Transfer device

Abstract

A transfer device according to the present disclosure comprises: a transfer mechanism which has a stage on which an article can be placed, and can transfer the article placed on the stage; a motor which drives the transfer mechanism by receiving power supply from a battery; an acquisition unit which acquires the weight of the article; and a control unit which determines a drive current such that the drive current becomes smaller when the article is light than when the article is heavy on the basis of the weight of the article acquired by the acquisition unit, and performs drive control of the motor.

Description

Technical Field

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[0001] This specification discloses a transfer device.

Background Art

[0002] Conventionally, a transfer device capable of transferring necessary parts to a production line for producing a substrate on which parts are mounted is known. For example, Patent Document 1 discloses a transfer device having a transfer mechanism capable of transferring a storage case storing a tape feeder to a storage and an automated guided vehicle for transporting the transfer mechanism. Further, Patent Document 2 discloses a device that uses a sensor to detect the number of trays in a magazine, multiplies the detected number of trays by the weight per tray to calculate the total weight of the trays held in the magazine, and raises and lowers the magazine to the tray supply position at a speed corresponding to the total weight of the trays, thereby speeding up the tray supply operation. Further, Patent Document 3 discloses a device having a storage unit that stores the number of trays accommodated in a magazine, the number of parts accommodated in the trays, the weight per tray, and the weight per part, calculates the total weight of the items accommodated in the magazine based on that information, and raises and lowers the magazine to the tray supply position at a speed corresponding to the total weight, thereby speeding up the tray supply operation.

Prior Art Documents

Patent Documents

[0003] ​​​​​​​​​​​​​​​​​​​​​​Incidentally, in the movable transfer device described in Patent Document 1, the transfer mechanism is generally powered by a battery. In such a transfer device, simply attempting to increase the speed of item transfer may consume a large amount of battery power, potentially shortening the operating time.

[0005] The primary purpose of this disclosure is to extend the operating time of a transfer device that is powered by a battery.

[0006] This disclosure employs the following measures to achieve the above-mentioned objectives. [Means for solving the problem]

[0007] The transfer device of this disclosure is A transfer mechanism having a mounting section on which an article can be placed, and an article placed on the mounting section can be transferred, A motor that receives power from a battery to drive the transfer mechanism, A unit for acquiring the weight of the aforementioned article, A control unit that controls the motor by determining the drive current based on the weight of the item obtained by the acquisition unit so that it is smaller when the item is lighter than when it is heavy, The main point is to be prepared.

[0008] In this transfer device, the drive current is determined to be smaller when the item is lighter than when it is heavier, and the motor is controlled accordingly. This reduces battery power consumption when the item is light, and extends the operating time of the transfer device. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic diagram of the component mounting system 10. [Figure 2] This is a perspective view of feeder 20. [Figure 3] This is a perspective view of feeder storage unit 13. [Figure 4]This is a perspective from Magazine 50. [Figure 5] This is a perspective view of the magazine storage device 30. [Figure 6] This is a schematic diagram of the automated guided vehicle 60 and the transfer device 70. [Figure 7] This is a perspective view of the transfer device 70 with the roller row 75 removed. [Figure 8] This is a schematic diagram of the weight sensor 78. [Figure 9] A block diagram showing the electrical connection relationships of the component mounting system 10. [Figure 10] This is a flowchart showing an example of a magazine transfer processing routine. [Figure 11] This is an explanatory diagram illustrating an example of the relationship between the weight of magazine 50 and the drive current of stepping motor 76. [Modes for carrying out the invention]

[0010] Next, embodiments for implementing this disclosure will be described with reference to the drawings. Figure 1 is a schematic diagram of the component mounting system 10. Figure 2 is a perspective view of the feeder 20. Figure 3 is a perspective view of the feeder storage unit 13. Figure 4 is a perspective view of the magazine 50. Figure 5 is a perspective view of the magazine storage device 30. Figure 6 is a schematic diagram of the automated guided vehicle 60 and the transfer device 70. Figure 7 is a perspective view of the transfer device 70 with the roller row 75 removed. Figure 8 is a schematic diagram of the weight sensor 78. Figure 9 is a block diagram showing the electrical connection relationships of the component mounting system 10. In this embodiment, the X-axis direction (left-right direction), Y-axis direction (front-back direction), and Z-axis direction (up-down direction) are as shown in Figures 1 to 8 (in Figure 1, the Z-axis direction is perpendicular to the plane of the paper, and in Figure 8, the Y-axis direction is perpendicular to the plane of the paper).

[0011] The component mounting system 10 receives the supply of components P from the feeders 20 in each of a plurality (five in this embodiment) of component mounting apparatuses 14, sequentially mounts the components P onto the substrate S, and manufactures the substrate S on which the components P are mounted. As shown in FIG. 1, the component mounting system 10 includes a production line L, a loader 17, an automated guided vehicle 60, a transfer device 70, and a management device 90 (see FIG. 9).

[0012] As shown in FIG. 1, the production line L is configured by arranging a printing apparatus 11, a printing inspection apparatus 12, a feeder storage 13, a plurality of component mounting apparatuses 14, a reflow apparatus 15, and an appearance inspection apparatus 16 in this order.

[0013] The printing apparatus 11 is an apparatus that prints solder on the wiring pattern of the substrate S. The printing apparatus 11 includes a substrate transfer device that transfers the substrate S, a printing head, a head moving device that moves the printing head, a fixed frame to which a screen mask is fixed, a control device that is a computer including a CPU, a ROM, a RAM, a storage (e.g., HDD or SSD), and the like. The printing inspection apparatus 12 is an apparatus that inspects the state of the solder printed on the substrate S by the printing apparatus 11. The printing inspection apparatus 12 includes an inspection apparatus and a control device (computer) that controls the inspection apparatus. The feeder storage 13 is an apparatus that stores the feeders 20 used in the component mounting apparatus 14 and the used feeders 20. The component mounting apparatus 14 is an apparatus that mounts the component P onto the substrate S on which solder is printed by the printing apparatus 11. Each of the component mounting apparatuses 14 has a mounting control device (not shown) and a feeder setting table (not shown). When the feeder 20 is set on the feeder setting table, the mounting control device can communicate with the feeder 20 and acquires information regarding the component P held by the feeder 20. The reflow apparatus 15 is an apparatus that heats the substrate S to melt the solder, then cools it to electrically connect the component P onto the substrate S and fix the component P to the substrate S. The appearance inspection apparatus 16 is an apparatus that determines whether or not the amount of displacement between the actual mounting position and the predetermined target mounting position of each of the components P on the substrate S is within the appearance inspection allowable range.

[0014] The feeder 20 is a component supply device that supplies components P to the component mounting device 14. As shown in FIG. 2, the feeder 20 is a cassette-type tape feeder having a tape reel 22 around which a tape 21 containing a plurality of components P is wound, a tape feeding mechanism 23, a connector 24, a rail 25, and a feeder control device (not shown) that controls the tape feeding mechanism 23.

[0015] As shown in FIG. 1, the loader 17 is an exchange device that moves along the production line L, takes out the used feeder 20 from the component mounting device 14 and collects it in the feeder storage 13, or takes out the feeder 20 scheduled to be used in the future from the feeder storage 13 and replenishes the component mounting device 14. The loader 17 includes a loader control device (not shown).

[0016] The feeder storage 13 is a device for storing the feeder 20, and a magazine 50 for storing the feeder 20 is detachably attached thereto. As shown in FIG. 3, the feeder storage 13 includes two magazine storage devices 30 arranged side by side on the left and right, and a storage control device 45 (see FIG. 9).

[0017] The magazine 50 is a housing case capable of accommodating multiple feeders 20. As shown in Figure 4, the magazine 50 includes a magazine body 51, slots 52, clamping portions 53, connectors 54 for the feeders 20, and a connector 55 for the magazine storage device 30. The magazine body 51 is a rectangular parallelepiped housing. Multiple slots 52 are provided along the left-right direction on the bottom surface of the rear entrance side of the magazine body 51. The slots 52 can hold the feeders 20 by inserting the rails 25 of the feeders 20 from the rear. The clamping portions 53 are projections provided on the underside of the bottom surface of the magazine body 51 and are clamped by the clamping mechanism 40 of the magazine storage device 30. The connectors 54 connect to the connectors 24 of the feeders 20 when the feeders 20 are inserted into the slots 52. The connectors 55 can be connected to the connectors 35 of the magazine mounting base 31. When the connector 55 of the magazine 50 and the connector 35 of the magazine storage device 30 are connected, the storage control device 45 (see Figure 9) of the feeder storage unit 13 and the feeder 20 attached to the magazine 50 can communicate via the magazine 50. The storage control device 45 then acquires information such as the mounting position of the feeder 20 set in the slot 52 of the magazine 50, identification information of the feeder 20, and information about the parts P held by the feeder 20.

[0018] The magazine storage device 30 is a device that receives a magazine 50 containing a feeder 20 to be used for the next production from the transfer device 70, and transfers a magazine 50 containing a used feeder 20 to the transfer device 70. As shown in Figure 5, the magazine storage device 30 comprises a magazine mounting base 31 and a clamping mechanism 40.

[0019] The magazine mounting base 31 is a base for mounting the magazine 50. As shown in Figure 5, the magazine mounting base 31 comprises a roller support member 32, two rows of rollers 34, and a connector 35. The roller support member 32 is a plate-shaped member on which the rows of rollers 34 are provided. The rows of rollers 34 are provided on the left and right sides of the roller support member 32. The rows of rollers 34 consist of a plurality of rollers 34R arranged in the front-to-back direction, with their rotation axes positioned in the left-to-right direction. Each roller 34R is rotatably mounted on a roller mounting member 36 attached to the upper surface of the roller support member 32. Each roller 34R rotates forward or backward when powered by a motor 37 (see Figure 9) with the magazine 50 mounted on it, thereby moving the magazine 50 forward or backward within the magazine storage device 30. The connector 35 is provided on a wall portion 38 provided on the front side of the upper surface of the roller support member 32. The connector 35 can be connected to a connector 55 provided on the front of the magazine 50.

[0020] The clamping mechanism 40 is a mechanism for clamping the magazine 50 placed on the magazine mounting base 31. As shown in Figure 5, the clamping mechanism 40 is provided between two rows of rollers 34. The clamping mechanism 40 is mounted on a clamp slider 42 that is movable in the front-rear direction by an air cylinder 41. The clamping mechanism 40 has a hook-shaped clamper 43. The clamper 43 is positioned by an actuator (not shown) between the clamp release position shown in Figure 5 and a clamp position (not shown) (a position rotated upward from the clamp release position). The clamp slider 42 stops at the position shown in Figure 5 (rear position) when the magazine 50 is being transferred. The clamp slider 42 is equipped with a stopper 44 for stopping the magazine 50 as it moves forward on the magazine mounting base 31.

[0021] As shown in Figure 9, the storage control device 45 is a device that controls the entire feeder storage unit 13. The storage control device 45 is a computer that has a CPU, ROM, RAM, storage, etc. The storage control device 45 outputs control signals to the magazine mounting base 31, the clamping mechanism 40, and the like.

[0022] The automated guided vehicle (AGV) 60 is a device that tows the transfer device 70 by traveling while connected to the transfer device 70. The AGV 60 has a battery 61 (see Figure 9), a motor 62 for travel, and a transport vehicle control device (not shown). The AGV 60 travels by driving the motor 62 with power from the battery 61. The AGV 60 is configured as, for example, an AGV (Automatic Guided Vehicle) or an AMR (Autonomous Mobile Robot). The transport vehicle control device controls the movement of the AGV 60.

[0023] The transfer device 70 is a device capable of transferring the magazine 50 to and from the magazine storage device 30. The transfer device 70 is connected to the automated guided vehicle 60 via a connector (not shown) and operates by receiving power from the battery 61 of the automated guided vehicle 60. As shown in Figures 6 to 8, the transfer device 70 is configured as a trolley comprising a base member 71, a magazine transfer mechanism 72, a stepping motor 76 (see Figure 9), a driver 77 (see Figure 9), a weight sensor 78, wheels 79, and a control device 80 (see Figure 9).

[0024] The base member 71 is a member to which a magazine transfer mechanism 72 (roller support member 73) is attached to the upper part. As shown in Figure 8, the base member 71 has openings 71a that extend from the front end to the rear end at both the left and right ends. The base member 71 also has recesses 71b near the center in the front-rear and left-right directions.

[0025] The magazine transfer mechanism 72 includes a roller support member 73 (see Figures 7 and 8) and a roller row 75 (see Figures 6 and 8). The roller support member 73 is a member for supporting the roller row 75. As shown in Figure 8, the roller support member 73 has a projection 73a. The projection 73a protrudes downward from the lower surface of the roller support member 73 and extends in the front-rear direction. The projection 73a is inserted through an opening 71a of the base member 71. A retaining portion 73b is formed at the lower end of the projection 73a. This prevents the magazine transfer mechanism 72, together with the roller support member 73, from coming out upward from the base member 71. The roller row 75 is capable of holding a magazine 50. The roller row 75 includes a plurality of rollers 75R and a plurality of roller mounting members 74. Each roller 75R is rotatably mounted on a roller mounting member 74 attached to the upper surface of the roller support member 73. The roller mounting members 74 are a pair of left and right members with a roughly L-shaped cross-section, and are provided on the upper surface of the roller support member 73 so that the rotation axis of the roller 75R is oriented in the left-right direction. Multiple roller mounting members 74 are arranged in the front-to-back direction on the upper surface of the roller support member 73 so that multiple rollers 75R are aligned in the front-to-back direction.

[0026] The stepping motor 76 (see Figure 9) is the power source for rotating each roller 75R. The stepping motor 76 supplies power to the roller 75R on which the magazine 50 is mounted, causing the roller 75R to rotate in the forward or reverse direction, thereby moving the magazine 50 forward or backward within the magazine transfer mechanism 72.

[0027] The driver 77 (see Figure 9) is a circuit for switching the switching element that drives the stepping motor 76. The driver 77 is, for example, a constant-current drive motor driver. The driver 77 comprises, for example, a well-known buck-boost chopper circuit including a coil, a capacitor, and a transistor, and a switching element for driving the stepping motor 76. The driver 77 receives a set value for the drive current of the stepping motor 76 from the control device 80 (see Figure 9). The driver 77 controls the chopper circuit so that a voltage corresponding to the input set value for the drive current acts on it, and also controls the switching element at a frequency corresponding to the target speed of the stepping motor 76.

[0028] The weight sensor 78 is a sensor that measures the weight of the magazine 50 placed on the roller row 75 of the magazine transfer mechanism 72. The weight sensor 78 is positioned so as to be sandwiched between the bottom surface of the recess 71b formed in the base member 71 and the lower surface of the roller support member 73. The weight sensor 78 outputs data regarding the measured weight of the magazine 50 to the control device 80.

[0029] The control device 80 controls the entire transfer device 70. As shown in Figure 9, the control device 80 is a computer equipped with a CPU 81, ROM 82, RAM 83, storage 84, etc. The control device 80 outputs a drive command to the driver 77, which includes a set value for the drive current. The control device 80 also receives detection signals from the weight sensor 78. Furthermore, the control device 80 exchanges data with the storage control device 45 and the transport vehicle control device, etc.

[0030] The management device 90 is a device that manages the entire component mounting system 10. The management device 90 is a computer that includes a CPU, ROM, RAM, storage, etc., and is connected to input devices such as a keyboard and mouse, as well as a display. The storage of the management device 90 stores the production program for the circuit board S and production information related to the production of the circuit board S. Here, the production program specifies the order in which components P are attached to the circuit board S by multiple component mounting devices 14 in the component mounting system 10, as well as the number of circuit boards S to be produced. The management device 90 sends control signals to the printing device 11, the printing inspection device 12, the component mounting device 14, the reflow device 15, the visual inspection device 16, etc. The management device 90 also exchanges data with the mounting control device, the storage control device 45, the control device 80, the loader control device, etc.

[0031] Next, the operation of the component mounting system 10 will be described. Here, the operation of placing the magazine 50 on the transfer device 70 in a warehouse (not shown), towing the transfer device 70 from the warehouse to the front of the feeder storage unit 13 of the component mounting system 10 using an automated guided vehicle 60, and transferring the magazine 50 to the magazine storage device 30 in the feeder storage unit 13 will be described. Note that the warehouse is located in a different location from where the component mounting system 10 is installed.

[0032] First, the worker connects the automated guided vehicle (AGV) 60 to the transfer device 70 in the warehouse. Next, the worker places the magazine 50 on the transfer device 70 and attaches the tape feeder 20 containing the necessary parts to the magazine 50, and gives a transport instruction to the AGV 60. Upon receiving the transport instruction, the AGV 60 pulls the transfer device 70 and moves to the front of the feeder storage unit 13. When the AGV 60 (transfer device 70) moves to the front of the feeder storage unit 13, the storage unit control device 45 inputs a signal from a sensor (not shown) indicating that it has detected that the AGV 60 has moved to the front of the feeder storage unit 13. Subsequently, the storage unit control device 45 outputs an instruction to the control device 80 to start the transfer. Upon receiving the instruction to start the transfer, the CPU 81 of the control device 80 executes the magazine transfer processing routine shown in Figure 10. Note that the clamp slider 42 is positioned at the rear position shown in Figure 5, and the clamper 43 is positioned at the clamp release position shown in Figure 5.

[0033] When the magazine transfer processing routine is started, the CPU 81 obtains the weight of the magazine 50 placed on the magazine transfer mechanism 72 from the weight sensor 78 (S100). Next, the CPU 81 sets the drive current of the stepping motor 76 (S105). Specifically, the CPU 81 calculates and sets the output value of the drive current according to the weight of the magazine 50 obtained in S100, based on the relationship between the weight of the magazine 50 and the drive current, as shown in Figure 11. This relationship is defined such that, for example, the lighter the weight of the magazine 50, the smaller the drive current of the stepping motor 76. Then, the CPU 81 outputs a drive command to the driver 77 that includes the set value of the drive current of the stepping motor 76 set in S105 (S110). After S110, the CPU 81 terminates this routine.

[0034] When a drive command including a set value for the drive current is input, the driver 77 changes the voltage applied to the stepping motor 76 so that the drive current of the stepping motor 76 becomes the set value. Specifically, the driver 77 controls the duty cycle of the step-up / step-down chopper circuit (transistor) by feedback control based on the deviation between the set value for the drive current and the actual current value flowing through the stepping motor 76. In addition, the driver 77 controls the switching elements at a constant frequency so that the magazine 50 is transferred at a constant speed regardless of the weight of the magazine 50.

[0035] Thus, in the transfer device 70, the CPU 81 sets the drive current of the stepping motor 76 based on the relationship shown in Figure 11, such that the value decreases as the weight of the magazine 50 decreases. The driver 77 then changes the duty cycle of the step-up / step-down chopper circuit (transistor) so that a voltage corresponding to the drive current acts. As a result, the stepping motor 76 can be driven with an appropriate drive current for the weight of the magazine 50, and the power consumption of the battery 61 can be suppressed. For example, if the number of feeders 20 stored in the magazine 50 is small and the weight of the magazine 50 including the feeders 20 is relatively light, unnecessary power consumption can be suppressed. In addition, the driver 77 controls the switching elements so that the magazine 50 is transferred at a constant speed regardless of the weight of the magazine 50. By setting a frequency that results in a transfer speed that does not cause large shocks or loads on the magazine 50, the shocks and loads on the magazine 50 can be reduced.

[0036] When a signal indicating the detection of the magazine 50 (see Figure 4) is received from a sensor (not shown), the storage control device 45 pulls the magazine 50 forward on the magazine mounting base 31. Specifically, the storage control device controls the motor 37 that drives the roller 34R to pull the magazine 50 onto the magazine mounting base 31. As the magazine 50 moves forward on the magazine mounting base 31, the front end of the clamped portion 53 (see Figure 4) on the underside of the magazine 50 hits the stopper 44 and stops at that position. Next, the storage control device 45 clamps the magazine 50. Specifically, the storage control device 45 controls the actuator of the clamping mechanism 40 so that the clamper 43 is positioned from the release position to the clamping position. As a result, the clamped portion 53 of the magazine 50 is clamped by the stopper 44 and the clamper 43. Next, the storage control device 45 connects the connector 55 of the magazine 50 (see Figure 4) to the connector 35 of the magazine mounting base 31 (see Figure 5). Specifically, the storage control device 45 controls the air cylinder 41 (see Figure 5) to move the clamp slider 42 (see Figure 5) that clamps the magazine 50 forward, thereby connecting the connector 55 of the magazine 50 to the connector 35 of the magazine mounting base 31.

[0037] This allows the parts P (feeders 20) necessary for production to be automatically transported from the warehouse to the production line L (feeder storage unit 13). The feeder storage unit 13 also has two magazine storage devices 30. One can store a magazine 50 containing feeders 20 to be used, and the other can store a magazine 50 containing used feeders 20. Therefore, after the feeder storage unit 13 receives a magazine 50 containing a feeder 20 to be used from the transfer device 70, it can hand over a magazine 50 containing a used feeder 20 to the transfer device 70. Thus, the replenishment and collection of feeders 20 (magazines 50) can be carried out efficiently.

[0038] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. Specifically, the transfer device 70 of this embodiment corresponds to the transfer device of the present disclosure, the feeder 20 and magazine 50 correspond to the articles, the stepping motor 76 corresponds to the motor, the weight sensor 78 and the CPU 81 that executes the processing of S100 of the magazine transfer processing routine correspond to the acquisition unit, and the CPU 81 and driver 77 that execute the processing of S105 of the transfer processing routine correspond to the control unit. Also, the base member 71 corresponds to the base member.

[0039] In the transfer device 70 described in detail above, the drive current is determined to be smaller when the magazine 50 including the feeder 20 is light than when it is heavy, and the stepping motor 76 is driven and controlled accordingly. As a result, when the magazine 50 including the feeder 20 is light, the power consumption of the battery 61 can be suppressed, and the operating time of the transfer device 70 can be extended.

[0040] Furthermore, in the transfer device 70, the CPU 81 controls the drive current of the stepping motor 76 so that the lighter the weight of the magazine 50 including the feeder 20, the smaller the drive current. This allows for more precise adjustment of the drive current according to the weight of the magazine 50 including the feeder 20, further reducing the power consumption of the battery 61.

[0041] Furthermore, the transfer device 70 includes a base member 71 located below the magazine transfer mechanism 72, and a weight sensor 78 located between the base member 71 and the magazine transfer mechanism 72. This allows for more accurate acquisition of the weight of the magazine 50.

[0042] Furthermore, the transfer device 70 controls the stepping motor 76 so that the magazine 50 is transferred at a constant speed regardless of the weight of the magazine 50 including the feeder 20. By setting a speed that takes into account the impact and load on the magazine 50 and feeder 20 when transferring the magazine 50 from the magazine transfer mechanism 72, the impact and load on the magazine 50 and feeder 20 can be reduced.

[0043] Furthermore, the transfer device 70 is transported by the automated guided vehicle 60, and the stepping motor 76 is driven by power supplied from a battery 61 built into the automated guided vehicle 60. By setting the drive current according to the weight of the magazine 50, the transfer device 70 can be made simpler in configuration, and the operating time of the automated guided vehicle 60 can be extended.

[0044] Furthermore, the transfer device 70 can transfer feeders 20 (magazines 50) used in the component mounting equipment 14 that constitutes the production line L of the substrate S. The weight of the magazine 50 when the feeders 20 are stored varies depending on the type and number of feeders 20. Therefore, it is highly significant to obtain the weight of the magazine 50 containing the feeders 20 and to determine the drive current based on the weight of the magazine 50.

[0045] 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.

[0046] In the embodiments described above, the motor of the present disclosure was described as a stepping motor 76. However, the motor of the present disclosure may also be a servo motor.

[0047] In the embodiment described above, the magazine 50 is used to store the component P (feeder 20). However, the magazine 50 may also store a tray containing the component P or a pallet on which the tray is placed, or it may store a screen mask used in the printing device 11, a substrate support member, etc.

[0048] In the embodiment described above, the weight of the magazine 50 is measured by the weight sensor 78 of the transfer device 70. However, the CPU 81 may obtain the weight of the magazine 50 from the management device 90 in the transfer processing routine S100. In this case, the management device 90 may estimate the weight based on at least the number of feeders 20. For example, the management device 90 may store the weight of the magazine 50, the number of feeders 20 stored in the magazine 50, the weight of the feeders 20, etc., in storage and calculate the weight of the magazine 50 including the feeders 20 by calculation. Furthermore, the management device 90 may also store the type and number of parts P stored in each feeder 20, the weight of each part P, in storage and calculate the total weight by calculation.

[0049] In the embodiment described above, the relationship between the weight of the magazine 50 and the drive current of the stepping motor 76 was assumed to be smaller as the weight of the magazine 50 decreased. However, the relationship between the weight of the magazine 50 and the drive current of the stepping motor 76 may be set in steps (stepwise) based on the weight of the magazine 50. In this case as well, similar to the embodiment described above, the drive current should be smaller when the weight of the magazine 50 is lighter than when it is heavy.

[0050] In the embodiment described above, the transfer device 70 is towed by the automated guided vehicle 60. However, the transfer device 70 may be placed on the automated guided vehicle 60 and transported there. In this case, the transfer device 70 does not have to be configured as a trolley.

[0051] In the embodiment described above, the transfer device 70 receives power from the battery 61 of the automated guided vehicle 60. However, the transfer device 70 may also be provided with its own battery.

[0052] In the embodiment described above, the transfer device 70 and the automated guided vehicle 60 are configured as separate components. However, the transfer device 70 and the automated guided vehicle 60 may be configured as a single unit.

[0053] Furthermore, this specification also discloses a technical concept in which the transfer device described in claim 4 of the original application was changed from "the transfer device described in claim 1 or 2" to "the transfer device described in any one of claims 1 to 3". In addition, this specification also discloses a technical concept in which the transfer device described in claim 5 of the original application was changed from "the transfer device described in claim 1 or 2" to "the transfer device described in any one of claims 1 to 4". In addition, this specification also discloses a technical concept in which the transfer device described in claim 7 of the original application was changed from "the transfer device described in claim 1 or 2" to "the transfer device described in any one of claims 1 to 6". [Industrial applicability]

[0054] The transfer device of this disclosure is usable in the manufacturing industry of component mounting systems. [Explanation of symbols]

[0055] 10 Component mounting system, 11 Printing device, 12 Print inspection device, 13 Feeder storage, 14 Component mounting device, 15 Reflow device, 16 Visual inspection device, 17 Loader, 20 Feeder, 21 Tape, 22 Tape reel, 23 Tape feeding mechanism, 24 Connector, 25 Rail, 30 Magazine storage device, 31 Magazine mounting platform, 32 Roller support member, 34 Roller row, 34R roller, 35 Connector, 36 Roller mounting member, 37 Motor, 38 Wall section, 40 Clamping mechanism, 41 Air cylinder, 42 Clamp slider, 43 Clamper, 44 Stopper, 45 Storage device control unit, 50 Magazine, 51 Magazine body, 52 Slot, 53 Clamped section, 54 Connector, 55 Connector, 60 Automated guided vehicle, 61 Battery, 62 Motor, 68 Weight sensor, 70 Transfer device, 71 base member, 71a opening, 71b recess, 72 magazine transfer mechanism, 73 roller support member, 73a protrusion, 73b retaining part, 74 roller mounting member, 75 roller row, 75R roller, 76 stepping motor, 77 driver, 78 weight sensor, 79 wheel, 80 control device, 81 CPU, 82 ROM, 83 RAM, 84 storage, 90 management device, L production line, P parts, S circuit board.

Claims

1. A transfer mechanism having a mounting section on which an article can be placed, and an article placed on the mounting section can be transferred, A motor that receives power from a battery to drive the transfer mechanism, A unit for acquiring the weight of the aforementioned article, A control unit that controls the motor by determining the drive current based on the weight of the item obtained by the acquisition unit so that it is smaller when the item is lighter than when it is heavy, A transfer device equipped with the following features.

2. A transfer device according to claim 1, The control unit controls the drive current to decrease as the weight of the item decreases. Transfer equipment.

3. A transfer device according to claim 1 or 2, Base member provided below the transfer mechanism Equipped with, The acquisition unit has a weight sensor provided between the base member and the transfer mechanism. Transfer equipment.

4. A transfer device according to claim 1 or 2, The control unit controls the motor so that the article is transferred at a constant speed regardless of the weight of the article. Transfer equipment.

5. A transfer device according to claim 1 or 2, Transported by an automated guided vehicle, The motor is powered by a battery built into the automated guided vehicle. Transfer equipment.

6. A transfer device according to claim 5, Formed by a trolley having wheels, Transfer equipment.

7. A transfer device according to claim 1 or 2, The aforementioned article is capable of transferring components used in modules that constitute a circuit board production line. Transfer equipment.

Images