highest priority cassette 20 among the cassettes 20 mounted on the surface mount machine 21 to which the cassette 20 with the highest priority is mounted, to the variable N representing priority.

[0110] In S403, the control unit 70 determines whether the replacement of cassette 20 with priority N will be completed before the replacement time of cassette 20 with the highest priority. If it is completed, the control unit 70 proceeds to S404; otherwise, it proceeds to S405. In S404, the control unit 70 decides to replace cassette 20, which has priority N, first.

[0111] In S405, the control unit 70 determines whether or not it has made a decision on all cassettes 20 mounted on the surface mount machine 21 to which the cassette 20 with the highest priority is mounted. If the control unit 70 has made a decision on all cassettes 20, it proceeds to S406; otherwise, it returns to S402 and repeats the process. In S406, the control unit 70 sets the priority of the highest priority cassette 20 among the cassettes 20 mounted on surface mount machines 21 other than the surface mount machine 21 to which the cassette 20 with the highest priority is mounted, to the variable N representing priority.

[0112] In S407, the control unit 70 determines whether the replacement of cassette 20 with priority N will be completed before the replacement time of cassette 20 with the highest priority. If it is completed, the control unit 70 proceeds to S408; otherwise, it proceeds to S409. In S408, the control unit 70 decides to replace cassette 20, which has priority N, first.

[0113] In S409, the control unit 70 determines whether it has made a decision regarding all cassettes 20 installed in the surface mount machines 21, except for the surface mount machine 21 in which the cassette 20 with the highest priority is installed. If the control unit 70 has not made a decision, it proceeds to S410; if it has made a decision, it terminates the process. In S410, the control unit 70 sets the priority of the next highest priority cassette 20 among the cassettes 20 mounted on surface mount machines 21 other than the surface mount machine 21 to which the cassette 20 with the highest priority is mounted, to the variable N representing priority. After setting the priority in variable N, the control unit 70 returns to S407 and repeats the process.

[0114] According to the production management PC 15 of Embodiment 4, if there are multiple other cassettes 20 that can be replaced before the cassette 20 with the highest priority runs out of parts, the PC instructs the PC to prioritize replacing the cassette 20 installed in the surface mount machine 21 where the cassette 20 with the highest priority is installed, thereby reducing movement between surface mount machines 21. This allows for efficient replacement of the cassettes 20.

[0115] <Other Embodiments> The technology disclosed herein is not limited to the embodiments described above in the description and drawings, and the following embodiments, for example, are also included in the technical scope disclosed herein.

[0116] (1) In the above embodiment, a cassette 20 was described as an example of a component holder, but the component holder is not limited to this. For example, the component holder may be a tray on which a plurality of components 40 are arranged in a row.

[0117] (2) In the above embodiment, the control unit 70 of the production management PC 15 instructs the transport robot 13 to move the cassette 20 with the alternative cassette setting set to "none" to the surface mount machine 21 before it runs out of parts, and to wait in a state where it is ready to remove the cassette 20. Alternatively, the transport robot 13, having received the setup list, may perform this operation autonomously. In other words, some of the processing performed by the production management PC 15 may be performed by the transport robot 13. In that case, the production management PC 15 and the control unit of the transport robot 13 are an example of a management device.

[0118] (3) In the above embodiment, the production management PC 15 gives instructions to the transport robot 13 as an example, but these instructions may also be given by the material management PC 14.

[0119] (4) In the above embodiment, an example was given in which a component management PC 14 and a production management PC 15 are provided, but these may be configured by a single PC. [Explanation of Symbols]

[0120] 1: Component mounting system 13: Transport robot 20: Cassette (an example of a component holder) 21: Surface mount machine 32B: Groove (an example of a mounting section) 40: Parts 51: Loader section (an example of a replaceable part) 70: Control Unit 72: Communications Department 15: Production management PC (an example of a management device and computer) P: Board

Claims

1. A control device for managing a transport robot that transports a component holder to a surface mount machine having a mounting section to which the component holder that holds components to be mounted on a circuit board is attached, The transport robot has a replacement unit that removes the part holder that has run out of parts from the mounting unit and attaches a replacement part holder mounted on the transport robot to the mounting unit. The control device is Control unit and A communication unit that communicates with the aforementioned transport robot, Equipped with, The control unit instructs the transport robot to move to the surface mount machine before any of the one or more component holders attached to the mounting section, which are not set to supply the same type of component in case that component holder runs out of components, runs out of components, and to wait in a state where it is ready to remove the component holder. The control unit sets a higher priority for the component holders that hold the next component to be used, in order of the time when the component supply becomes unavailable, and instructs the transport robot to replace the component holders in order of priority.

2. A management device for a transport robot according to Claim 1, A control unit is a transport robot management device that instructs the transport robot to replace the other parts holders before the part holder with the highest priority if it is possible to complete the replacement of the other parts holders before the part holder with the highest priority runs out of parts.

3. A management device for a transport robot according to Claim 2, The transport robot transports the component holder to a plurality of surface mount machines. The control unit is a transport robot management device that determines, taking into account the travel time between surface mount machines, whether the replacement of other component holders can be completed before the component holder with the highest priority runs out of parts.

4. A management device for a transport robot according to claim 3, A control unit is a transport robot management device which, if there are multiple other component holders that can be replaced before the component holder with the highest priority runs out of parts, instructs the transport robot to replace the other component holders before the component holder with the highest priority, and instructs the transport robot to replace, among the multiple other component holders, the component holder attached to the surface mount machine to which the component holder with the highest priority is attached, as a priority.

5. A component mounting system for mounting components onto a circuit board, A surface mount machine having a mounting section to which a component holder that holds components to be mounted on a circuit board is attached, A transport robot for transporting the component holder to the surface mount machine, the transport robot having a replacement unit for removing the component holder that has run out of components from the mounting unit and attaching a replacement component holder mounted on the transport robot to the mounting unit, A management device for a transport robot according to any one of claims 1 to 4, A component mounting system equipped with the following features.

Images