Transport device, feeder unit, cassette holder, and transport system

Abstract

This transport device: is provided in a manner movable on a movement path along the front surfaces of a component mounting machine and a storage device which are disposed side by side; and transports, as transport targets, a feeder unit which is detachably mounted on the component mounting machine and supplies the component mounting machine with a component, and a cassette holder which supplies the feeder unit with a carrier tape in which a plurality of components are accommodated.

Description

Transfer Device, Feeder Unit, Cassette Holder, and Transfer System

[0001] This specification relates to the technical field of a transfer device that performs transfer between a component mounting machine and a storage device.

[0002] Technologies for mass-producing product substrates by performing substrate work on substrates with circuit patterns formed thereon have become widespread. Also, it has become common to construct a production line for product substrates by arranging a plurality of types of substrate work machines for performing substrate work side by side. As a representative example of a substrate work machine, there is a component mounting machine that performs component mounting work. A transfer device is applied for the purpose of labor-saving in the setup change work when changing the type of product substrate in the component mounting machine and in the component replenishment work for replenishing exhausted components. Technical examples related to this type of transfer device are disclosed in Patent Documents 1 and 2.

[0003] The component mounting line disclosed in Patent Document 1 includes a unit storage for storing a plurality of component supply units, a unit exchange device for exchanging the component supply units between the plurality of component mounting machines and the unit storage, and a control device for controlling the unit exchange device to move within a predetermined movement range along the conveyance direction of the mounting object (substrate) to perform the exchange of the component supply units. According to this, since the loading and unloading such as replenishment and collection can be performed in the unit storage for any component supply unit used in any component mounting machine, it is said that a user-friendly unit storage can be provided.

[0004] Further, the component mounting line disclosed in Patent Document 2 includes an automatic exchange device for automatically exchanging feeders for the feeder set parts of a plurality of component mounting machines and a control device for controlling the operation of the automatic exchange device. The automatic exchange device is configured so that an operator does not move to a manual exchange area where the operator manually performs the feeder exchange work. Furthermore, according to the description of the embodiment, depending on the type and size of the component to be mounted, the size of the reel becomes larger than the feeder, and in that case, the reel holder provided outside the feeder interferes with the movement path of the automatic exchange device and automatic exchange cannot be performed, so manual work by the operator is required (see paragraph 0019, FIGS. 1, FIGS. 3, etc.).

[0005] International Publication No. 2017 / 033268, International Publication No. 2019 / 229925

[0006] Incidentally, in the technical example of Patent Document 1, there are cases where it becomes necessary to use a reel with a larger diameter than the external dimensions of the automatically changing feeder. In this case, the reel holder (cassette holder) of Patent Document 2 and the feeder (feeder unit) with the reel holder installed externally would be used, resulting in manual work by the operator. According to this conventional technology, the effect of labor saving is diminished.

[0007] Therefore, the problem to be solved in this specification is to provide a conveying device that can transport either a feeder unit or a cassette holder, a feeder unit and a cassette holder applied to the conveying device, and a conveying system comprising the conveying device.

[0008] This specification discloses a transport device for transporting a feeder unit, which is movably provided along a travel path along the front of a component mounting machine and a storage device arranged side by side, and is detachably mounted on the component mounting machine to supply components to the component mounting machine, and a cassette holder, which supplies a carrier tape containing a plurality of the components to the feeder unit. This specification also discloses a feeder unit, which is detachably mounted on the component mounting machine to supply components to the component mounting machine, and comprises a gripping portion that is gripped by a gripping mechanism of a transport device that grips the gripping portion of a cassette holder, which supplies a carrier tape containing a plurality of the components to the feeder unit. This specification also discloses a cassette holder, which supplies a carrier tape containing a plurality of components to a feeder unit, and comprises a gripping portion that is gripped by a gripping mechanism of a transport device that grips the gripping portion of a feeder unit, which is detachably mounted on the component mounting machine to supply components to the component mounting machine. Furthermore, this specification discloses a transport system comprising: a feeder unit having a gripping portion and being detachably mounted on a component mounting machine to supply components to the component mounting machine; a cassette holder having a gripping portion and supplying a carrier tape containing a plurality of the components to the feeder unit; and a transport device having a gripping mechanism capable of gripping either the gripping portion of the feeder unit or the gripping portion of the cassette holder, and moving along a transport path along the front of the component mounting machine and storage device which are arranged side by side, with the feeder unit and the cassette holder as transport targets.

[0009] Furthermore, this specification discloses the technical idea of ​​changing "the conveying device described in any one of claims 2-5" to "the conveying device described in any one of claims 2-6" in claim 7 of the original application; the technical idea of ​​changing "the conveying device described in any one of claims 2-5" to "the conveying device described in any one of claims 2-7" in claim 8 of the original application; the technical idea of ​​changing "the conveying device described in claim 8" to "the conveying device described in claim 8 or 9" in claim 10 of the original application; and the technical idea of ​​changing "the conveying device described in any one of claims 2-5" to "the conveying device described in any one of claims 2-10" in claim 11 of the original application.

[0010] According to the disclosed configuration, the transport device can transport either the feeder unit or the cassette holder.

[0011] This is a perspective view showing the transport device of an embodiment and the production line of product substrates to which the transport device is applied. This is a side view of the cassette feeder to be transported by the transport device. This is a side view showing the feeder unit and cassette holder to be transported by the transport device connected together. This is a front perspective view of the feeder unit. This is a front perspective view of the cassette holder. This is a side view of the transport device. This is a perspective view of the transport operation mechanism of the transport device viewed from the rear at an angle. This is a side view showing the configuration of the transport operation mechanism and the configuration of the first lock mechanism common to the cassette feeder and feeder unit (transport object), showing the initial state. This is a side view showing the operating state in which the chuck of the transport operation mechanism grips the transport object and the release mechanism releases the first lock mechanism of the transport object. This is a perspective view showing an example of the number and arrangement of release members of the chuck and the release mechanism. This is a plan view schematically illustrating the gripping method in which the chuck grips the cassette holder. This is a side view of the transport device and the component mounting machine that constitutes the production line. This is a perspective view showing a modified transport device and the production line of product substrates.

[0012] 1. Example Configuration of Product Substrate Production Line 9 First, an example configuration of the product substrate production line 9 to which the transport device 1 of the embodiment is applied will be explained with reference to Figure 1. As shown by the arrow in the upper left of Figure 1, the front, back, left, and right directions common to the transport device 1, production line 9, component mounting machine 9A, and storage device 9B are defined. In the production line 9, four component mounting machines 9A and other types of substrate handling machines are arranged in a left-right direction. The direction from left to right in Figure 1 is the direction in which the substrate is transported.

[0013] Upstream of the component mounting machine 9A at the top of the transport direction (left side in Figure 1), a solder printing machine and a printing inspection machine (not shown) are positioned and connected to the component mounting machine 9A. Downstream of the component mounting machine 9A at the bottom of the transport direction (right side in Figure 1), at a distance, a substrate appearance inspection machine and a reflow machine (not shown) are positioned. The bottom of the transport line 9A and the substrate appearance inspection machine are connected using a substrate transport device 9C. A storage device 9B is positioned in front of the substrate transport device 9C, next to the component mounting machine 9A. Furthermore, a line management device 9D is provided to manage the production progress of the production line 9 and the operating status of the substrate work machines. The line management device 9D is a computer device with communication and input / output functions. Note that the production line 9 may be modified to a line configuration other than that described above.

[0014] Each of the four component mounting machines 9A performs the task of mounting components onto a circuit board. The component mounting machine 9A is constructed by assembling a component supply unit 92, a lower storage unit 93, a circuit board transport device (not shown), a component transfer device, and a control device, etc., on a base 91. As shown in Figures 1 and 12, the component supply unit 92 is positioned at approximately the middle height of the front part of the base 91. The component supply unit 92 has a plurality of slots that extend in the front-rear direction and are formed parallel to each other. The component supply unit 92 is equipped with a cassette feeder 7C or a feeder unit 7U inserted into each of the plurality of slots. The equipped cassette feeder 7C and feeder unit 7U are located inside the component mounting machine 9A. A cassette holder 8 is connected to the front side of the feeder unit 7U equipped in the component supply unit 92. At least a portion of the cassette holder 8 protrudes outside the component mounting machine 9A.

[0015] The cassette feeder 7C, feeder unit 7U, and cassette holder 8 are transportable objects that are transported by the transport device 1. The three types of transportable objects (cassette feeder 7C, feeder unit 7U, and cassette holder 8) are interchangeable in use across the four component mounting machines 9A. Information regarding the types and mounting positions of the multiple transportable objects equipped in the component supply unit 92 is managed by at least one of the control device and line management device 9D of the component mounting machine 9A.

[0016] The lower storage section 93 is located below the parts supply section 92 at the front of the base 91. Like the parts supply section 92, the lower storage section 93 has multiple slots extending in the front-to-back direction. The lower storage section 93 temporarily stores spare transport objects that have been set up and ready for use, as well as used transport objects that have finished being used in the parts supply section 92. The lower storage section 93 may store three types of transport objects, or it may store only two or one type of transport object. Information regarding the types and storage locations of the multiple transport objects stored in the lower storage section 93 is managed by at least one of the control device of the parts mounting machine 9A and the line management device 9D.

[0017] The substrate transport device loads substrates into the machine from the upstream side, positions the substrates, and loads the substrates out of the machine from the downstream side. The component transfer device uses component mounting tools such as suction nozzles to pick up components from the component supply unit 92 and mount them on the positioned substrates. The control device controls the component supply unit 92, the substrate transport device, and the component transfer device to carry out the mounting work. Various known configurations can be applied to the substrate transport device, the component transfer device, and the control device.

[0018] The storage device 9B is constructed using a housing 94 that reaches approximately the same height as the parts supply unit 92 of the parts mounting machine 9A. The storage device 9B can store two storage magazines 95 side by side in the internal space of the housing 94. The height at which the storage magazines 95 are stored coincides with the height of the parts supply unit 92. The storage magazines 95 are formed in a box shape that opens forward and can store multiple transport objects side by side in the left-right direction. The storage magazines 95 are brought into the housing 94 from the setup area or equipment warehouse by an automated guided vehicle or an operator, and are also brought out in the opposite direction. Although not limited to the above, the storage device 9B may also directly store multiple transport objects in the internal space of the housing 94 without using storage magazines 95. Information regarding the types and storage locations of the multiple transport objects stored in the storage device 9B is managed by at least one of the line management device 9D and the control unit 6 (described later) of the transport device 1.

[0019] In Figure 1, the two upstream component loaders 9A are equipped with multiple cassette feeders 7C in their component supply section 92, and multiple cassette feeders 7C are stored in their lower storage section 93. The third component loader 9A from the upstream side is equipped with three feeder units 7U in its component supply section 92, and each feeder unit 7U is connected to a cassette holder 8. The storage device 9B houses two storage magazines 95. The right-hand storage magazine 95 houses two cassette holders 8, while the left-hand storage magazine 95 is empty.

[0020] A travel path 97 for the transport device 1 is provided in front of the four parts mounting machines 9A and storage devices 9B. The travel path 97 extends in the left-right direction along the front of the parts mounting machines 9A and storage devices 9B which are arranged side by side. Therefore, the left-right direction in Figure 1 is the transport direction of the transport device 1. In this embodiment, the travel path 97 consists of a middle rail 971 and a lower rail 972 provided in front of the parts mounting machines 9A and storage devices 9B. The height position of the middle rail 971 is uniformly below the parts supply section 92. The height position of the lower rail 972 is uniformly below the lower storage section 93. As a result, the multiple middle rails 971 and the multiple lower rails 972 are connected in the transport direction, forming two parallel travel paths 97. The travel path 97 is not limited to the above, and may be provided on the floor surface, or it may be hypothetical control information that does not have a physical form set on the floor surface, etc. In this specification, the term "movement path 97" refers not only to a physical structure but also to the movement area (space) of the conveying device 1 moving along the movement path 97.

[0021] 2. Configuration of Cassette Feeder 7C Next, the configuration of the cassette feeder 7C, which is the object to be transported by the transport device 1, will be explained with reference to Figure 2. The cassette feeder 7C is detachably mounted on the parts supply section 92 of the parts mounting machine 9A. The cassette feeder 7C holds the reel RM inside and supplies parts to the parts mounting machine 9A. The cassette feeder 7C is constructed by assembling various components onto the feeder body 71 that forms the outer shape, resulting in a thin profile in the width direction (left-right direction). The width dimension of the cassette feeder 7C is set to correspond to the width dimensions of the reel RM and carrier tape it holds. In addition to the feeder body 71, the cassette feeder 7C consists of a reel holding section 72, a tape transport path 73, a tape feeding mechanism 75, a first locking mechanism 76, and a feeder control section 79.

[0022] The lower surface of the feeder body 71 is provided with a projection extending in the front-rear direction. The cassette feeder 7C is installed by engaging the projection with a slot in the parts supply section 92 of the parts mounting machine 9A. The cassette feeder 7C is also stored by engaging the projection with a slot in the lower storage section 93. An upper positioning pin 711 and a lower positioning pin 712 are provided near the top of the rear surface of the feeder body 71. The upper positioning pin 711 and the lower positioning pin 712 are fitted into positioning holes provided in the parts supply section 92 to position the cassette feeder 7C.

[0023] An electrical connector 713 is provided between the upper positioning pin 711 and the lower positioning pin 712. When the cassette feeder 7C is positioned, the electrical connector 713 automatically mates with the receiving connector of the component supply unit 92. The electrical connector 713 supplies power from the power supply unit (not shown) of the component mounting machine 9A to the cassette feeder 7C, and also provides communication between the control unit of the component mounting machine 9A and the feeder control unit 79. Note that the positioning holes and receiving connector may be provided not only in the component supply unit 92, but also in the lower storage unit 93 and the storage device 9B (or storage magazine 95).

[0024] The reel holding section 72 is composed of a plurality of frame members 721 and an opening / closing plate 722, etc. The plurality of frame members 721 form a large circular internal space approximately in the center of the feeder body 71. The reel holding section 72 rotatably holds the reel RM in the internal space. The opening / closing plate 722 covers the lower half of the internal space. A support portion 723 provided at the lower part of the opening / closing plate 722 is pivotably supported by the feeder body 71. The opening / closing plate 722 swings downward around the support portion 723 to open, enabling the attachment and detachment of the reel RM. The reel holding section 72 may also be configured using a shaft member that rotatably holds the central hole of the reel RM. The reel RM has a carrier tape wound around it. The carrier tape consists of a base tape in which components are housed in a plurality of cavities, and a cover tape that is adhered to the base tape and covers the cavities.

[0025] The tape transport path 73 extends from the vicinity of the reel holding section 72 to the component supply position 74 at the rear upper part of the feeder body 71. The tape feeding mechanism 75 feeds the carrier tape pulled from the reel RM along the tape transport path 73 to the component supply position 74. The tape feeding mechanism 75 consists of a sprocket 751 that engages with the feed holes of the carrier tape, and a motor (not shown) that rotates the sprocket 751. The cover tape is peeled off from the base tape of the carrier tape just before reaching the component supply position 74, opening the cavity and enabling the supply of components.

[0026] The first locking mechanism 76 is located at the front upper part of the feeder body 71. The first locking mechanism 76 restricts the cassette feeder 7C, which is equipped in the parts supply unit 92, from detaching from the parts supply unit 92. As shown in Figure 8, the first locking mechanism 76 consists of a locking pin 761, a locking spring 762, a lock release member 763, and a locking sensor 768. The locking pin 761 is a cylindrical member and is held by the feeder body 71 so as to be able to move up and down. The locking spring 762 is formed in a coil shape and is located inside the locking pin 761. The locking spring 762 biases the locking pin 761 upward relative to the feeder body 71. The biased locking pin 761 protrudes from the upper surface of the feeder body 71 and fits into a locking hole 921 provided in the frame material of the parts supply unit 92. As a result, the first locking mechanism 76 enters a locked state, preventing the cassette feeder 7C from detaching from the parts supply unit 92.

[0027] The lock release member 763 is a Y-shaped member with three arms extending from a pivot point 764. The pivot point 764 is pivotably supported by the feeder body 71. The operating arm 765 extending rearward from the pivot point 764 is locked to the lower end of the lock pin 761. The automatic release arm 766 extending upward from the pivot point 764 is pushed rearward by the release operation section 3F2 of the lock release mechanism 3E, which will be described later. The manual release arm 767 extending forward from the pivot point 764 protrudes from the front of the feeder body 71. The manual release arm 767 is pushed upward by the operator.

[0028] When the automatic release arm 766 or the manual release arm 767 is pushed, the lock release member 763 swings clockwise as shown in Figure 8. At this time, the operating arm 765 lowers the lock pin 761 against the lock spring 762 into the inside of the feeder body 71. As a result, the first lock mechanism 76 enters the released state shown in Figure 9, allowing the cassette feeder 7C to be removed from the parts supply unit 92 to the front. The lock sensor 768 is located behind the lock pin 761. The lock sensor 768 detects the vertical position of the lock pin 761, that is, whether it is in a locked state, and outputs this to the feeder control unit 79.

[0029] A roughly vertically elongated rectangular operating hole 714 is provided near the top of the front of the feeder body 71. The operating hole 714 is located in front of the first locking mechanism 76. The operating hole 714 allows the release operation part 3F2 of the unlocking mechanism 3E to pass from front to rear and push the automatic release arm 766. Furthermore, the operating hole 714 allows the pair of upper and lower chucks 3B, which will be described later, to pass from front to rear. The upper and lower portions of the feeder body 71 around the operating hole 714 become gripped portions 77 that are held by the chucks 3B.

[0030] The feeder control unit 79 is located at the lower front of the feeder body 71, as shown in Figure 2, and its position is not limited. The feeder control unit 79 is connected to the control device of the component mounting machine 9A via an electrical connector 713. The feeder control unit 79 controls the tape feeding mechanism 75 to carry out the component supply operation according to commands from the control device. The feeder control unit 79 also monitors the state of the first lock mechanism 76 based on the detection signal from the lock sensor 768.

[0031] The aforementioned carrier tapes are standardized in multiple widths to accommodate various sizes of components housed in the cavity. Specifically, the carrier tape widths are defined as 4 mm, 8 mm, 12 mm, 16 mm, 32 mm, 44 mm, 56 mm, 72 mm, 88 mm, and 104 mm. In addition, multiple diameters are defined for the reel RM. The 13-inch diameter reel RM is used for carrier tapes with widths from 4 mm to 56 mm. The 15-inch diameter large-diameter reel RL is used for carrier tapes with widths from 12 mm to 104 mm.

[0032] As shown in Figure 2, the 13-inch reel RM is held in the reel holding section 72 of the cassette feeder 7C. However, the 15-inch large-diameter reel RL has a larger diameter than the height-direction external dimensions of the feeder body 71 and therefore cannot be held in the reel holding section 72. Consequently, when it becomes necessary to use the large-diameter reel RL, the feeder unit 7U and cassette holder 8 described below are used. Note that the diameter dimensions of the reel RM and the large-diameter reel RL are not limited to those described above. In this embodiment, the reel RM with a diameter of 13 inches or less is held inside the cassette feeder 7C, and the large-diameter reel RL with a diameter exceeding 13 inches is held in the cassette holder 8.

[0033] 3. Configuration of Feeder Unit 7U and Cassette Holder 8 Next, the configuration of the feeder unit 7U and cassette holder 8, which are the objects to be transported by the transport device 1, will be explained with reference to Figures 3 to 5. The feeder unit 7U is detachably mounted on the parts supply section 92 of the parts mounting machine 9A. As shown in Figure 3, the feeder unit 7U performs the same function as the cassette feeder 7C by having the cassette holder 8 connected to its front side, that is, it supplies parts using a carrier tape.

[0034] The feeder unit 7U is constructed using at least a part of the structure of the feeder body 71 of the cassette feeder 7C. The feeder body 71 of the feeder unit 7U is provided with protrusions of the same shape as those of the feeder body 71 of the cassette feeder 7C, an upper positioning pin 711, a lower positioning pin 712, an electrical connector 713, and an operation hole 714. As a result, the external shape of the feeder unit 7U when viewed from the side is generally the same as that of the cassette feeder 7C. The width dimension of the feeder unit 7U is set to correspond to the width dimension of the carrier tape used, and is equal to or greater than the width dimension of the cassette feeder 7C. The feeder unit 7U has mounting compatibility with the cassette feeder 7C in the parts supply section 92.

[0035] The feeder unit 7U consists of a feeder body 71 with a shape similar to that of the cassette feeder 7C, a tape transport path 73, a component supply position 74, a tape feeding mechanism 75, a first locking mechanism 76, and a feeder control unit 79. However, the feeder unit 7U does not have a reel holding section 72, and the tape transport path 73 extends to near the front of the feeder body 71. In the feeder unit 7U, a tape processing mechanism 78 is provided in place of the reel holding section 72 at a position along the tape transport path 73.

[0036] The tape processing mechanism 78 comprises at least one of the following mechanisms: an automatic loading mechanism, an automatic splicing mechanism, and an automatic tape cutting mechanism. The tape processing mechanism 78 is controlled by the feeder control unit 79. The automatic loading mechanism operates when a cassette holder 8 is connected to the feeder unit 7U and a carrier tape is sent, and there is no partially used carrier tape in the tape transport path 73. The automatic loading mechanism automatically loads the sent carrier tape along the tape transport path 73 to the component supply position 74.

[0037] The automatic splicing mechanism operates when a carrier tape is fed to the feeder unit 7U with the cassette holder 8 connected, and when there is a partially used carrier tape on the tape transport path 73. The automatic splicing mechanism automatically connects the two carrier tapes. The automatic tape cutting mechanism operates in advance when the cassette holder 8 connected to the feeder unit 7U is to be removed. The automatic tape cutting mechanism automatically cuts the carrier tape on the tape transport path 73 and the cover tape (described later) that is returned to the cassette holder 8, making it possible to remove the cassette holder 8. If there is no carrier tape or cover tape to be cut, the cutting operation is omitted.

[0038] As shown in Figure 4, an operating hole 714 is provided near the top of the front surface of the feeder body 71 of the feeder unit 7U, and the upper and lower portions around the operating hole 714 become the gripping portion 77. The operating hole 714 and gripping portion 77 of the feeder unit 7U are identical in shape to the operating hole 714 and gripping portion 77 of the cassette feeder 7C, and are provided in corresponding positions to each other.

[0039] An upper tape passage hole 715 is provided, aligned with the width direction of the operation hole 714. Near the upper tape passage hole 715, a tape return mechanism (not shown in numerals) is provided, which returns the cover tape peeled off in the feeder unit 7U to the cassette holder 8 via the upper tape passage hole 715. Part or all of the tape return mechanism may be provided on the cassette holder 8. A receiving connector 716 is provided below the operation hole 714 and the upper tape passage hole 715. A lower tape passage hole 717 is provided below the receiving connector 716. The lower tape passage hole 717 allows the carrier tape sent from the connected cassette holder 8 to pass into the inside of the feeder unit 7U.

[0040] The cassette holder 8 holds the large-diameter reel RL and supplies the carrier tape to the feeder unit 7U. The cassette holder 8 is used connected to the front side of the feeder unit 7U. In the connected position, the cassette holder 8 is positioned to protrude from the component mounting machine 9A onto the movement path 97, as shown in Figure 1. In other words, the cassette holder 8 in the connected position interferes with the movement area of ​​the transport device 1 in the transport direction.

[0041] As shown in Figure 3, the cassette holder 8 consists of a holder body 81, a reel holding section 82, a tape feeding mechanism 85, a second locking mechanism 86, a coupling release mechanism 89, and a used tape storage space 8A. The holder body 81 is formed in a box shape with a height dimension greater than 15 inches. The holder body 81, like the feeder body 71, has protrusions on its lower surface. The protrusions engage with the slots of the lower storage section 93, stabilizing the storage position of the cassette holder 8.

[0042] A second locking mechanism 86 and an upper tape passage hole 815 are provided side by side in the width direction near the upper rear of the holder body 81. The second locking mechanism 86 detachably locks the gripping portion 77 of the feeder unit 7U when the cassette holder 8 is connected. The second locking mechanism 86 prevents the cassette holder 8 from detaching from the feeder unit 7U. Various known configurations can be applied to the second locking mechanism 86. The upper tape passage hole 815 overlaps with the upper tape passage hole 715 of the feeder unit 7U.

[0043] An electrical connector 816 is provided below the second locking mechanism 86 and the upper tape passage hole 815. The electrical connector 816 automatically engages with the receiving connector 716 of the feeder unit 7U when the cassette holder 8 is connected. As a result, the electrical components inside the cassette holder 8 are supplied with power and controlled by the feeder control unit 79 of the feeder unit 7U. Below the electrical connector 816, a lower tape passage hole 817 is provided. The lower tape passage hole 817 overlaps with the lower tape passage hole 717 of the feeder unit 7U.

[0044] As shown in FIG. 5, an operation hole 814, which is generally vertically long and rectangular, is provided near the upper part of the front surface of the holder body 81. The operation hole 814 is formed in the same shape as the operation holes 714 of the cassette feeder 7C and the feeder unit 7U. Moreover, the operation hole 814 is provided at a position corresponding to the operation hole 714, that is, at the same height position as the operation hole 714. The upper and lower portions around the operation hole 814 of the holder body 81 serve as the gripped portions 87. Therefore, the gripped portions 87 have the same shape as the gripped portions 77 of the cassette feeder 7C and the feeder unit 7U and are provided at corresponding positions to each other. The gripped portions 87 are gripped by the chuck 3B in the same manner as the gripped portions 77.

[0045] The reel holding portion 82 is disposed near the front inside the holder body 81. The reel holding portion 82 has the same configuration as the reel holding portion 72 of the cassette feeder 7C and is formed larger in size as compared with the reel holding portion 72. The reel holding portion 82 rotatably holds a large-diameter reel RL having a larger diameter (15 inches) than the outer dimension in the height direction of the feeder unit 7U. The tape feeding mechanism 85 is disposed behind the reel holding portion 82 inside the holder body 81. The tape feeding mechanism 85 sends the carrier tape drawn from the large-diameter reel RL to the tape conveyance path 73 of the feeder unit 7U via the lower tape passing holes (817, 717). The tape feeding mechanism 85 is constituted by a motor or the like to which power is supplied from the feeder unit 7U.

[0046] The connection release mechanism 89 is operated by the lock release mechanism 3E to release the restriction by the second lock mechanism 86. In the present embodiment, the connection release mechanism 89 is constituted by using an operation wire 891. One end of the operation wire 891 is engaged with the second lock mechanism 86. The other end of the operation wire 891 is coupled to a release member 892 disposed near the center of the operation hole 814. The release member 892 is supported by the holder body 81 so as to be movable in the front-rear direction. The operation wire 891 is stretched over a plurality of tension applying rollers 893 and is constantly tensioned. A manual release lever 894 is provided on the upper surface of the holder body 81. The manual release lever 894 manually operates the operation wire 891.

[0047] According to the above-described configuration, when the release operation portion 3F2 of the unlocking mechanism 3E pushes the release member 892, and when the manual release lever 894 is operated, the operation wire 891 is displaced in the longitudinal direction. As a result, one end of the operation wire 891 is released from the regulation by the second locking mechanism 86. Therefore, the second locking mechanism 86 is in a released state, and an operation of removing the cassette holder 8 from the feeder unit 7U to the front side is permitted. Note that the connection release mechanism 89 may be configured by connecting a mechanism other than the operation wire 891, for example, a link mechanism or a cam mechanism formed by connecting a plurality of link members so as to be displaceable.

[0048] The used tape storage space 8A is partitioned at the upper part near the rear of the holder main body 81. The used tape storage space 8A stores the cover tape returned from the feeder unit 7U via the upper tape through holes (715, 815). The used tape storage space 8A and the reel holding portion 82 are partitioned by a partition plate, and contact between the stored cover tape and the carrier tape to be sent is prevented.

[0049] 4. Configuration of the transport device 1 of the embodiment Next, the configuration of the transport device 1 of the embodiment will be described with reference to FIGS. 1, 6 to 11. The transport device 1 transports a transport target between four component mounting machines 9A and a storage device 9B that constitute the production line 9. The transport device 1 includes a device main body 2, a transfer operation mechanism 3, a gripping mechanism 3A, an unlocking mechanism 3E, a common drive unit 4, a lifting drive mechanism 5, and a control unit 6.

[0050] As shown in FIGS. 1 and 6, the device main body 2 has a vertically long outer shape. The device main body 2 moves in the transport direction between the component mounting machine 9A and the storage device 9B along the movement path 97. The device main body 2 has a recess 21 with an open rear surface facing the component mounting machine 9A so as to avoid a collision with the cassette holder 8 protruding on the movement path 97. As shown in FIG. 6, the recess 21 is formed in a crank shape that opens horizontally backward.

[0051] In this embodiment, the device body 2 has a travel mechanism 22 that travels along a travel path 97. As shown in Figure 6, the travel mechanism 22 is composed of a guide roller 23 that engages with the middle rail 971 of the travel path 97, a guide roller 24 that engages with the lower rail 972, a drive wheel 25 that travels along the middle rail 971, a wheel 26 that travels on the floor, and a drive motor (not shown) that rotates the drive wheel 25. The device body 2 may have a travel mechanism other than the travel mechanism 22 described above, and may be configured, for example, in the form of an automated guided vehicle that travels on the floor. For reference, the applicant has disclosed one example of the configuration of the travel mechanism 22 of the device body 2 in International Publication No. 2017 / 141377.

[0052] The transport operation mechanism 3 is provided on the main body 2 of the device. The transport operation mechanism 3 consists of a case 31, two attachment / detachment direction moving parts 32, and two attachment / detachment direction drive parts 39, as shown in Figure 7. Each of the two attachment / detachment direction moving parts 32 is composed of a gripping mechanism 3A, a lock release mechanism 3E, and a common drive part 4, as shown in Figure 8. The transport operation mechanism 3 grips the object to be transported with the gripping mechanism 3A and transports it.

[0053] As shown in Figure 7, the case 31 has openings 311 on the rear and top sides that allow up to four transport objects to be inserted and removed in a horizontally aligned manner. Four slots 314 are provided on the upper surface of the bottom plate 313 of the case 31, which are formed parallel to each other. The case 31 has an internal space above each of the four slots 314 that can accommodate the transport objects. Furthermore, guide rollers 315 are provided on the rear side of each of the four slots 314 of the bottom plate 313. The spacing pitch Ps (see Figures 10 and 11) of the four sets of slots 314 and guide rollers 315 is set appropriately according to the width dimension of the transport objects. This spacing pitch Ps serves as a basis for determining the arrangement of the two attachment / detachment movement parts 32 and the arrangement of the four sets of chucks 3B.

[0054] The cassette feeder 7C and feeder unit 7U are transported from the rear of the case 31 through the opening 311 and the guide roller 315 into the internal space of the case 31 and are then transported in the reverse direction. On the other hand, the cassette holder 8 is transported from the top of the case 31 through the opening 311 into the internal space of the case 31 and is then pulled out in the reverse direction. The cassette holder 8 is transported with its upper part protruding from the case 31. Inside the internal space of the case 31, the protrusions on the lower surface of the transported items engage with the slots 314, stabilizing the transported items' orientation.

[0055] Inside the case 31, two sets of attachment / detachment direction moving parts 32 and attachment / detachment direction drive parts 39 are arranged side by side in the left-right direction. The two attachment / detachment direction moving parts 32 are made capable of moving independently in the attachment / detachment direction. The attachment / detachment direction refers to the direction in which the transported object is moved when it is attached to and detached from the parts supply part 92, and corresponds to the front-back direction in Figure 1. Figure 7 shows the attachment / detachment direction moving part 32 on the far side of the page.

[0056] The attachment / detachment direction moving section 32 has a contact surface 33 on its upper rear side and a contact surface 34 on its lower rear side. The contact surface 33 contacts the upper front of the object being transported, and the contact surface 34 contacts the lower front of the object being transported. A connector can be provided on the lower contact surface 34 to supply power to the object being transported and to establish communication. A flexible power cable 35 is installed above the attachment / detachment direction moving section 32 to supply power to the moving attachment / detachment direction moving section 32. The power cable 35 is connected to a power terminal 36 on the upper part of the attachment / detachment direction moving section 32.

[0057] Each of the two attachment / detachment direction drive units 39 moves the attachment / detachment direction moving unit 32 independently of each other in the attachment / detachment direction. Figure 7 shows the attachment / detachment direction drive unit 39 on the far side of the page that drives the attachment / detachment direction moving unit 32 on the far side of the page. The attachment / detachment direction drive unit 39 consists of an upper rail 391, a lower rail 392, a drive motor 393, a fixed pulley 394, and a drive belt 395, etc.

[0058] The upper rail 391 and the lower rail 392 are provided on the side plate 312 of the case 31. The upper rail 391 and the lower rail 392 extend in the attachment / detachment direction, parallel to each other while being separated vertically. The drive motor 393 is positioned towards the front of the case 31 and is capable of switching between forward and reverse rotation. A reduction mechanism is provided on the output shaft that protrudes from the drive motor 393 toward the back of the page. The fixed pulley 394 is positioned towards the rear of the side plate 312. The annular drive belt 395 is stretched horizontally between the output shaft of the reduction mechanism of the drive motor 393 and the fixed pulley 394, and rotates when driven by the drive motor 393.

[0059] The attachment / detachment direction moving unit 32 is movably mounted on the upper rail 391 and the lower rail 392 and is fixed to one point on the drive belt 395. The attachment / detachment direction moving unit 32 is driven by the rotation of the drive belt 395 and moves in the attachment / detachment direction within the internal space of the case 31. As a result, the attachment / detachment direction moving unit 32 can transport the object to be carried, gripped by the gripping mechanism 3A, between the internal space and the outside of the case 31. Naturally, the attachment / detachment direction drive unit 39 can move the attachment / detachment direction moving unit 32 even when the gripping mechanism 3A is not gripping an object to be carried.

[0060] Regarding the attachment / detachment direction drive unit 39 on the front side of the paper, which drives the attachment / detachment direction movement unit 32 on the front side of the paper, the configuration itself is the same as on the back side of the paper, but the arrangement of the components is different. That is, the drive motor 397 on the front side of the paper is installed at a higher position and in the opposite direction to the drive motor 393 on the back side of the paper. Also, the fixed pulley and drive belt installed on the side plate (not shown) on the front side of the paper are also placed at correspondingly higher positions. By arranging the two attachment / detachment direction drive units 39 at different heights and in the opposite direction to the left and right, the transport operation mechanism 3 is made more compact.

[0061] Let's continue the explanation of the internal configuration of the attachment / detachment direction moving section 32. Each of the two attachment / detachment direction moving sections 32 is provided with two sets of combinations of a gripping mechanism 3A, a lock release mechanism 3E, and a common drive unit 4. These two sets have the same configuration, are arranged side by side in the left-right direction, and operate independently of each other. Hereafter, with reference to Figure 8, the configuration of one set will be explained in detail. The gripping mechanism 3A, the lock release mechanism 3E, and the common drive unit 4 are attached to a moving body section 37 that is part of the attachment / detachment direction moving section 32 and extends in the vertical direction.

[0062] The common drive unit 4 operates the gripping mechanism 3A and the unlocking mechanism 3E in a synchronous manner. As shown in Figure 8, the common drive unit 4 consists of a stepping motor 41, a first gear 43, a second gear 46, and a rocking member 47. The stepping motor 41 is fixed near the bottom of the moving body 37. The stepping motor 41 switches between forward and reverse rotation according to the command and rotates by the commanded amount. A small number of teeth output gear 42 is provided on the output shaft of the stepping motor 41.

[0063] The first gear 43 is positioned above the stepping motor 41 and is rotatably supported by the moving body 37. The first gear 43 is composed of a large gear 44 with a relatively large number of teeth and a small gear 45 with a relatively small number of teeth, which are integrally stacked coaxially. In Figure 3, the small gear 45 is located on the back side of the large gear 44 and is not visible. The large gear 44 meshes with the output gear 42 of the stepping motor 41.

[0064] The second gear 46 is positioned above the first gear 43 and is rotatably supported by the movable body 37. The second gear 46 has more teeth than the small gear 45 of the first gear 43 and meshes with the small gear 45. Therefore, the reduction mechanism is formed by the combination of the meshing of the output gear 42 and the large gear 44, and the meshing of the small gear 45 and the second gear 46. A rocking member 47 is provided near the top of the second gear 46. The rocking member 47 has a rocking pin 48 located outside the outer circumference of the second gear 46. According to the configuration of the common drive unit 4 described above, the forward and reverse rotation of the stepping motor 41 is converted into rocking of the rocking pin 48 in the attachment and detachment direction.

[0065] The unlocking mechanism 3E releases the restriction imposed by the first locking mechanism 76 when removing the cassette feeder 7C or feeder unit 7U from the parts supply unit 92 using the gripping mechanism 3A. The unlocking mechanism 3E is constructed using a release member 3F. The release member 3F is a rod-shaped member that is long in the attachment / detachment direction and is driven by the common drive unit 4. More specifically, the release member 3F has an elongated hole 3F1 that is long in the vertical direction, located approximately in the middle of its length. The swing pin 48 of the common drive unit 4 is loosely fitted into this elongated hole 3F1. Therefore, the arc-shaped swing of the swing pin 48 is converted into a linear motion of the release member 3F in the attachment / detachment direction. The release member 3F moves back and forth between an initial position on the front side and an operating position on the rear side. The release member 3F has a release operation part 3F2 at its rear end that releases the first locking mechanism 76.

[0066] Furthermore, the release member 3F has a pair of intermediate pins 3F3 on either side of the elongated hole 3F1. Each of the pair of intermediate pins 3F3 is loosely fitted into the elongated hole 3G2 of the slide plate 3G, which will be described later. This maintains the horizontal position of the release member 3F. In addition, the release member 3F has drive projections 3F4 above and below the rear intermediate pin 3F3 and the release operation part 3F2. The pair of upper and lower drive projections 3F4 drive the opening and closing operation of the chuck 3B of the gripping mechanism 3A.

[0067] A manual lever 3F5 extending upward is provided at the front end of the release member 3F. The manual lever 3F5 is a lever that is operated manually in the attachment / detachment direction, and allows manual operation of the release member 3F when the common drive unit 4 is malfunctioning. A position marker 3F6 is provided below the manual lever 3F5. The position marker 3F6 moves integrally with the release member 3F to indicate the position of the release member 3F. The moving body 37 is provided with an initial position sensor 371 and an operation position sensor 372 for detecting the position marker 3F6.

[0068] Figure 8 shows the initial state in which the gripping mechanism 3A and the unlocking mechanism 3E are not operating. The initial position sensor 371 detects the position marker 3F6 at the initial position of the release member 3F corresponding to the initial state. The operation position sensor 372 detects the position marker 3F6 at the operating position of the release member 3F corresponding to the operating state when the gripping mechanism 3A and the unlocking mechanism 3E are operating (see Figure 9). The initial position sensor 371 and the operation position sensor 372 output the detection results to the control unit 6.

[0069] Here, the amount of rotation of the stepping motor 41 is controllable, and the position of the release member 3F can be determined based on the amount of rotation. For this reason, the initial position sensor 371 and the operating position sensor 372 are not essential. However, if the power supply is temporarily stopped or if the manual lever 3F5 is used, the position of the release member 3F may become unknown. Therefore, it is preferable to provide at least one of the initial position sensor 371 and the operating position sensor 372 to ensure that the position of the release member 3F can be reliably detected.

[0070] The gripping mechanism 3A comprises a slide plate 3G and a pair of upper and lower chucks 3B. The gripping mechanism 3A is driven from a common drive unit 4 via a release member 3F. The pair of upper and lower chucks 3B are mounted on the slide plate 3G so as to be openable and closable. The pair of upper and lower chucks 3B can grip and release any of the three types of transport objects by opening and closing them.

[0071] More specifically, the slide plate 3G is a generally rectangular plate-shaped member with a trapezoidal notch. The slide plate 3G is biased rearward relative to the movable body 37 by a biasing spring (not shown). The oscillating member 47 oscillates within the notch of the slide plate 3G. The slide plate 3G is provided with four elongated slide holes 3G1 that are long in the attachment / detachment direction. Each of the four slide holes 3G1 is loosely fitted with a support pin 373 that is provided horizontally on the movable body 37. The slide plate 3G is also provided with two elongated holes 3G2 that are long in the attachment / detachment direction. Each of the two elongated holes 3G2 is loosely fitted with an intermediate pin 3F3 of the release member 3F.

[0072] The length of the elongated hole 3G2 in the attachment / detachment direction is greater than the length of the slide hole 3G1 in the attachment / detachment direction. When the lengths of the slide hole 3G1 and the elongated hole 3G2 in the attachment / detachment direction are added together, they match the predetermined operating stroke length for the release member 3F to move in the attachment / detachment direction. In the initial state shown in Figure 8, the intermediate pin 3F3 is in contact with the front edge of the elongated hole 3G2, preventing the slide plate 3G, which is biased to the rear, from sliding backward. At this time, the slide plate 3G is in the initial position where the support pin 373 is in contact with the rear edge of the slide hole 3G1.

[0073] Chuck seats 3G3 are provided at two locations near the rear of the slide plate 3G, and are vertically symmetrical with respect to the release member 3F. A pair of upper and lower chucks 3B are pivotably supported on the pair of upper and lower chuck seats 3G3. The upper and lower chucks 3B have a parallel section at the front where they are generally parallel, a close section at the rear of the parallel section where they approach each other, and a bent section at the rear of the close section where they bend and spread apart from each other. The chucks 3B are supported by the chuck seats 3G3 near the boundary between the parallel section and the close section. The upper and lower chucks 3B are biased by a biasing member (not shown) in the direction in which the close section and the bent section approach the release member 3F (closing direction).

[0074] The drive projections 3F4 of the release member 3F slide against the opposing surfaces of the pair of upper and lower chucks 3B. In Figure 8, the drive projections 3F4 are in sliding contact with the parallel portions of the chucks 3B. At this time, the pair of upper and lower chucks 3B are in a closed state with their approaching portions in contact with the release member 3F. The bent portions of the pair of upper and lower closed chucks 3B are closed to a smaller size than the operation holes 714 of the cassette feeder 7C and feeder unit 7U, and the operation hole 814 of the cassette holder 8, while sandwiching the release operation portion 3F2 of the release member 3F.

[0075] The lifting drive mechanism 5 shown in Figure 6 raises and lowers the transfer operation mechanism 3 between the upper holding space 2U and the lower holding space 2D set in the main body of the device 2. In other words, the lifting drive mechanism 5 raises and lowers the gripping mechanism 3A and the object to be transported together with the transfer operation mechanism 3. The lifting drive mechanism 5 may be, for example, a ball screw feed mechanism or a linear electromagnetic drive mechanism that raises and lowers the case 31 of the transfer operation mechanism 3.

[0076] Each of the upper holding space 2U and the lower holding space 2D has a width that allows it to hold the object to be transported, gripped by the gripping mechanism 3A, together with the transport operation mechanism 3. The upper holding space 2U is located in the internal space of the recess 21 of the device body 2. The height at which the upper holding space 2U is set coincides with the height at which the cassette holder 8 is positioned and also coincides with the height of the parts supply section 92. The upper holding space 2U is open on its rear surface facing the parts mounting machine 9A and on its side surfaces intersecting the transport direction. Therefore, when the device body 2 moves along the movement path 97, the upper holding space 2U, which is empty when nothing is being held, allows the cassette holder 8 protruding onto the movement path 97 to pass through. On the other hand, the lower holding space 2D is set below the upper holding space 2U, and its height coincides with the height of the lower storage section 93.

[0077] When the transfer operation mechanism 3 is located in the upper holding space 2U, it transfers the transport object (cassette feeder 7C, feeder unit 7U) gripped by the gripping mechanism 3A horizontally between the parts supply unit 92 and the main body 2, and between the main body 2 and the storage device 9B. Also, when the transfer operation mechanism 3 is located in the upper holding space 2U, it transfers the cassette holder 8 gripped by the gripping mechanism 3A horizontally between the feeder unit 7U equipped in the parts supply unit 92 and the main body 2, and between the main body 2 and the storage device 9B. Furthermore, when the transfer operation mechanism 3 is located in the lower holding space 2D, it transfers the transport object gripped by the gripping mechanism 3A horizontally between the lower storage unit 93 and the main body 2.

[0078] The control unit 6 is configured using a computer device having an input unit and an output unit. The control unit 6 may be located anywhere on the main body 2 of the device. The control unit 6 controls the operation of the transport device 1 according to commands from the line management device 9D, which manages the production line 9. The control unit 6 receives commands from the line management device 9D using wireless communication. The transport device 1 is also powered by a non-contact power supply mechanism (not shown). Therefore, the transport device 1 does not require external connection cables and is in a form suitable for movement. The applicant has disclosed in International Publication No. 2018 / 179147 one configuration that responds to changes in the line length of the production line 9 by applying an optical wireless communication path to the transport device 1. Furthermore, the applicant has disclosed in International Publication No. 2020 / 039570 one configuration in which a non-contact power supply mechanism is applied to the transport device 1.

[0079] Specifically, the control unit 6 controls the drive motor of the travel mechanism 22 of the main body of the device 2. The control unit 6 also controls the lifting drive mechanism 5 to control the height of the transport operation mechanism 3 and the object to be transported. Furthermore, regarding the control of the transport operation mechanism 3, the control unit 6 controls the drive motors (393, 397) of the attachment / detachment direction drive unit 39 to control the attachment / detachment direction position of the attachment / detachment direction movement unit 32. In addition, based on the detection results of the initial position sensor 371 and the operation position sensor 372, the control unit 6 controls the operation and stopping of the stepping motor 41 of the common drive unit 4, as well as the direction and amount of rotation. When the stepping motor 41 operates, the release member 3F and the chuck 3B are driven and operate.

[0080] Furthermore, the control unit 6 performs control to prevent collision between the cassette holder 8, which is positioned to protrude from the component mounting machine 9A onto the movement path 97, and the object to be transported. In other words, the control unit 6 controls the lifting drive mechanism 5 depending on whether or not there is a cassette holder 8 interfering with the upper holding space 2U within the range of movement of the device body 2 while the gripping mechanism 3A is gripping the object to be transported. Specifically, when the device body 2 moves along the movement path 97, if the cassette holder 8 is positioned on the movement path 97 and interferes with the upper holding space 2U, the control unit 6 operates the lifting drive mechanism 5. The lifting drive mechanism 5 lowers the transfer operation mechanism 3 (including the gripping mechanism 3A and the object to be transported) from the upper holding space 2U to the lower holding space 2D and moves it out of the way. The device body 2 moves after the transfer operation mechanism 3 has moved out of the way of the lower holding space 2D.

[0081] Furthermore, even when the gripping mechanism 3A is not gripping the object to be transported, the control unit 6 performs the same control as described above to avoid collision between the cassette holder 8 protruding onto the movement path 97 and the transport operation mechanism 3. As a result, the cassette holder 8 protruding onto the movement path 97 can pass through the empty upper holding space 2U, thus avoiding collision with the object to be transported or the transport operation mechanism 3.

[0082] Furthermore, the control unit 6 does not operate the lifting drive mechanism 5 if the cassette holder 8 protruding onto the movement path 97 is not within the movement range of the device body 2. In other words, the control unit 6 controls the movement of the device body 2 while maintaining the transfer operation mechanism 3 (including the gripping mechanism 3A and the object to be transported) in the upper holding space 2U. As a result, the transport device 1 can transport the object to be transported between the parts supply section 92 of the parts mounting machine 9A and the storage device 9B while maintaining the object at a constant height, eliminating the need for operation of the lifting drive mechanism 5 and improving transport efficiency.

[0083] To elaborate, the control unit 6 can obtain information regarding the presence and position of a cassette holder 8 protruding onto the movement path 97 from the line management device 9D. Alternatively, the control unit 6 may obtain information regarding the presence and position of a cassette holder 8 protruding onto the movement path 97 from the transport history up to the present. Alternatively, an interference detection sensor for detecting a cassette holder 8 protruding onto the movement path 97 may be provided in the device body 2 or the production line 9. In this configuration, the control unit 6 performs control based on the detection results of the interference detection sensor. Furthermore, the interference detection sensor can also be used to detect workers or other objects entering the movement range of the device body 2 and to emergency stop the device body 2.

[0084] 5. Relationship between the width dimension of the object to be transported and the gripping method As shown in Figures 10 and 11, the transport operation mechanism 3 has two attachment / detachment direction moving parts 32 and a total of four sets of chucks 3B and release members 3F. The two attachment / detachment direction moving parts 32 are arranged adjacent to each other with a pitch dimension of three times a predetermined spacing pitch Ps. In addition, the two sets of chucks 3B within the attachment / detachment direction moving parts 32 are arranged adjacent to each other with a spacing pitch Ps.

[0085] On the other hand, multiple types of cassette holders 8 with different width dimensions are used to accommodate multiple width dimensions of large-diameter reels RL and carrier tapes. A standard cassette holder 8S with a width dimension W1 of less than or equal to the spacing pitch Ps faces one set of chucks 3B. Therefore, each of the four sets of chucks 3B can simultaneously grip a standard cassette holder 8S. A wide cassette holder 8W with a width dimension W2 greater than or equal to 1 times the spacing pitch Ps and less than or equal to 2 times the spacing pitch Ps faces two sets of chucks 3B. Therefore, one chuck 3B of the attachment / detachment direction moving part 32 can grip a wide cassette holder 8W, while the other chuck 3B is left idle.

[0086] Furthermore, for extra-wide cassette holders 8 having a width dimension exceeding twice but not exceeding five times the spacing pitch Ps, it is possible for one chuck 3B of one attachment / detachment direction moving part 32 to grip, while the other chuck 3B remains stationary, and for the other attachment / detachment direction moving part 32 to also remain stationary. The relationship between the width dimension of the cassette holder 8 and the gripping method described above also applies when the chuck 3B grips the cassette feeder 7C or the feeder unit 7U.

[0087] 6. Operations for Handling Cassette Feeder 7C and Feeder Unit 7U Next, the removal and storage operations of the transport device 1 for handling the cassette feeder 7C and feeder unit 7U will be described in detail. The operations described below are common whether the transported object is the cassette feeder 7C or the feeder unit 7U, and are also common regardless of whether the transported object is located in the parts supply unit 92, the lower storage unit 93, or the storage device 9B. Furthermore, the operations described below are carried out under control from the control unit 6.

[0088] First, the main body of the device 2 moves to the parts mounting machine 9A or storage device 9B where the object to be transported is located. Next, the lifting drive mechanism 5 raises the transport operation mechanism 3 to the upper holding space 2U or the lower holding space 2D and positions it in front of the object to be transported. Next, the attachment / detachment direction drive unit 39 moves the attachment / detachment direction movement unit 32 backward, bringing the contact surfaces 33 and 34 into contact with the object to be transported. At this point, the state shown in Figure 8 is achieved.

[0089] From the state shown in Figure 8, the stepping motor 41 begins to rotate in the forward direction. As a result, the second gear 46 and the oscillating member 47 begin to rotate clockwise in Figure 8, and the release member 3F begins to move backward in the attachment / detachment direction. Synchronized with the start of the backward movement of the intermediate pin 3F3 of the release member 3F, the slide plate 3G, which is biased by the biasing spring, also begins to move backward together with the release member 3F. Thereafter, the slide plate 3G moves to a position where the support pin 373 contacts the front edge of the slide hole 3G1. As a result, both the release member 3F and the closed chuck 3B protrude backward from the contact surface 33 and enter the operation hole 714 of the object to be transported.

[0090] After the slide plate 3G stops, the release member 3F moves further backward. Then the drive projection 3F4 approaches the approach portion of the chuck 3B. From this point onward, the drive projection 3F4 pushes and spreads the approach portions of the upper and lower chucks 3B vertically, causing them to open. As a result, as shown in Figure 9, the upper and lower chucks 3B are in an open state with their bent portions separated, gripping the gripped portion 77 around the operating hole 714. Note that even if a small gap occurs between the chuck 3B and the gripped portion 77 when the chuck 3B grips the gripped portion 77, this does not cause any problems because the lower contact surface 34 stabilizes the gripping posture of the object being transported.

[0091] The release member 3F eventually moves by a predetermined operating stroke length, so that the intermediate pin 3F3 contacts the rear edge of the elongated hole 3G2. At this time, the release operation unit 3F2 pushes the automatic release arm 766 of the first locking mechanism 76, as shown in Figure 9. As a result, the first locking mechanism 76 transitions to a released state where the lock pin 761 is lowered, making it possible to remove the object to be transported. Next, the attachment / detachment direction drive unit 39 moves the attachment / detachment direction movement unit 32 forward. As a result, the object to be transported, which was gripped by the chuck 3B, is removed and then transported to the internal space of the case 31 for storage. At this time, the amount of movement of the attachment / detachment direction movement unit 32 is greater than the total length of the object to be transported in the longitudinal direction (front-to-back direction).

[0092] Next, the loading operation for loading the transport objects (cassette feeder 7C, feeder unit 7U) housed in the internal space of the case 31 of the transport device 1 into the parts supply unit 92 will be briefly explained. The storage operation for storing the transport objects in the lower storage unit 93 or the storage device 9B is generally the same as the loading operation, except that the destination of transport differs. In the loading operation, first the main body of the device 2 moves to face the parts mounting machine 9A, and then the height of the transport operation mechanism 3 is adjusted to the upper holding space 2U by the lifting drive mechanism 5.

[0093] Next, the attachment / detachment direction drive unit 39 moves the attachment / detachment direction movement unit 32 backward, transferring the object to be transported, which is gripped by the chuck 3B, to the parts supply unit 92 for insertion. At this time, the amount of movement of the attachment / detachment direction movement unit 32 is greater than the total length of the object to be transported. Next, the stepping motor 41 rotates in the reverse direction, and the release member 3F moves forward. As a result, the chuck 3B closes and releases the object to be transported. Meanwhile, the first locking mechanism 76 automatically switches to the locked state as the release operation unit 3F2 separates, and the object to be transported is mounted in the parts supply unit 92. After this, the main body of the device 2 moves away from the front of the parts supply unit 92.

[0094] 7. Operation of the Cassette Holder 8 The operation of the transport device 1 in handling the cassette holder 8 differs in two ways from the operation of the cassette feeder 7C and feeder unit 7U. The first difference is that the connection position of the cassette holder 8 is located on the front side compared to the cassette feeder 7C and feeder unit 7U. The second difference is that the second locking mechanism 86 of the cassette holder 8 differs from the first locking mechanism 76 of the cassette feeder 7C and feeder unit 7U.

[0095] Regarding the first difference, the transfer operation mechanism 3 cannot be positioned in front of the cassette holder 8 at the connection position. Therefore, the removal operation in which the transport device 1 removes the cassette holder 8 at the connection position is performed as follows: The attachment / detachment direction drive unit 39 moves the attachment / detachment direction movement unit 32 forward, and the lifting / lowering drive mechanism 5 lowers the transfer operation mechanism 3 into the lower holding space 2D. Next, the device body 2 moves to position the transfer operation mechanism 3 below the cassette holder 8 at the connection position. Next, the lifting / lowering drive mechanism 5 raises the transfer operation mechanism 3 into the upper holding space 2U. As a result, the cassette holder 8 at the connection position descends relative to the transfer operation mechanism 3 and is housed in the internal space of the case 31 from the top of the case 31 via the opening 311.

[0096] Next, the attachment / detachment direction drive unit 39 moves the attachment / detachment direction movement unit 32 backward to bring it into contact with the cassette holder 8. At this time, the contact surface 33 and the contact surface 34 come into contact with the cassette holder 8 with only a small amount of movement of the attachment / detachment direction movement unit 32. Next, the common drive unit 4 operates the chuck 3B and the lock release mechanism 3E in synchronous motion. At this time, the chuck 3B operates in the same manner as in the case of the cassette feeder 7C and the feeder unit 7U to grip the gripped portion 87 of the cassette holder 8.

[0097] On the other hand, the unlocking mechanism 3E operates differently from the cassette feeder 7C and feeder unit 7U in response to the second difference. Specifically, the unlocking operation part 3F2 of the unlocking member 3F pushes the unlocking member 892 of the coupling release mechanism 89. This releases the restriction on one end of the operating wire 891 by the second locking mechanism 86, making it possible to remove the cassette holder 8.

[0098] Next, the attachment / detachment direction drive unit 39 moves the attachment / detachment direction movement unit 32 slightly forward. As a result, the cassette holder 8, which is gripped by the chuck 3B, is removed from the feeder unit 7U and placed inside the case 31. The subsequent transport of the cassette holder 8 and its storage in the lower storage unit 93 or storage device 9B are the same as in the case of the cassette feeder 7C and feeder unit 7U. The connection operation of connecting the cassette holder 8 to the feeder unit 7U is generally performed in the reverse order of the removal operation described above.

[0099] 8. Conveying Operation of Conveying Device 1 Next, the overall conveying operation of the conveying device 1 will be explained with reference to Figure 12. Figure 12 shows the cassette holder 8, which is positioned to protrude on the movement path 97, passing through the upper holding space 2U of the conveying device 1. The conveying device 1 transports the cassette feeder 7C and feeder unit 7U as transport targets between the component mounting machine 9A and the storage device 9B. In addition, the conveying device 1 transports the cassette holder 8 as a transport target between the feeder unit 7U equipped on the component mounting machine 9A and the storage device 9B.

[0100] When the transport device 1 is transporting an object between the main body 2 and the parts supply unit 92 or the storage device 9B, as indicated by arrow M1 in Figure 12, it maintains the transport operation mechanism 3 in the upper holding space 2U. Also, when the transport device 1 is transporting an object between the main body 2 and the lower storage unit 93, as indicated by arrow M2, it maintains the transport operation mechanism 3 in the lower holding space 2D. Furthermore, when the transport device 1 is performing the removal operation of the cassette holder 8, it raises the transport operation mechanism 3 from the lower holding space 2D to the upper holding space 2U, as indicated by arrow M3. Also, when the transport device 1 is performing the coupling operation of the cassette holder 8, it lowers the transport operation mechanism 3 from the upper holding space 2U to the lower holding space 2D, as indicated by arrow M4.

[0101] Furthermore, in order to avoid collision between the transported object and the transport operation mechanism 3 with the cassette holder 8 which is positioned protruding on the movement path 97, the transport device 1 passes the cassette holder 8 with the transport operation mechanism 3 lowered into the lower holding space 2D as shown by arrow M4 (as described above). Subsequently, if the transported object is headed to the parts supply unit 92 or the storage device 9B, the transport device 1 raises the transport operation mechanism 3 into the upper holding space 2U as shown by arrow M3. Also, if the transported object is headed to the lower storage unit 93, the transport device 1 maintains the transport operation mechanism 3 in the lower holding space 2D. The transport device 1 can perform the five transport operations described below (1) to (5), and can also perform other transport operations as appropriate.

[0102] (1) Batch transport of multiple identical transport targets The transport device 1 can transport up to four identical transport targets at once. For example, in setup work when changing the type of product substrate produced on the production line 9, the transport device 1 can remove four cassette feeders 7C from the component supply unit 92 of the component mounting machine 9A and transport them all at once to the storage device 9B. The transport device 1 can also transport four other set up cassette feeders 7C from the storage device 9B to the component mounting machine 9A all at once and install them in the component supply unit 92.

[0103] Furthermore, during the setup changeover, the conveying device 1 can remove the cassette holders 8 from each of the four feeder units 7U installed in the parts supply unit 92 and transport them all at once to the storage device 9B. Subsequently, the conveying device 1 can remove the four feeder units 7U from the parts supply unit 92 and transport them all at once to the storage device 9B. The conveying device 1 can then transport four more set up feeder units 7U all at once from the storage device 9B to the parts mounting machine 9A and install them in the parts supply unit 92. Subsequently, the conveying device 1 can transport four more set up cassette holders 8 all at once from the storage device 9B to the parts mounting machine 9A and connect them to the already installed feeder units 7U.

[0104] (2) Batch transport of different types of transport objects The transport device 1 can transport up to four different types of transport objects at once. For example, in a setup change operation, the transport device 1 can remove the cassette holder 8 from each of the two feeder units 7U equipped in the parts supply unit 92, and then remove the two feeder units 7U from the parts supply unit 92. Subsequently, the transport device 1 can transport the two removed cassette holders 8 and the two feeder units 7U at once to the storage device 9B. The transport device 1 can also transport two other set up feeder units 7U and two other cassette holders 8 at once from the storage device 9B to the parts mounting machine 9A. Subsequently, the transport device 1 can equip the two feeder units 7U in the parts supply unit 92, and then connect the two cassette holders 8 to the equipped feeder units 7U.

[0105] (3) Transport for replacing transported items The transporting device 1 can perform transport for replacing transported items. For example, in a parts replenishment operation to replenish parts that have been consumed by the parts mounting machine 9A, the transporting device 1 transports the set up cassette feeder 7C from the storage device 9B to the parts mounting machine 9A. Subsequently, the transporting device 1 removes the used cassette feeder 7C from the parts supply unit 92 and installs the transported cassette feeder 7C in the position where it was removed. Furthermore, the transporting device 1 transports the removed cassette feeder 7C to the storage device 9B.

[0106] Furthermore, during the parts replenishment operation, the conveying device 1 transports the prepared cassette holder 8 from the storage device 9B to the parts mounting machine 9A. Subsequently, the conveying device 1 removes the used cassette holder 8 from the feeder unit 7U equipped in the parts supply unit 92 and connects the transported cassette holder 8 to the feeder unit 7U. Finally, the conveying device 1 transports the removed cassette holder 8 to the storage device 9B.

[0107] (4) Transport to multiple locations The transport device 1 can transport multiple transport targets to multiple locations. For example, in parts replenishment work, the transport device 1 transports two set-up cassette feeders 7C from the storage device 9B to the parts mounting machine 9A. Next, the transport device 1 removes the used cassette feeder 7C from the parts supply unit 92 and installs one of the transported cassette feeders 7C in the position where it was removed. Furthermore, the transport device 1 stores the remaining transported cassette feeder 7C in the lower storage unit 93. In the next parts replenishment work, the transport device 1 transports the cassette feeder 7C stored in the lower storage unit 93 to the parts supply unit 92 and replaces the equipped used cassette feeder 7C.

[0108] Furthermore, during parts replenishment, the conveying device 1 transports the two prepared cassette holders 8 from the storage device 9B to the parts mounting machine 9A. Next, the conveying device 1 removes the used cassette holder 8 from the feeder unit 7U equipped in the parts supply unit 92 and connects one of the transported cassette holders 8 to the feeder unit 7U. In addition, the conveying device 1 stores the remaining transported cassette holder 8 in the lower storage unit 93. During the next parts replenishment operation, the conveying device 1 transports the cassette holder 8 stored in the lower storage unit 93 to the feeder unit 7U equipped in the parts supply unit 92 and replaces the used cassette holder 8 connected to the feeder unit 7U.

[0109] Furthermore, if parts replenishment work is required at almost simultaneously for both parts mounting machines 9A, the conveying device 1 can handle this in a single round trip. Specifically, the conveying device 1 transports the two set-up cassette feeders 7C from the storage device 9B to the first parts mounting machine 9A and replaces the first cassette feeder 7C. Next, the conveying device 1 moves to the second parts mounting machine 9A and replaces the second cassette feeder 7C. Finally, the conveying device 1 can transport the two removed cassette feeders 7C back to the storage device 9B. Even in setup changeover work, not just parts replenishment work, the conveying device 1 can handle both parts mounting machines 9A in a single round trip.

[0110] (5) Pre-transport of transported items The transporting device 1 can transport the transported items to the lower storage section 93 in advance, before the transported items are needed by the parts mounting machine 9A. For example, the transporting device 1 can transport the prepared transported items from the storage device 9B to the lower storage section 93 of the parts mounting machine 9A in advance, before the changeover work begins. In this case, during the changeover work, the transporting device 1 transports the transported items stored in the lower storage section 93 to the parts supply section 92 and installs (or connects) them.

[0111] Furthermore, the conveying device 1 can pre-transport the prepared transport targets (cassette feeder 7C, cassette holder 8) from the storage device 9B to the lower storage section 93 of the parts mounting machine 9A before parts replenishment work is required. In this case, when parts replenishment work is required, the conveying device 1 transports the transport targets stored in the lower storage section 93 to the parts supply section 92 and installs (or connects) them. Here, the transport operation from the lower storage section 93 to the parts supply section 92 can be performed in a shorter time compared to the transport operation from the storage device 9B to the parts supply section 92, because the travel distance of the device body 2 is shorter. Therefore, by pre-transporting the transport targets to the lower storage section 93 before they are needed, the time required for setup changeover work and parts replenishment work can be shortened.

[0112] 9. The transport device 1 of the modified embodiment can be modified as shown in Figure 13. The transport device 1 of the modified embodiment has a smaller device body 2A compared to the embodiment. Specifically, the device body 2A is formed to a height dimension lower than the cassette holder 8 at the connection position in order to avoid interference with the cassette holder 8 protruding on the transport path 97, and the recess 21 is unnecessary. In the modified embodiment, the lifting drive mechanism 5 can drive the transport operation mechanism 3 (including the gripping mechanism 3A and the transport object) up and down between the upper holding space 2U set above the device body 2A and the lower holding space 2D set inside the device body 2A. Figure 13 illustrates two cassette holders 8 that have been driven upward into the upper holding space 2U.

[0113] In the embodiment and modified form of the conveying device 1, even when the cassette holder 8 is positioned on the movement path 97 along the front of the component mounting machine 9A and the storage device 9B, the conveying device 1 can move the object to be conveyed into the lower holding space 2D below the cassette holder 8 and then convey it. Furthermore, the conveying device 1 can convey either the feeder unit 7U gripped by the gripping mechanism 3A or the cassette holder 8. Therefore, the conveying device 1 offers a significant labor-saving effect compared to the conventional technology, which does not convey the object to be conveyed when the cassette holder 8 is positioned on the movement path 97.

[0114] 10. Application and Modification of Embodiments A transport system can be configured comprising the feeder unit 7U, cassette holder 8, and transport device 1 described in the embodiment. In the embodiment, one transport device 1 and one storage device 9B are provided in one production line 9, but at least one of the transport device 1 and the storage device 9B may be provided in multiples. Furthermore, in a production line including a parts mounting machine equipped with parts supply units 92 on the front and rear sides, the transport device 1 and the storage device 9B can be provided on the front and rear sides of the production line, respectively. In addition, the placement of the storage device 9B is not limited to the downstream side of the parts mounting machine 9A, but may be on the upstream side of the parts mounting machine 9A, or between multiple parts mounting machines 9A.

[0115] Furthermore, the lower storage section 93 of the component mounting machine 9A may be omitted. Also, the transport device 1 may be transported by moving the transport operation mechanism 3 and the transport object to the retraction space if there is a cassette holder 8 positioned higher than the upper holding space 2U of the device body 2, and a cassette holder 8 is positioned protruding on the movement path 97. Furthermore, the transport device 1 may add a single large-diameter reel RL as a transport object in place of the cassette holder 8 among the three types of transport objects. In this configuration, the large-diameter reel RL is transported and held by a reel holding device connected to the front side of the feeder unit 7U, or by a reel holding device positioned at a distance in front of the feeder unit 7U.

[0116] Furthermore, the used tape storage space 8A provided in the cassette holder 8 may be provided in at least one of the cassette feeder 7C and the feeder unit 7U. Also, if there are width constraints even for a 13-inch diameter reel RM, or if the number of cassette feeders 7C is insufficient, the 13-inch reel RM may be held in the cassette holder 8, and the cassette holder 8 may be connected to the feeder unit 7U for use. In this configuration, the reel holding portion 82 of the cassette holder 8 is required to have a holding shaft that holds the central hole of the reel RM. Furthermore, the conveying device 1 of this embodiment can be applied to a production line that supplies parts using the feeder unit 7U and cassette holder 8 without using the cassette feeder 7C, regardless of the diameter and width dimensions of the reel RM and the large-diameter reel RL. Various other applications and modifications are possible for the embodiment and its variations.

[0117] 1: Conveying device 2, 2A: Device body 21: Recess 22: Traveling mechanism 2U: Upper holding space 2D: Lower holding space 3: Transfer operation mechanism 31: Case 32: Attachment / detachment direction movement part 39: Attachment / detachment direction drive part 3A: Gripping mechanism 3B: Chuck 3E: Lock release mechanism 3F: Release member 3G: Slide plate 4: Common drive part 5: Lifting / lowering drive mechanism 6: Control unit 7C: Cassette feeder 7U: Feeder unit 71: Feeder body 72: Reel holding part 76: First locking mechanism 77: Gripping part 78: Tape processing mechanism 8: Cassette holder 8S: Standard cassette holder 8W: Wide cassette holder 81: Holder body 82: Reel holding part 86: Second locking mechanism 87: Gripping part 89: Coupling release mechanism 9: Production line 9A: Parts mounting machine 9B: Storage device 9D: Line management device 92: Parts supply unit 93: Lower storage unit 95: Storage magazine 97: Movement path RM: Reel RL: Large diameter reel Ps: Separation pitch

Claims

1. A conveying device that is movably provided along a path parallel to the front of a component mounting machine and a storage device, and whose transport targets are a feeder unit that is detachably mounted on the component mounting machine and supplies components to the component mounting machine, and a cassette holder that supplies a carrier tape containing a plurality of the components to the feeder unit.

2. The conveying device according to claim 1, comprising: a device body that moves along the transport path; a gripping mechanism capable of gripping either the feeder unit or the cassette holder; and a transport operation mechanism provided on the device body for transporting the object to be transported between the component mounting machine and the device body, and between the device body and the storage device, using the gripping mechanism.

3. The transport device according to claim 2, wherein the transport operation mechanism transports the feeder unit between the component mounting machine and the main body of the device, and transports the cassette holder connected to the feeder unit between the feeder unit mounted on the component mounting machine and the main body of the device.

4. The conveying device according to claim 3, wherein the cassette holder holds the reel on which the carrier tape is wound and is detachably connected to the outside of the feeder unit.

5. The conveying device according to claim 4, wherein the cassette holder holds the reel having a diameter larger than the external dimensions of the feeder unit.

6. The conveying device according to claim 4 or 5, further comprising a cassette feeder detachably mounted on the component mounting machine, which holds the reel internally and supplies the component to the component mounting machine, as the object to be conveyed.

7. The conveying device according to any one of claims 2-5, wherein the gripping mechanism includes a chuck that can grip and release either the feeder unit or the cassette holder by opening and closing, and the gripped portions of the feeder unit and the cassette holder are the same shape and located at corresponding positions to each other.

8. The conveying device according to any one of claims 2-5, wherein the feeder unit has a first locking mechanism that restricts its detachment from the component mounting machine to which it is mounted, and the transfer operation mechanism has a release mechanism that releases the restriction by the first locking mechanism when the feeder unit is removed from the component mounting machine using the gripping mechanism.

9. The conveying device according to claim 8, wherein the cassette holder has a second locking mechanism that restricts its detachment from the connected feeder unit, and a release mechanism that is operated by the release mechanism to release the restriction by the second locking mechanism when the transfer operation mechanism removes the cassette holder from the feeder unit using the gripping mechanism.

10. The transport device according to claim 8, wherein the transport operation mechanism has a common drive unit that operates the gripping mechanism and the unlocking mechanism in a synchronous manner.

11. A conveying device according to any one of claims 2-5, comprising a plurality of the gripping mechanisms.

12. A feeder unit that is detachably mounted on a component mounting machine and supplies components to the component mounting machine, comprising a portion to be gripped by a gripping mechanism of a transport device that grips the gripping portion of a cassette holder that supplies a carrier tape containing a plurality of the components to the feeder unit.

13. A cassette holder for supplying a carrier tape containing multiple components to a feeder unit, the cassette holder comprising a gripping portion which is gripped by a gripping mechanism of a transport device that is detachably mounted on a component mounting machine and grips the gripping portion of the feeder unit that supplies the components to the component mounting machine.

14. A conveying system comprising: a feeder unit having a gripping portion and being detachably mounted on a component mounting machine to supply components to the component mounting machine; a cassette holder having a gripping portion and supplying a carrier tape containing a plurality of the components to the feeder unit; and a conveying device having a gripping mechanism capable of gripping either the gripping portion of the feeder unit or the gripping portion of the cassette holder, and moving along a path along the front of the component mounting machine and storage device, which are arranged side by side, with the feeder unit and the cassette holder as the objects to be conveyed.

Images