Work device, device on which to perform work, work system, and method for adjusting position of work unit relative to device on which to perform work

Abstract

A Z position sensor 73 (detection unit) is attached to a loader 3 (work unit) by which a feeder F is loaded onto / unloaded from (predetermined work) a component mounting machine 1 (device on which to perform work). The component mounting machine 1 has an upper detection plate 93 (reference member, flat reference plate). The height and inclination of the loader 3 are adjusted by driving the loader 3 in the Z direction (vertical direction) on the basis of the result of the detection of the height of the upper detection plate 93 by the Z position sensor 73 (steps S111-S114). That is, at a location other than the Z position sensor 73, it is not necessary to bring a feeder exchanger 2 (work device) and the component mounting machine 1 into contact in order to position the loader 3 in the Z direction. As a result, it is possible to prevent an increase in the size and weight of the feeder exchanger 2 and the component mounting machine 1, while being possible to position the feeder exchanger 2 relative to the component mounting machine 1 in the Z direction.

Description

Work device, work target device, work system, and method for adjusting the position of a work unit relative to a work target device

[0001] The present invention relates to a technique for positioning a working unit of a working device that performs work such as attaching and detaching a feeder to a work target device such as a component mounter.

[0002] Patent Documents 1 and 2 describe techniques related to the positioning of devices that perform work on component mounters. Patent Document 1 in particular discloses a carrier tape supply device that supplies carrier tape to a component mounter. According to Patent Document 1, the carrier tape supply device is vertically positioned relative to the component mounter as follows: The carrier tape supply device supports a carrier tape transfer mechanism by a spring so that it can move vertically. Furthermore, horizontal rollers are attached to the carrier tape supply device, and a taper is provided on the feeder device of the component mounter. When the carrier tape supply device approaches the feeder device and the horizontal rollers contact the taper, the carrier tape transfer mechanism is displaced vertically in accordance with the positional relationship between the horizontal rollers and the taper.

[0003] JP 2021-064678 A JP 2019-176188 A

[0004] In this way, the tapered edge of the component mounter contacts the horizontal roller of the carrier tape supply device, thereby vertically positioning the carrier tape supply device. At this time, a force corresponding to the elastic force of the spring supporting the carrier tape transport mechanism acts between the component mounter and the carrier tape supply device. To withstand this force, the component mounter and the carrier tape supply device must be constructed robustly, which has led to problems with the size and weight of these devices.

[0005] The present invention has been made in consideration of the above-mentioned problems, and aims to enable vertical positioning of a working device relative to a work target device, while suppressing increases in size and weight of the working device and the work target device that is the object of work performed by the working device.

[0006] The work device of the present invention comprises a work unit that performs a specified task on a work target device, a horizontal transport unit that transports the work unit horizontally, a vertical drive unit that changes the height and inclination of the work unit by driving the work unit vertically, a detection unit that is attached to the work unit and detects a reference member that the work target device has, and a control unit that controls the vertical drive unit based on the detection result of the detection unit, wherein the detection unit detects the height of the reference member and the control unit adjusts the height and inclination of the work unit relative to the reference member by controlling the vertical drive unit based on the height of the reference member detected by the detection unit.

[0007] The work target device of the present invention comprises a work piece on which a predetermined task is performed by the work device, and a flat reference plate attached horizontally, and the work device comprises a work piece that performs the predetermined task, a horizontal transport unit that transports the work piece horizontally, a vertical drive unit that changes the height and inclination of the work piece by driving the work piece vertically, a detection unit attached to the work piece and detects the reference plate, and a control unit that controls the vertical drive unit based on the detection result of the detection unit, and the detection unit detects the height of the reference plate, and the control unit adjusts the height and inclination of the work piece relative to the reference plate by controlling the vertical drive unit based on the height of the reference plate detected by the detection unit.

[0008] The work system of the present invention comprises a work target device and a work device that performs a specified task on the work target device, the work target device comprising a reference member, and the work device comprising a work unit that performs the specified task, a horizontal transport unit that transports the work unit horizontally, a vertical drive unit that changes the height and inclination of the work unit by driving the work unit vertically, a detection unit attached to the work unit that detects the reference member, and a control unit that controls the vertical drive unit based on the detection result of the detection unit, the detection unit detects the height of the reference member, and the control unit adjusts the height and inclination of the work unit relative to the reference member by controlling the vertical drive unit based on the height of the reference member detected by the detection unit.

[0009] The method for adjusting the position of a working unit relative to a work target device according to the present invention comprises the steps of detecting the height of a reference member possessed by the work target device using a detection unit attached to the working unit that performs a specified task on the work target device, and adjusting the height and inclination of the working unit by driving the working unit vertically based on the height of the reference member detected by the detection unit.

[0010] In the present invention (working device, work target device, work system, and method for adjusting the position of a working unit relative to a work target device) configured as described above, a detection unit is attached to the working unit that performs a predetermined task on the work target device. The work target device also has a reference member (reference plate). The height and inclination of the working unit are adjusted by driving the working unit vertically based on the result of the detection unit detecting the height of the reference member. In other words, there is no need to bring the working device and the work target device into contact with each other at a location other than the detection unit to position the working unit vertically. As a result, it is possible to vertically position the working device relative to the work target device while suppressing increases in size and weight of the working device and the work target device on which the working device performs work.

[0011] The working device may also be configured so that the detection unit has N height sensors that detect the heights of N different detection positions (N is an integer greater than or equal to 3) on the reference member, and the control unit controls the vertical drive unit based on the heights of at least three detection positions detected by at least three height sensors to adjust the height and inclination of the working unit relative to the reference member. In this configuration, there is no need to bring the working device and the work target device into contact with each other at a location other than the N height sensors to position the working unit vertically. As a result, it is possible to vertically position the working device relative to the work target device while minimizing the size and weight of the working device and the work target device.

[0012] The control unit may be configured to control the horizontal conveyance unit to stop the working unit in the horizontal direction with each of the N height sensors facing the reference member in the vertical direction, and then adjust the height and inclination of the working unit based on the detection results obtained by the detection unit. This configuration can adjust the height and inclination of the working unit based on the results of accurate detection of the height of the reference member by at least three height sensors.

[0013] The working device may further include a guided part attached to the working unit, the N height sensors being attached to the guided part, the work target device including a guide part that guides the guided part that has entered the guide part in the horizontal direction to a guide position facing the reference member in the vertical direction, and the control part controls the horizontal conveyance unit to cause the guided part to enter the guide part from the horizontal direction and position the guided part at the guide position, thereby causing each of the N height sensors to face the reference member in the vertical direction. In this configuration, the guided part is guided by the guide part, thereby reliably causing each of the N height sensors to face the reference member in the vertical direction, and the height of the reference member can be detected.

[0014] The working device may be configured so that the guided portion has a flat guided plate, the guide portion has a pair of guide blocks that sandwich the entry path of the guided plate relative to the guide portion, and the pair of guide blocks guide the guided plate to the guide position. In this configuration, by guiding the guided portion with the guide blocks, each of the N height sensors can be reliably positioned vertically opposite the reference member to detect the height of the reference member.

[0015] The reference member may also have a pair of detection plates provided corresponding to the pair of guide blocks, and the working device may be configured so that one end of the guided plate guided to the guide position faces one of the pair of detection plates and the other end faces the other of the pair of detection plates, and some of the N height sensors are arranged at one end and the other height sensors are arranged at the other end. In this configuration, each of the N height sensors can be reliably positioned vertically opposite the detection plate, and the height and inclination of the working unit can be adjusted based on the results of accurately detecting the height of the detection plate.

[0016] The working device may also be configured so that the vertical drive unit has M (M is an integer of 3 or greater) support members that support the working unit by abutting against the working unit from below at different support positions, and a support member drive unit that drives each of the M support members individually in the vertical direction, and the control unit adjusts the height and inclination of the working unit by controlling the height of the M support members with the support member drive unit. With this configuration, the height and inclination of the working unit can be accurately adjusted.

[0017] According to the present invention, it is possible to vertically position the working device relative to the work target device, while suppressing increases in size and weight of the working device and the work target device on which the working device performs work.

[0018] 1 is a side view schematically showing an example of a component mounting system equipped with a feeder exchanger that is an example of a working device of the present invention; FIG. 2 is a perspective view schematically showing a loader of the feeder exchanger; FIG. 3 is a perspective view schematically showing a transport robot of the feeder exchanger; FIG. 4 is a perspective view schematically showing a lifter equipped in the transport robot; FIG. 5 is a perspective view schematically showing the relationship between a guided plate and a guide section; FIG. 6 is a perspective view schematically showing the guide section; FIG. 7 is a diagram schematically showing the operation of the lifter; FIG. 8 is a diagram schematically showing the movement range of the loader in the Y direction; FIG. 9 is a diagram schematically showing the movement range of the loader in the rotation direction; FIG. 10 is a bottom view schematically showing the process in which a guided plate entering the guide section is guided by the guide section; FIG. 11 is a diagram schematically showing the operation after the guided plate has been guided to its destination; FIG. 12 is a block diagram showing the electrical configuration of the transport robot; and FIG. 13 is a flowchart showing the position control of the loader performed by the transport robot.

[0019] Fig. 1 is a side view showing a typical example of a component mounting system equipped with a feeder exchanger, which is an example of a working device of the present invention; Fig. 2 is a perspective view showing a typical loader of the feeder exchanger; Fig. 3 is a perspective view showing a typical transport robot of the feeder exchanger; and Fig. 4 is a perspective view showing a typical lifter equipped on the transport robot. In this embodiment, the horizontal X direction, the horizontal Y direction perpendicular to the X direction, and the vertical Z direction are appropriately indicated. The arrow side of the X direction will be referred to as the front side, and the opposite side of the arrow will be referred to as the rear side.

[0020] The component mounting system of FIG. 1 includes a component mounter 1 and a feeder exchanger 2. The component mounter 1 mounts components on a board by suctioning components supplied by a feeder F with a nozzle at the tip of a mounting head and transferring the components to the board. The feeder F is, for example, a tape feeder that feeds a component supply tape having multiple pockets that each store components, thereby supplying the components in the pockets. An example of such a component mounter 1 is the device disclosed in WO 2021 / 186533. The feeder exchanger 2 includes a loader 3 that loads and unloads the feeder F from the component mounter 1, and a transport robot 4 that transports the loader 3 in the X and Y directions. Note that FIG. 1 shows the internal configurations of the loader 3 and the transport robot 4 of the feeder exchanger 2 in a transparent manner.

[0021] The loader 3 has a rectangular parallelepiped housing 31, and a storage space 311 for storing feeders F is provided inside the housing 31. An opening 312 is provided at the front end of the storage space 311 in the X direction, and the feeders F are loaded from the storage space 311 to the component mounter 1 and unloaded from the component mounter 1 to the storage space 311 through the opening 312. A bottom plate 313 of the housing 31 is a flat plate that is rectangular in plan view from the Z direction and faces the storage space 311 from below. The loader 3 has a feeder holder 32 fixed to the upper surface of the bottom plate 313 within the storage space 311, and the feeder holder 32 detachably holds the feeders F. The loader 3 also has an angle sensor 33 fixed to the upper surface of the bottom plate 313 within the bottom plate 313. The angle sensor 33 detects the inclination angle of the loader 3 with respect to the horizontal plane.

[0022] 1 and 2, the loader 3 has a plurality of (three) spacers 34 that protrude downward from the bottom surface of the bottom plate 313. Each of the three spacers 34 is a rectangular parallelepiped block having the same thickness (length in the Z direction) and is fixed to the bottom surface of the bottom plate 313. One of the three spacers 34 is disposed at the rear end of the bottom plate 313 in the X direction, and the other two spacers 34 are disposed at both end portions of the bottom plate 313 in the Y direction.

[0023] The loader 3 also has a plurality of (three) bearing plates 35 that protrude downward from the bottom surface of the bottom plate 313. The three bearing plates 35 are provided corresponding to the three spacers 34, respectively, and are arranged adjacent to the inside of the corresponding spacer 34. Each of the three bearing plates 35 is a flat plate having the same thickness (length in the Z direction) and is fixed to the bottom surface of the bottom plate 313. The thickness of the bearing plates 35 is thinner than the thickness of the spacers 34, and the bottom surfaces of the bearing plates 35 are located above the bottom surfaces of the spacers 34.

[0024] The feeder exchanger 2 further includes a slit 51 provided in the center of the bottom plate 313 and a pair of protrusions 52 protruding downward from the bottom plate 313 on both sides of the slit 51 in the Y direction. The slit 51 is a long hole that opens downward in the bottom plate 313 and extends parallel to the width direction (Y direction) of the loader 3. Each of the pair of protrusions 52 is a flat plate that extends downward from the bottom surface of the bottom plate 313 in parallel to the Z direction and has a side surface perpendicular to the Y direction. A flat plate 53 extending in the Y direction is provided at the front end of the bottom plate 313. The flat plate 53 extends downward from the bottom surface of the bottom plate 313 in parallel to the Z direction and has a side surface perpendicular to the X direction. The functions of the slit 51, protrusions 52, and flat plate 53 will be described later.

[0025] The transport robot 4 has a housing 41, and an upper surface 411 of the housing 41 is a horizontal plane. As shown in FIGS. 1 and 3 , the transport robot 4 is provided with a plurality of (three) lifters 42 corresponding to the plurality of (three) bearing plates 35 provided on the loader 3. In correspondence with the arrangement of the bearing plates 35, one of the three lifters 42 is arranged at the rear end of the upper surface 411 of the housing 41 in the X direction, and two lifters 42 are arranged at both end portions of the upper surface 411 of the housing 41 in the Y direction. Each lifter 42 faces the corresponding bearing plate 35 from below in the Z direction.

[0026] As shown in FIG. 4 , the lifter 42 has a spherical caster 421 provided at the upper end of the lifter 42 and a caster holder 422 that rotatably supports the caster 421. The caster 421 is supported by the caster holder 422 so that it can rotate in all directions, including the roll direction, pitch direction, and yaw direction. The caster holder 422 is disposed above the upper surface 411 of the housing 41, and the caster 421 protrudes above the caster holder 422. The lifter 42 also has a caster driver 423 that drives the caster 421 and the caster holder 422 in the Z direction. The caster driver 423 has a rod 424 that extends parallel to the Z direction and a rod driver 425 that raises and lowers the rod 424 in the Z direction. The rod driving unit 425 is housed inside the housing 41, and the rod 424 extends upward from the rod driving unit 425, with the caster holder 422 fixed to the upper end of the rod driving unit 425. Therefore, when the rod driving unit 425 raises or lowers the rod 424, the caster 421 rises or lowers along with the caster holder 422. The rod driving unit 425 raises or lowers the rod 424 by, for example, an actuator or a motor.

[0027] Furthermore, the feeder exchanger 2 has a pin 55 provided in the center of the upper surface 411 of the housing 41. The pin 55 protrudes upward in the Z direction from the upper surface 411. The pin 55 has a shaft 551 extending upward in the Z direction from the upper surface 411, and a flange 552 provided at the upper end of the shaft 551. The flange 552 is located inside (above) the slit 51 and has a width greater than that of the slit 51 in the X direction. The shaft 551 has a width less than that of the slit 51 in the X direction and fits into the slit 51. The shaft 551 protrudes below the slit 51 from the flange 552. In this way, the pin 55 engages with the slit 51 via the flange 552 at its upper end.

[0028] The feeder exchanger 2 also has a pair of urging parts 56 arranged on the upper surface 411 of the housing 41 on both sides of the pin 55 in the Y direction. The urging parts 56 have a pressure pad 561 facing the center in the Y direction, and a damper 562 that urges the pressure pad 561 toward the center in the Y direction by the elastic force of a spring or the like. In the Y direction, one of the pair of urging parts 56 is located on one side of one of the pair of protrusions 52, the pressure pad 561 of the urging part 56 faces the protrusion 52 from one side, and the damper 562 of the urging part 56 urges the pressure pad 561 to the other side (i.e., toward the protrusion 52). In the Y direction, the other of the pair of urging portions 56 is located on the other side of the other of the pair of protrusions 52, the pressure pad 561 of the urging portion 56 faces the protrusion 52 from the other side, and the damper 562 of the urging portion 56 urges the pressure pad 561 to one side (i.e., toward the protrusion 52).

[0029] A pair of rods 57 are provided at the front end of the upper surface 411. The rods 57 extend parallel to the Z direction and protrude upward from the upper surface 411. These rods 57 face the center of the flat plate 53. The functions of the pins 55, the biasing portions 56, and the rods 57 will be described later.

[0030] 1 and 2 , the feeder exchanger 2 has a guided plate 61 fixed to the housing 31 of the loader 3. The guided plate 61 is a flat plate having a rectangular shape with two rounded front corners in a plan view from the Z direction, and protrudes forward from the bottom plate 313. The top surface of the guided plate 61 is flush with the top surface of the bottom plate 313.

[0031] The feeder exchanger 2 also includes two X-position sensors 71 ( FIG. 2 ) attached to the front end of the guided plate 61. The two X-position sensors 71 are arranged at an interval in the Y direction and detect objects located in front of each of them in the X direction without contact. The feeder exchanger 2 also includes four Z-position sensors 73 attached to the four corners of the guided plate 61. Each of the four Z-position sensors 73 has a contact 731 at its upper end and detects the position in the Z direction, i.e., the height, of an object that comes into contact with the contact 731. The contact 731 of each Z-position sensor 73 protrudes upward from the top surface of the guided plate 61.

[0032] In contrast, the component mounter 1 has a guide unit 9 that guides the guided plate 61. This guide unit 9 also functions as a detection target by the X position sensor 71 and the Z position sensor 73. This point will be described with reference to FIGS. 5 and 6.

[0033] Fig. 5 is a perspective view showing the relationship between the guided plate and the guide section, and Fig. 6 is a perspective view showing the guide section. As shown in Fig. 6, the mounter 1 has a bank 11 where the feeder F is transferred, and the guided plate 61 is provided so as to protrude rearward in the X direction from a floor plate 111 of the bank 11, and the upper surface of the guided plate 61 and the upper surface of the floor plate 111 are flush with each other.

[0034] The guided plate 61 has a pair of guide blocks 91 spaced apart in the Y direction. As described below, the guided plate 61 enters the guide section 9 by moving forward in the X direction toward the guide unit 9. The pair of guide blocks 91 are provided on both sides of the entry path P61 of the guided plate 61 entering the guide section 9 in the Y direction, sandwiching the guided plate 61 from both sides in the Y direction after it has entered the guide section 9. The guide unit 9 also has a pair of upper detection plates 93 corresponding to the pair of guide blocks 91. The upper detection plates 93 are horizontal flat plates that protrude inward (i.e., toward the entry path P61) from the upper ends of the corresponding guide blocks 91 and face the entry path P61 from above. The upper surfaces of the upper detection plates 93 form the upper surface of the guide section 9 and are flush with the upper surface of the floor board 111. The guide unit 9 also has a pair of front detection plates 95 corresponding to the pair of guide blocks 91. The front detection plate 95 is a vertical flat plate that protrudes downward from the front end of the corresponding guide block 91 and faces the approach path P61 from the front side.

[0035] FIG. 7 is a diagram schematically illustrating the operation of the lifter. The "Lowered Height" column in FIG. 7 shows a state in which the lifter 42 positions the caster 421 at the lowered height. The caster 421 positioned at the lowered height is spaced downward from the bearing plate 35 of the loader 3, and the spacer 34 of the loader 3 is placed on the upper surface 411 of the transport robot 4. Because static friction acts between the spacer 34 and the upper surface 411, movement of the spacer 34 in a sliding direction relative to the upper surface 411 is restricted. In other words, the transport robot 4 supports the loader 3 in a restricted support state that restricts movement of the loader 3 relative to the transport robot 4 in the X, Y, and yaw directions.

[0036] On the other hand, the "Lifted Height" column in Fig. 7 shows a state in which the lifter 42 positions the caster 421 at a raised height that is higher than the lowered height. The caster 421 positioned at the raised height abuts against the bearing plate 35 of the loader 3 from below, pushing up the bearing plate 35. As a result, the spacer 34 of the loader 3 moves upward away from the upper surface 411 of the transport robot 4, and the loader 3 is supported by the caster 421. Note that although Fig. 7 shows one lifter 42 of the three lifters 42, all three lifters 42 collectively position the casters 421 at either the lowered height or the raised height.

[0037] As described above, the casters 421 can rotate in all directions. Therefore, when the casters 421 of each of the three lifters 42 are positioned at the raised height, the loader 3 supported by these casters 421 can move in the X, Y, and yaw directions relative to the transport robot 4. In other words, the transport robot 4 supports the loader 3 in a free support state that allows movement of the loader 3 relative to the transport robot 4 in the X, Y, and yaw directions. However, even in the free support state, the movement range of the loader 3 is limited to a certain extent. This point will be explained next.

[0038] 8 is a diagram schematically showing the movement range of the loader in the Y direction. As described above, a slit 51 is provided in the bottom surface of the bottom plate 313 of the loader 3, and a pin 55 protrudes upward from the top surface 411 of the transport robot 4 and fits into the slit 51. Therefore, movement of the loader 3 in the X direction relative to the transport robot 4 is limited by the pin 55 abutting against the edge of the slit 51. In other words, in the freely supported state, movement of the loader 3 in the X direction relative to the transport robot 4 is restricted, and the loader 3 moves in the X direction along with the transport robot 4.

[0039] 8, the pin 55 is movable relative to the slit 51 in the range between both ends of the slit 51 in the extension direction of the slit 51 (Y direction), and the loader 3 is movable in this range relative to the transport robot 4. Furthermore, when the loader 3 moves relative to the transport robot 4 until the pin 55 abuts against the end of the slit 51, the movement of the loader 3 relative to the transport robot 4 is restricted.

[0040] As mentioned above, the biasing portions 56 are provided on both sides of the loader 3 in the extension direction of the slit 51. Therefore, when the pin 55 and the slit 51 approach each other as the loader 3 moves relative to the transport robot 4 and the distance between them becomes less than a predetermined distance, the pressing pad 561 of the biasing portion 56 comes into contact with the loader 3 and applies a biasing force to the loader 3 that acts in a direction that moves the pin 55 and the slit 51 away from each other. In this way, the impact when the pin 55 and the end of the slit 51 come into contact with each other is mitigated.

[0041] 8, the slit 51 is rotatable around the pin 55 about a rotation axis parallel to the Z direction, that is, the loader 3 is rotatable around the rotation axis relative to the transport robot 4. However, the rotation range of the loader 3 relative to the transport robot 4 is limited by the flat plate 53 and the rod 57.

[0042] 9 is a diagram schematically showing the range of movement of the loader in the rotational direction. As shown in state B1, when the rotation angle of the loader 3 relative to the transport robot 4 is small, the flat plate 53 and the pair of rods 57 are separated, and rotation of the loader 3 relative to the transport robot 4 is not restricted. On the other hand, as shown in states B2 or B3, when the rotation angle of the loader 3 relative to the transport robot 4 increases to a predetermined angle, the flat plate 53 abuts against one of the pair of rods 57, and rotation of the loader 3 relative to the transport robot 4 is restricted.

[0043] FIG. 10 is a bottom view schematically illustrating the process by which a guided plate entering the guide section is guided by the guide section. As shown in FIG. 10 , guided plate 61 has a front end 611, side ends 612, and a rear end 613, each of which is formed by a straight line. Front end 611 and rear end 613 are parallel to each other, and side end 612 is perpendicular to front end 611 and rear end 613. As described above, guided plate 61 has a rectangular shape with two rounded corners on the front side, and a radius 614 (corner) is provided between front end 611 and side end 612. Therefore, the width Wa of front end 611 is shorter than the width Wb of guided plate 61 (in other words, the distance between the pair of side ends 612).

[0044] The guide blocks 91 have inner walls 911 parallel to the X direction, and the space between the inner walls 911 of each pair of guide blocks 91 forms a guide destination 98 for the guided plate 61. The guide blocks 91 also have tapers 912 extending from the inner walls 911 toward the rear end, and the space between the tapers 912 of each pair of guide blocks 91 forms an entrance 99 for the guide section 9. The tapers 912 slope outward toward the rear end in the X direction. Therefore, the width Wd of the entrance 99 of the guide section 9 is wider than the width Wc of the guide destination 98. In other words, the guide section 9 has the guide destination 98 on the front side (rear side) of the entrance 99, which has a width that narrows toward the front. The width Wc of the guide destination 98 (i.e., the distance between the inner walls 911) is equal to the width Wb of the guided plate 61.

[0045] 10 , states C1 to C3 show a time series of operations when the transport robot 4 supporting the loader 3 in a free support state advances in the entry direction Dp (parallel to the X direction) to cause the guided plate 61 to enter the guide section 9. As shown in state C1, if the guided plate 61 that has entered the entrance 99 of the guide section 9 is misaligned in the Y direction with respect to the destination 98, the radius 614 of the guided plate 61 abuts against the taper 912 of the guide block 91. When the guided plate 61 advances in the entry direction Dp in this state, the loader 3, because it is supported in a free support state, receives a force applied from the taper 912 to the radius 614 and is displaced toward the center of the guide section 9. As a result, as shown in state C2, the guided plate 61 is guided toward the destination 98. Then, as shown in state C3, when the X position sensor 71 approaches the front detection plate 95 until the distance between the X position sensor 71 and the front detection plate 95 becomes less than the predetermined distance, the X position sensor 71 detects the front detection plate 95. This detection of the front detection plate 95 by the X position sensor 71 causes the transport robot 4 to stop proceeding in the approach direction Dp. In this way, the guidance of the guided plate 61 to the guide destination 98 is completed.

[0046] FIG. 11 is a diagram schematically illustrating the operation of the guided plate 61 after it has been guided to the destination 98. As shown in FIG. 11 , when the guided plate 61 stops at the destination 98, the three lifters 42 begin to lift the loader 3. As the loader 3 lifts, the guided plate 61 attached to the loader 3 also lifts up along with each Z position sensor 73, causing the contacts 731 of each Z position sensor 73 to come into contact with the bottom surfaces of the upper detection plates 93. While the loader 3 is lifting, the pair of guide blocks 91 that sandwich the guided plate 61 restrict movement of the guided plate 61 in the Y and yaw directions. Furthermore, movement of the guided plate 61 in the X direction is restricted by the slits 51 and pins 55. Therefore, the loader 3 is restricted in the X, Y, and yaw directions. Each of the pair of upper detection plates 93 is pre-attached so that the bottom surface of the upper detection plate 93 is horizontal at a predetermined height. Therefore, the difference in height detected by each Z position sensor 73 in contact with the bottom surface of the upper detection plate 93 indicates the inclination of the guided plate 61, in other words, the inclination of the loader 3. Therefore, by adjusting the heights of the casters 421 of the three lifters 42 based on the difference in height detected by each Z position sensor 73, it is possible to support the loader 3 horizontally at a predetermined height.

[0047] Fig. 12 is a block diagram showing the electrical configuration of the transport robot 4. As shown in Fig. 12, the transport robot 4 has a controller 49 housed in a housing 41. The controller 49 has an arithmetic unit 491 which is a processor such as a CPU (Central Processing Unit), and a storage unit 492 which is a storage device such as an SSD (Solid State Drive). This arithmetic unit 491 is responsible for all control executed by the transport robot 4.

[0048] As described above, the transport robot 4 transports the loader 3 by moving in the X and Y directions. Specifically, the transport robot 4 has wheels and wheel drive units 43 that drive the motors, and the wheel drive units 43 drive the wheels to move the transport robot 4. The transport robot 4 also has a LiDAR sensor 44. The calculation unit 491 of the controller 49 controls the drive units 425 and 43 based on the detection results of the sensors 71, 73, and 44, thereby performing the position control shown in FIG. 13 .

[0049] 13 is a flowchart showing the loader position control executed by the transport robot. In step S101, the calculation unit 491 controls the wheel drive unit 43 based on the ambient environment of the feeder exchanger 2 detected by the LiDAR sensor 44, thereby causing the transport robot 4 to transport the loader 3 toward the bank 11 of the component mounter 1 and position the loader 3 facing the bank 11 from the rear side in the X direction. While the transport robot 4 is transporting the loader 3 toward the bank 11, the calculation unit 491 controls each rod drive unit 425 to position each caster 421 at a lowered height. In other words, the transport robot 4 transports the loader 3 while supporting it in a restrained support state. Furthermore, when the loader 3 reaches a facing position facing the component mounter 1, the transport robot 4 stops at the facing position.

[0050] In step S102, the calculation unit 491 controls the rod driving unit 425 to raise each caster 421 from the lowered height to the raised height. As a result, the transfer robot 4 lifts the loader 3 from the upper surface 411 of the housing 41 by each caster 421 and supports the loader 3 in a freely supported state.

[0051] In step S103, the calculation unit 491 controls the wheel drive unit 43 to move the transport robot 4 in the approach direction Dp, thereby bringing the loader 3 closer to the bank 11 of the component mounter 1. Accordingly, the guided plate 61 enters the guide unit 9, and as described with reference to FIG. 10 , the guided plate 61 is guided by the guide unit 9 toward the guide destination 98 (step S104). Then, when the guided plate 61 is guided to the guide destination 98 and each of the pair of X position sensors 71 detects the front detection plate 95 ("YES" in step S105), the calculation unit 491 stops the wheel drive unit 43 from driving the wheels, thereby stopping the movement of the transport robot 4 (step S106). As a result, of the four Z position sensors 73, two Z position sensors 73 on one side in the Y direction face one of the pair of upper detection plates 93 from below in the Z direction, and of the four Z position sensors 73, two Z position sensors 73 on the other side in the Y direction face the other of the pair of upper detection plates 93 from below in the Z direction.

[0052] In step S107, the calculation unit 491 restricts movement of the transport robot 4 in the X and Y directions by locking or braking the wheels of the transport robot 4. Then, the calculation unit 491 causes each rod driving unit 425 to lift the loader 3 (step S108). As the loader 3 lifts, the four Z position sensors 73 also lift.

[0053] When the contacts 731 of three or more of the four Z position sensors 73 come into contact with the upper detection plate 93 and the three or more Z position sensors 73 detect the upper detection plate 93, the calculation unit 491 controls each rod drive unit 425 to stop the rise of the loader 3 and each Z position sensor 73 (step S110).

[0054] Next, the calculation unit 491 acquires the height of the upper detection plate 93 output by the three or more Z position sensors 73 that detected the upper detection plate 93 (step S111), and calculates a correction value for the height of each caster 421 based on the acquired height (step S112). Specifically, the calculation unit 491 calculates the deviation between a plane containing the acquired height and a reference horizontal plane, and calculates the correction value for the height of each caster 421 to correct the deviation. Here, the reference horizontal plane is a horizontal plane containing the height detected by each Z position sensor 73 when the loader 3 is supported horizontally at the target height. The calculation unit 491 then controls each rod drive unit 425 based on the correction value to adjust the height of each caster 421 (step S113). This corrects the tilt and height of the loader 3 relative to the horizontal plane. The calculation unit 491 repeats steps S111 to S113 until the height detected by each Z position sensor 73 falls within a predetermined tolerance range (until step S114 returns "YES"). Here, the tolerance is the tolerance of deviation from the reference horizontal plane. Note that, upon completion of step S114, the feeder exchange machine 2 is not in contact with the component mounter 1 except for the contactor 731 of the Z position sensor 73 (i.e., is separated from the component mounter 1).

[0055] 13 is completed, the loader 3 is supported horizontally at the target height. As a result, the loader 3 is able to load a feeder F into the bank 11 or unload a feeder F from the bank 11. That is, the loader 3 has a Ya-axis that drives the feeder holder 32 (trunk) in the Y-direction, an Xa-axis that moves the feeder F in the X-direction, and a Yb-axis that moves the Xa-axis in the Y-direction. When loading a feeder F into the bank 11, the Ya-axis drives the feeder holder 32 in the Y-direction to align the position of the target feeder F with the loading destination in the bank 11 in the Y-direction. Furthermore, the Yb-axis drives the Xa-axis in the Y-direction to align the position of the Xa-axis with the position of the target feeder F in the Y-direction. Then, the Xa-axis transfers the target feeder F from the feeder holder 32 to the loading destination in the bank 11. Conversely, when unloading a feeder F from bank 11, the Xa axis is driven in the Y direction by the Yb axis to align the position of the Xa axis with that of the target feeder F in the Y direction. Also, the feeder holder 32 is driven in the Y direction by the Ya axis to align the position of the Xa axis with that of the unload destination of feeder holder 32 in the Y direction. Then, the target feeder F is transferred from bank 11 to the unload destination of feeder holder 32 by the Xa axis.

[0056] In the embodiment described above, a Z-position sensor 73 (detection unit) is attached to the loader 3 (working unit) that loads and unloads (predetermined operations) the feeder F relative to the component mounter 1 (operation target device). The component mounter 1 also has an upper detection plate 93 (reference member, reference plate). Based on the result of the Z-position sensor 73 detecting the height of the upper detection plate 93, the loader 3 is driven in the Z direction (vertical direction) to adjust its height and tilt (steps S111 to S114). In other words, there is no need to bring the feeder exchanger 2 (working device) and the component mounter 1 into contact with each other at a location other than the Z-position sensor 73 to position the loader 3 in the Z direction. As a result, it is possible to position the feeder exchanger 2 relative to the component mounter 1 in the Z direction while minimizing the size and weight of the feeder exchanger 2 and the component mounter 1.

[0057] Four Z-position sensors 73 (height sensors) are also provided to detect the heights of four different detection positions (positions where the contacts 731 contact) on the pair of upper detection plates 93 (reference members). The controller 49 (controller) controls three lifters 42 (vertical drive units) based on the heights of at least three detection positions detected by at least three of the four Z-position sensors 73, thereby adjusting the height and inclination of the loader 3 relative to the pair of upper detection plates 93 (steps S109, S111-S114). With this configuration, there is no need to bring the feeder exchanger 2 and the component mounter 1 into contact with each other at any location other than the four Z-position sensors 73 to position the loader 3 in the Z direction. As a result, the feeder exchanger 2 can be positioned relative to the component mounter 1 in the Z direction while minimizing the size and weight of the feeder exchanger 2 and the component mounter 1.

[0058] Furthermore, the controller 49 controls the transfer robot 4 (horizontal transfer unit) to stop the loader 3 in the horizontal direction with each of the four Z position sensors 73 facing the upper detection plate 93 in the Z direction (steps S104 to S106), and then adjusts the height and inclination of the loader 3 based on the detection results obtained by the Z position sensors 73 (steps S108 to S114). This configuration makes it possible to adjust the height and inclination of the loader 3 based on the results of accurate detection of the height of the upper detection plate 93 by at least three Z position sensors 73.

[0059] The loader 3 is also provided with a guided plate 61 (guided portion), and the four Z position sensors 73 are attached to the guided plate 61. Meanwhile, the component mounter 1 has a guide unit 9, which guides the guided plate 61 that has entered the guide unit 9 in the X direction (horizontal direction) to a guide destination 98 (guided position) that faces a pair of upper detection plates 93 in the Z direction. The controller 49 controls the transport robot 4 to cause the guided plate 61 to enter the guide unit 9 from the X direction and position the guided plate 61 at the guide destination 98, thereby causing each of the four Z position sensors 73 to face the upper detection plate 93 from the Z direction. In this configuration, the guided plate 61 is guided by the guide unit 9, and each of the four Z position sensors 73 can be reliably caused to face the upper detection plate 93 from the Z direction, thereby detecting the height of the upper detection plate 93.

[0060] Furthermore, the guiding section 9 has a pair of guide blocks 91 that sandwich the approach path P61 of the guided plate 61 relative to the guiding section 9 from both sides, and the pair of guide blocks 91 guide the guided plate 61 to the guide destination 98. In this configuration, by guiding the guided plate 61 using the guide blocks 91, each of the four Z position sensors 73 can be reliably positioned opposite the upper detection plate 93 from the Z direction, and the height of the upper detection plate 93 can be detected.

[0061] Further, a pair of upper detection plates 93 (detection plates) are provided corresponding to the pair of guide blocks 91. One end in the Y direction of the guided plate 61 guided to the guide destination 98 faces one of the pair of upper detection plates 93, and the other end in the Y direction of the guided plate 61 faces the other of the pair of upper detection plates 93. Meanwhile, some (two on one side) of the four Z position sensors 73 are arranged at one end of the guided plate 61, and the other (two on the other side) Z position sensors 73 are arranged at the other end of the guided plate 61. With this configuration, each of the four Z position sensors 73 is reliably positioned opposite the upper detection plate 93 in the Z direction, and the height and inclination of the loader 3 can be adjusted based on the result of accurately detecting the height of the upper detection plate 93.

[0062] The loader 3 is also provided with three casters 421 (support members) that support the loader 3 by contacting the loader 3 from below at different support positions, and three rod drivers 425 (support member drivers) that individually drive each of the three casters 421 in the Z direction. The controller 49 adjusts the height and inclination of the loader 3 by controlling the height of the three casters 421 using the three rod drivers 425. With this configuration, the height and inclination of the loader 3 can be accurately adjusted.

[0063] As described above, in the embodiment described above, the component mounter 1 corresponds to an example of the "work target device" of the present invention, the loader 3 corresponds to an example of the "working unit" of the present invention, the transport robot 4 corresponds to an example of the "horizontal transport unit" of the present invention, the three lifters 42 correspond to an example of the "vertical drive unit" of the present invention, the upper detection plate 93 corresponds to an example of the "reference member" of the present invention, the four Z position sensors 73 correspond to an example of the "detection unit" of the present invention, the controller 49 corresponds to an example of the "control unit" of the present invention, the feeder exchanger 2 corresponds to an example of the "work device" of the present invention, the Z position sensor 73 corresponds to an example of the "height sensor" of the present invention, and the guided plate 61 corresponds to an example of the "guided unit" and "guided plate" of the present invention. ", the guidance section 9 corresponds to an example of a "guidance section" of the present invention, the guidance destination 98 corresponds to an example of a "guidance position" of the present invention, the guide block 91 corresponds to an example of a "guide block" of the present invention, the upper detection plate 93 corresponds to an example of a "detection plate" of the present invention, the caster 421 corresponds to an example of a "support member" of the present invention, the rod drive section 425 corresponds to an example of a "support member drive section" of the present invention, the bank 11 corresponds to an example of a "worked section" of the present invention, the upper detection plate 93 corresponds to an example of a "reference plate" of the present invention, and a system composed of the component mounter 1 and the feeder exchanger 2 corresponds to an example of a "work system" of the present invention.

[0064] The present invention is not limited to the above embodiment, and various modifications can be made to the above without departing from the spirit of the present invention. For example, the number of Z position sensors 73 is not limited to four, but may be three, five, or more.

[0065] The number of lifters 42 may also be changed as appropriate.

[0066] Furthermore, in step S109, the Z position sensor 73 contacts the guide portion 9 from below, but the arrangement of the Z position sensor 73 may be changed so that the Z position sensor 73 contacts the guide portion 9 from above.

[0067] Alternatively, the slit 51 may be provided in the transport robot 4, and the pin 55 may be provided in the loader 3. Alternatively, providing these is not essential.

[0068] Alternatively, the flat plate 53 may be provided on the transport robot 4, and the rod 57 may be provided on the loader 3. Alternatively, providing these is not essential.

[0069] Furthermore, it is not essential to provide the biasing portion 56 .

[0070] Furthermore, a specific example of the working device is not limited to the feeder exchanger 2 that exchanges the feeder F of the component mounter 1. For example, the working device may be a device that supplies solder to a solder printer.

[0071] REFERENCE SIGNS LIST 1... Component mounter 11... Bank 2... Feeder exchanger 3... Loader 4... Transport robot 42... Lifter 421... Caster 425... Rod drive unit 49... Controller 61... Guided plate 73... Z position sensor 9... Guiding unit 91... Guide block 93... Upper detection plate 98... Guidance destination

Claims

1. A working device, comprising: a working unit that performs a predetermined operation on a device to be worked on; a horizontal conveyance unit that conveys the working unit in a horizontal direction; a vertical drive unit that changes the height and inclination of the working unit by driving the working unit in a vertical direction; a detection unit that is attached to the working unit and detects a reference member of the device to be worked on; and a control unit that controls the vertical drive unit based on a detection result of the detection unit. The detection unit detects the height of the reference member, and the control unit controls the vertical drive unit based on the height of the reference member detected by the detection unit, thereby adjusting the height and inclination of the working unit with respect to the reference member.

2. The working device according to claim 1, wherein the detection unit includes N height sensors (N is an integer of 3 or more) that respectively detect the heights of N different detection positions of the reference member, and the control unit controls the vertical drive unit based on the heights of at least three detection positions respectively detected by at least three height sensors, thereby adjusting the height and inclination of the working unit with respect to the reference member.

3. The working device according to claim 2, wherein the control unit controls the horizontal conveyance unit to stop the working unit in the horizontal direction in a state where each of the N height sensors faces the reference member from the vertical direction, and then adjusts the height and inclination of the working unit based on the detection result obtained by the detection unit.

4. The working device according to claim 3, further comprising a guided portion attached to the working unit, wherein the N height sensors are attached to the guided portion, the device to be worked on has a guiding portion, the guiding portion guides the guided portion that has entered the guiding portion in the horizontal direction to a guiding position facing the reference member in the vertical direction, and the control unit controls the horizontal conveyance unit to cause the guided portion to enter the guiding portion from the horizontal direction and position the guided portion at the guiding position, thereby causing each of the N height sensors to face the reference member from the vertical direction.

5. The working device according to claim 4, wherein the guided portion has a flat plate-shaped guided plate, and the guiding portion has a pair of guide blocks that sandwich the entry path of the guided plate with respect to the guiding portion from both sides, and the pair of guide blocks guide the guided plate to the guiding position.

6. The reference member has a pair of detection plates provided corresponding to the pair of guide blocks. One end of the guided plate guided to the induction position faces one of the pair of detection plates, and the other end faces the other of the pair of detection plates. A part of the N height sensors is arranged at the one end, and the other part of the height sensors is arranged at the other end. The working device according to claim 5.

7. The vertical drive unit has M (M is an integer of 3 or more) support members that support the working unit by abutting against the working unit from below at different support positions, and a support member drive unit that individually drives each of the M support members in the vertical direction. The control unit adjusts the height and inclination of the working unit by controlling the height of the M support members by the support member drive unit. The working device according to any one of claims 1 to 6.

8. A working object device comprising a work part on which a predetermined work is performed by a working device, and a flat reference flat plate horizontally attached. The working device includes a working part that performs the predetermined work, a horizontal transport part that transports the working part in the horizontal direction, a vertical drive part that changes the height and inclination of the working part by driving the working part in the vertical direction, a detection part that is attached to the working part and detects the reference flat plate, and a control part that controls the vertical drive part based on the detection result of the detection part. The detection part detects the height of the reference flat plate, and the control part adjusts the height and inclination of the working part with respect to the reference flat plate by controlling the vertical drive part based on the height of the reference flat plate detected by the detection part.

9. An operating system comprising a work target device and a work device that performs a predetermined operation on the work target device, the work target device including a reference member, the work device including a working unit that performs the predetermined operation, a horizontal transfer unit that horizontally transfers the working unit, a vertical drive unit that changes the height and inclination of the working unit by driving the working unit in the vertical direction, a detection unit that is attached to the working unit and detects the reference member, and a control unit that controls the vertical drive unit based on the detection result of the detection unit, the detection unit detecting the height of the reference member, and the control unit controlling the vertical drive unit based on the height of the reference member detected by the detection unit to adjust the height and inclination of the working unit with respect to the reference member.

10. A method for adjusting the position of a working unit with respect to a work target device, the method comprising: detecting the height of a reference member of the work target device by a detection unit attached to a working unit that performs a predetermined operation on the work target device; and adjusting the height and inclination of the working unit by driving the working unit in the vertical direction based on the height of the reference member detected by the detection unit.

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