Work device, work target device, work system, and method for adjusting position of working part with respect to work target device

Abstract

In association with transport in an entry direction Dp by a transport robot 4 (horizontal transport part) that transports a loader 3 (working part) of a feeder exchanger 2 (working device) in a horizontal direction, a guided plate 61 (guided part) attached to the loader 3 enters a guiding part 9 of a component mounting machine 1 (step S104). At this time, the transport robot 4 supports the loader 3 in a free support state in which the loader 3 can move with respect to the transport robot 4 in a width direction (Y direction) that is a horizontal direction orthogonal to the entry direction Dp and a yaw direction (a rotation direction about a rotation axis parallel to the vertical direction) (step S102). When the guided plate 61 enters the guiding part 9, the guided plate 61 moves in at least one of the width direction and the yaw direction in accordance with contact with the guiding part 9, and is thus guided into the guiding part 9 (Fig. 10). That is, the loader 3 is transported in the entry direction Dp while being supported in the free support state, and the guided plate 61 attached to the loader 3 is guided by the guiding part 9.

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 for positioning a device that performs work on a component mounter. In particular, Patent Document 1 describes a technique for horizontally positioning a carrier tape supply device with respect to the component mounter. Specifically, when the carrier tape supply device moves toward the component mounter and approaches the component mounter, the upper roller of the carrier tape supply device is inserted between the second member and the second guide member, thereby positioning the carrier tape supply device in the horizontal direction (width direction).

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

[0004] However, if the widthwise position of the carrier tape supply device approaching the component mounter is inappropriate, the upper roller will be guided by the second guide member or the like, resisting the advancement of the carrier tape supply device, and there is a risk of a large force acting between the carrier tape supply device and the component mounter. In order to resist such forces, the component mounter and carrier tape supply device must be constructed robustly, which causes problems such as the increase in size and weight of these devices.

[0005] The present invention has been made in consideration of the above-mentioned problems, and aims to enable the horizontal 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, and a guided unit attached to the work unit, and the guided unit enters the guide unit that the work target device has as it is transported in the entry direction by the horizontal transport unit, and the horizontal transport unit supports the work unit in a free support state that allows the work unit to move relative to the horizontal transport unit in a width direction, which is a horizontal direction perpendicular to the entry direction, and in a rotational direction around a rotation axis parallel to the vertical direction, and when the horizontal transport unit transports the working unit in the entry direction while supporting the work unit in the free support state, and the guided unit enters the guided unit, the guided unit is guided to the guide unit by moving in at least one of the width direction and rotational direction in response to contact with the guide unit.

[0007] The work system of the present invention comprises a work target device and a work device that performs a predetermined task on the work target device, the work device comprising a work unit that performs the predetermined task, a horizontal transport unit that transports the work unit horizontally, and a guided unit attached to the work unit, the guided unit enters a guide unit that the work target device has as it is transported in the entry direction by the horizontal transport unit, the horizontal transport unit supports the work unit in a free support state that allows the working unit to move relative to the horizontal transport unit in a width direction, which is a horizontal direction perpendicular to the entry direction, and in a rotational direction around a rotation axis parallel to the vertical direction, and when the horizontal transport unit transports the working unit in the entry direction while supporting the working unit in the free support state, the guided unit is guided to the guide unit by moving in at least one of the width direction and rotational direction in response to contact with the guide unit.

[0008] 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 horizontally transporting the working unit of a work device that performs a predetermined task on the work target device by a horizontal transport unit, and causing a guided unit attached to the working unit to enter a guide unit that the work target device has as the horizontal transport unit transports it in the entry direction, wherein the horizontal transport unit supports the working unit in a free support state in which the working unit can move relative to the horizontal transport unit in a width direction, which is a horizontal direction perpendicular to the entry direction, and in a rotational direction around a rotation axis parallel to the vertical direction, and when the horizontal transport unit transports the working unit in the entry direction while supporting the working unit in the free support state, and the guided unit enters the guide unit, the guided unit is guided to the guide unit by moving in at least one of the width direction and rotational direction in response to contact with the guide unit.

[0009] 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, as the horizontal conveying unit that conveys the working unit of the working device in the horizontal direction conveys the working unit in the approach direction, the guided unit attached to the working unit enters the guide unit of the work target device. At this time, the horizontal conveying unit supports the working unit in a freely supported state, allowing the working unit to move relative to the horizontal conveying unit in a width direction (a horizontal direction perpendicular to the approach direction) and in a rotational direction around a rotation axis parallel to the vertical direction. When the guided unit enters the guided unit, the guided unit is guided to the guide unit by moving in at least one of the width direction and the rotational direction in response to contact with the guide unit. In other words, the working unit is transported in the forward direction while supported in a freely supported state, and the guided unit attached to the working unit is guided by the guide unit. Therefore, there is no need to apply a large force against the movement of the working unit to guide the guided unit using the guide unit. As a result, it is possible to horizontally 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 on which the working device is to perform work.

[0010] The working device may be configured such that the horizontal conveying unit switches between a constrained support state, in which movement of the working unit relative to the horizontal conveying unit in the width direction and the rotation direction is constrained, and a free support state. In this configuration, except when the guided unit is guiding the guided unit, supporting the working unit in the constrained support state can prevent the working unit from shifting out of position.

[0011] The horizontal conveying unit may also be configured to have a free support section that supports the working unit in a free support state and a constrained support section that supports the working unit in a constrained support state, and the working device may be configured to switch the state of support for the working unit by switching the support section that supports the working unit between the free support section and the constrained support section. In such a configuration, when the guided unit guides the guided unit, supporting the working unit with the free support section allows the guided unit to be appropriately guided without applying a large force against the progress of the working unit. Furthermore, supporting the working unit with the constrained support section in other cases prevents the working unit from shifting in position.

[0012] The horizontal conveying unit may be configured to switch the support parts supporting the working unit from the constrained support parts to the free support parts by raising the free support parts facing the working unit from below when the working unit is supported by the constrained support parts and lifting the working unit with the free support parts. In this configuration, the support parts supporting the working unit can be switched from the constrained support parts to the free support parts by the simple action of raising the free support parts and lifting the working unit.

[0013] The working device may also be configured such that the horizontal transport unit switches the support unit supporting the working unit from the free support unit to the constrained support unit by lowering the free support unit from a state in which the working unit is supported by the free support unit and transferring the working unit to the constrained support unit. In this configuration, the support unit supporting the working unit can be switched from the free support unit to the constrained support unit by the simple action of lowering the free support unit and transferring the working unit to the constrained support unit.

[0014] The horizontal conveying unit may also be configured to have M casters (M is an integer of 3 or more) as free support units that support the working unit by abutting against the working unit from below at mutually different support positions, and each of the M casters is rotatable and supports the working unit from below, thereby supporting the working unit in a free support state. This makes it possible to achieve the free support state using a simple configuration such as casters.

[0015] The working device may be configured to further include a horizontal movement limiting unit that limits the movement range of the working unit in the width direction relative to the horizontal conveying unit in the free support state. With this configuration, excessive movement of the working unit in the width direction in the free support state can be limited.

[0016] The working device may also be configured so that the horizontal movement limiting section has a slot extending in the width direction and a shaft fitted into the slot, one of the slot and the shaft being provided for the working section and the other being provided for the horizontal conveying section, and the slot limits the movement range of the shaft with an end of the slot. This makes it possible to limit excessive movement of the working section in the width direction in the free support state with a simple configuration of the slot and the shaft.

[0017] The working device may be configured to further include a rotational movement limiting unit that limits the range of movement of the working unit in the rotational direction relative to the horizontal transport unit in the free support state. With this configuration, excessive movement of the working unit in the rotational direction in the free support state can be limited.

[0018] The rotational movement limiting unit may have a protrusion and an abutment that abuts against the protrusion to limit the movement of the protrusion in the rotational direction, and the working device may be configured so that one of the protrusion and the abutment is provided on the working unit and the other is provided on the horizontal conveying unit. This makes it possible to limit excessive movement of the working unit in the rotational direction in the freely supported state with a simple configuration of the protrusion and the abutment.

[0019] The working device may also be configured to have a pair of biasing parts attached to the horizontal conveying part on both sides in the width direction of the working part supported in the free support state, and of the pair of biasing parts, the biasing part on one side of the working part biases the working part that has come into contact with the biasing part from the other side to the other side with a biasing force, and the biasing part on the other side of the working part biases the working part that has come into contact with the biasing part from one side to the one side with a biasing force. With this configuration, the biasing parts cushion the movement of the working part in the width direction, making it possible to prevent the working part from moving sharply in the width direction.

[0020] 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 from both sides in the width direction, and the guided plate is guided by the pair of guide blocks. This makes it possible to guide the guided portion with a simple configuration such as a pair of guide blocks.

[0021] The working device may further include a horizontal position detector attached to the guided part, and the horizontal transport part may be configured to stop transport of the working part when the horizontal position detector detects the guided part while the guided part is entering the guided part. In this configuration, the guided part can be stopped at an appropriate position relative to the guided part.

[0022] According to the present invention, it is possible to position the working device in the horizontal direction 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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).

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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).

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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 .

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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).

[0059] 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).

[0060] 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.

[0061] In the embodiment described above, as the loader 3 (working unit) of the feeder exchanger 2 (working device) is transported in the approach direction Dp by the transport robot 4 (horizontal transport unit), which transports the loader 3 in the horizontal direction, the guided plate 61 (guided unit) attached to the loader 3 enters the guide unit 9 of the component mounter 1 (step S104). At this time, the transport robot 4 supports the loader 3 in a freely supported state, allowing the loader 3 to move relative to the transport robot 4 in the width direction (Y direction), which is a horizontal direction perpendicular to the approach direction Dp, and in the yaw direction (a rotational direction around a rotation axis parallel to the vertical direction) (step S102). When the guided plate 61 enters the guided unit 9, the guided plate 61 moves in at least one of the width direction and the yaw direction in response to contact with the guided unit 9, thereby being guided by the guided plate 61 ( FIG. 10 ). That is, the loader 3 is transported in the approach direction Dp while supported in a freely supported state, and the guided plate 61 attached to the loader 3 is guided by the guide unit 9. Therefore, in order for the guide unit 9 to guide the guided plate 61, it is not necessary to apply a large force against the progress of the loader 3 by the transport robot 4. As a result, it is possible to position the feeder exchanger 2 in the horizontal direction (width direction) relative to the component mounter 1 while suppressing increases in size and weight of the feeder exchanger 2 and the component mounter 1.

[0062] Furthermore, the transport robot 4 switches the state of supporting the loader 3 between a constrained support state, which constrains movement of the loader 3 in the width direction and yaw direction relative to the transport robot 4, and a free support state. In this configuration, except when the guided plate 61 is being guided by the guide unit 9, supporting the loader 3 in the constrained support state can prevent the loader 3 from shifting out of position.

[0063] The transport robot 4 also has three casters 421 (free support portions) that support the loader 3 in a free support state and an upper surface 411 (constrained support portion) of the housing 41 that supports the loader 3 in a constrained support state, and switches the state of supporting the loader 3 by switching the support portion that supports the loader 3 between the three casters 421 and the upper surface 411 of the housing 41. In this configuration, when the guided plate 61 is guided by the guide portion 9, the loader 3 is supported by the three casters 421, so that the guided plate 61 can be appropriately guided without applying a large force against the advancement of the loader 3. In addition, in other cases, supporting the loader 3 by the upper surface 411 of the housing 41 can prevent the loader 3 from becoming misaligned.

[0064] Furthermore, the transport robot 4 raises the three casters 421 facing the loader 3 from below when the loader 3 is supported by the housing 41, and lifts the loader 3 by the three casters 421, thereby switching the support portion supporting the loader 3 from the upper surface 411 of the housing 41 to the three casters 421. In this configuration, the support portion supporting the loader 3 can be switched from the upper surface 411 of the housing 41 to the three casters 421 by the simple action of raising the three casters 421 and lifting the loader 3.

[0065] Furthermore, the transport robot 4 lowers the three casters 421 from a state in which the loader 3 is supported by the three casters 421, and transfers and mounts the loader 3 onto the upper surface 411 of the housing 41, thereby switching the support portion that supports the loader 3 from the three casters 421 to the upper surface 411 of the housing 41. In this configuration, the support portion that supports the loader 3 can be switched from the three casters 421 to the upper surface 411 of the housing 41 by the simple action of lowering the three casters 421 and transferring and mounting the loader 3 onto the upper surface 411 of the housing 41.

[0066] The transport robot 4 also has three casters 421 (free support portions) that support the loader 3 by contacting the loader 3 from below at different support positions. Each of these three casters 421 is rotatable, and supports the loader 3 from below, thereby supporting the loader 3 in a free support state. This makes it possible to achieve the free support state using a simple configuration such as the casters 421.

[0067] In addition, the loader 3 is provided with slits 51 and pins 55 (horizontal movement limiting portions) for limiting the movement range in the width direction (Y direction) of the loader 3 relative to the transport robot 4 in the freely supported state. With this configuration, excessive movement in the width direction of the loader 3 in the freely supported state can be limited.

[0068] Specifically, the loader 3 is provided with a slit 51 (long hole) extending in the width direction, and a pin 55 (shaft) that fits into the slit 51. The slit 51 is provided for the loader 3, and the pin 55 is provided for the transport robot 4. The slit 51 limits the range of movement of the pin 55 relative to the slit 51 by the end of the slit 51. This makes it possible to limit excessive movement of the loader 3 in the width direction in the freely supported state with a simple configuration including the slit 51 and the pin 55.

[0069] In addition, a flat plate 53 and a rod 57 (rotational movement limiting portion) are provided to limit the range of movement of the loader 3 in the yaw direction relative to the transport robot 4 in the freely supported state. With this configuration, excessive movement of the loader 3 in the yaw direction in the freely supported state can be limited.

[0070] Specifically, the device is provided with a rod 57 (projection) and a flat plate 53 that restricts movement of the rod 57 in the yaw direction by coming into contact with the rod 57, the flat plate 53 being provided to the loader 3, and the rod 57 being provided to the transport robot 4. With this simple configuration, including the rod 57 and the flat plate 53, excessive movement of the loader 3 in the yaw direction in the freely supported state can be restricted.

[0071] Furthermore, a pair of urging units 56 attached to the transport robot 4 are provided on both sides in the width direction of the loader 3 supported in a freely supported state. Of the pair of urging units 56, the urging unit 56 on one side of the loader 3 urges the loader 3 that has come into contact with the urging unit 56 from the other side toward the other side by means of a urging force. Furthermore, the urging unit 56 on the other side of the loader 3 urges the loader 3 that has come into contact with the urging unit 56 from one side toward the one side by means of a urging force. With this configuration, the movement of the loader 3 in the width direction is buffered by the urging units 56, thereby making it possible to prevent the loader 3 from moving sharply in the width direction.

[0072] Further, a guided plate 61 (guided plate) is provided, and the guide section 9 has a pair of guide blocks 91 that sandwich an approach path P61 of the guided plate 61 relative to the guide section 9 from both sides in the width direction, and the guided plate 61 is guided by the pair of guide blocks 91. This makes it possible to guide the guided plate 61 with a simple configuration such as a pair of guide blocks 91.

[0073] An X-position sensor 71 (horizontal position detection unit) is also provided, which is attached to the guided plate 61. When the X-position sensor 71 detects the front detection plate 95 of the guide unit 9 while the guided plate 61 is entering the guide unit 9, the transport robot 4 stops transporting the guided plate 61. With this configuration, the guided plate 61 can be stopped at an appropriate position relative to the guide unit 9.

[0074] As described above, in the above embodiment, 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 guided plate 61 corresponds to an example of the "guided unit" of the present invention, the guide unit 9 corresponds to an example of the "guiding unit" of the present invention, the feeder exchanger 2 corresponds to an example of the "working device" of the present invention, the three casters 421 correspond to an example of the "free support unit" of the present invention, the upper surface 411 of the housing 41 corresponds to an example of the "restrained support unit" of the present invention, the caster 421 corresponds to an example of the "caster" of the present invention, and the slit 51 and the pin 55 correspond to an example of the "horizontal movement limiting unit" of the present invention. the slit 51 corresponds to an example of a "long hole" of the present invention, the pin 55 corresponds to an example of a "shaft" of the present invention, the flat plate 53 and the rod 57 correspond to an example of a "rotational movement limiting portion" of the present invention, the rod 57 corresponds to an example of a "protrusion" of the present invention, the flat plate 53 corresponds to an example of an "abutment portion" of the present invention, the biasing portion 56 corresponds to an example of a "biasing portion" of the present invention, the guided plate 61 corresponds to an example of a "guided plate" of the present invention, the guide block 91 corresponds to an example of a "guide block" of the present invention, the X position sensor 71 corresponds to an example of a "horizontal position detecting portion" of the present invention, and a system constituted by the component mounter 1 and the feeder exchanger 2 corresponds to an example of a "work system" of the present invention.

[0075] 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.

[0076] The number of lifters 42 may also be changed as appropriate.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] Furthermore, it is not essential to provide the biasing portion 56 .

[0081] 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.

[0082] REFERENCE SIGNS LIST 1...Component mounter 2...Feeder exchanger 3...Loader 4...Transport robot 41...Housing 411...Upper surface 421...Caster 51...Slit 53...Flat plate 55...Pin 56...Pressing portion 57...Rod 61...Guided plate 71...X position sensor 9...Guiding portion 91...Guide block

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; and a guided unit attached to the working unit, wherein the guided unit enters a guiding unit of the device to be worked on as it is conveyed in the entering direction by the horizontal conveyance unit, the horizontal conveyance unit supports the working unit in a freely supported state in which the working unit is movable relative to the horizontal conveyance unit in a width direction that is a horizontal direction orthogonal to the entering direction and a rotational direction about a rotation axis parallel to the vertical direction, and when the horizontal conveyance unit conveys the working unit in the entering direction while supporting the working unit in the freely supported state and the guided unit enters the guiding unit, the guided unit moves in at least one of the width direction and the rotational direction in response to contact with the guiding unit, thereby being guided by the guiding unit.

2. The working device according to claim 1, wherein the horizontal conveyance unit switches the state of supporting the working unit between a constrained supported state that restricts the movement of the working unit relative to the horizontal conveyance unit in the width direction and the rotational direction and the freely supported state.

3. The working device according to claim 2, wherein the horizontal conveyance unit has a freely supporting portion that supports the working unit in the freely supported state and a constrained supporting portion that supports the working unit in the constrained supported state, and switches the state of supporting the working unit by switching the supporting portion that supports the working unit between the freely supporting portion and the constrained supporting portion.

4. The working device according to claim 3, wherein the horizontal conveyance unit switches the supporting portion that supports the working unit from the constrained supporting portion to the freely supporting portion by raising the freely supporting portion that faces the working unit from below and lifting the working unit by the freely supporting portion when the working unit is supported by the constrained supporting portion.

5. The working device according to claim 3 or 4, wherein the horizontal conveyance unit switches the supporting portion that supports the working unit from the freely supporting portion to the constrained supporting portion by lowering the freely supporting portion and transferring the working unit to the constrained supporting portion when the working unit is supported by the freely supporting portion.

6. The horizontal conveyance unit has M (M is an integer of 3 or more) casters as the free support units that support the working unit by contacting the working unit from below at mutually different support positions, each of the M casters is rotatable, and by supporting the working unit from below, the working device according to any one of claims 3 to 5, which supports the working unit in the free support state.

7. The working device according to any one of claims 1 to 6, further comprising a horizontal movement restriction unit that restricts a movement range in the width direction of the working unit with respect to the horizontal conveyance unit in the free support state.

8. The horizontal movement restriction unit has a long hole extending in the width direction and a shaft fitted into the long hole, one of the long hole and the shaft is provided with respect to the working unit, and the other is provided with respect to the horizontal conveyance unit, and the long hole restricts the movement range of the shaft by an end of the long hole. The working device according to claim 7.

9. The working device according to any one of claims 1 to 8, further comprising a rotational movement restriction unit that restricts a movement range in the rotational direction of the working unit with respect to the horizontal conveyance unit in the free support state.

10. The rotational movement restriction unit has a protrusion and a contact portion that restricts the movement of the protrusion in the rotational direction by contacting the protrusion, and one of the protrusion and the contact portion is provided with respect to the working unit, and the other is provided with respect to the horizontal conveyance unit. The working device according to claim 9.

11. The working device according to any one of claims 1 to 10 has a pair of biasing units attached to the horizontal conveyance unit on both sides in the width direction of the working unit supported in the free support state, and among the pair of biasing units, the biasing unit on one side of the working unit biases the working unit that has contacted the biasing unit from the other side to the other side by a biasing force, and the biasing unit on the other side of the working unit biases the working unit that has contacted the biasing unit from one side to the one side by a biasing force.

12. The guided unit has a flat plate-shaped guided plate, and the guiding unit has a pair of guide blocks that sandwich an entry path of the guided plate with respect to the guiding unit from both sides in the width direction, and guides the guided plate by the pair of guide blocks. The working device according to any one of claims 1 to 11.

13. The working device according to any one of claims 1 to 12, further comprising a horizontal position detection unit attached to the guided part, wherein when the horizontal position detection unit detects the guiding part while the guided part is entering the guiding part, the horizontal conveyance unit stops the conveyance of the working part.

14. A working system comprising a working target device and a working device that performs a predetermined operation on the working target device, wherein the working device includes a working part that performs the predetermined operation, a horizontal conveyance unit that conveys the working part in the horizontal direction, and a guided part attached to the working part. The guided part enters a guiding part included in the working target device as the horizontal conveyance unit conveys the guided part in the entering direction. The horizontal conveyance unit supports the working part in a freely supported state in which the working part can move relative to the horizontal conveyance unit in a width direction that is a horizontal direction orthogonal to the entering direction and a rotational direction centered on a rotation axis parallel to the vertical direction. When the horizontal conveyance unit conveys the working part in the entering direction while supporting the working part in the freely supported state and the guided part enters the guiding part, the guided part is guided by the guiding part by moving in at least one of the width direction and the rotational direction in response to contact with the guiding part.

15. A method for adjusting the position of a working part with respect to a working target device, the method comprising: conveying the working part of a working device that performs a predetermined operation on the working target device in the horizontal direction by a horizontal conveyance unit; and causing a guided part attached to the working part to enter a guiding part included in the working target device as the horizontal conveyance unit conveys the guided part in the entering direction. The horizontal conveyance unit supports the working part in a freely supported state in which the working part can move relative to the horizontal conveyance unit in a width direction that is a horizontal direction orthogonal to the entering direction and a rotational direction centered on a rotation axis parallel to the vertical direction. When the horizontal conveyance unit conveys the working part in the entering direction while supporting the working part in the freely supported state and the guided part enters the guiding part, the guided part is guided by the guiding part by moving in at least one of the width direction and the rotational direction in response to contact with the guiding part.

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