Tray unit, work system, and mounting machine

Abstract

This tray unit comprises: a magazine having a plurality of slots for accommodating pallets on which trays containing components are placed; an insertion / removal device for inserting and removing the pallets into and from each of the plurality of slots; a reading device for reading identification information of the pallet being inserted into or removed from each of the plurality of slots; a pallet detection mechanism for detecting whether or not a pallet is stored in each of the plurality of slots; and a moving device for moving the insertion / removal device, the reading device, and the pallet detection mechanism together.

Description

Tray unit, working system, and mounting machine

[0001] The present invention relates to a tray unit and the like provided with a magazine having a plurality of slots for storing pallets on which trays accommodating components are placed.

[0002] The following patent document describes a tray unit provided with a magazine having a plurality of slots for storing pallets on which trays accommodating components are placed.

[0003] Japanese Unexamined Patent Publication No. 2023-160449, Japanese Unexamined Patent Publication No. 2008-288533, Japanese Unexamined Patent Publication No. 2001-028496

[0004] In recent years, as disclosed in Patent Document 1, a tray unit capable of stocking a large number of pallets having tray components placed thereon has been proposed. Pallets stocked inside the tray unit can be identified by using the identification method utilizing RFID described in Patent Document 2, or the means for detecting each pallet with a barcode reader described in Patent Document 3. However, when the number of pallets to be stocked increases, the technique of Patent Document 2 requires that a reading device be installed over the entire slot where pallets are placed, and the technique of Patent Document 3 has a problem that the time for detecting markers becomes longer. An object of the present invention is to appropriately identify pallets stored in slots in a tray unit provided with a magazine having a plurality of slots for storing pallets.

[0005] In order to solve the above problems, the present specification discloses a tray unit comprising: a magazine having a plurality of slots for storing pallets on which trays accommodating components are placed; an insertion / extraction device that inserts and extracts pallets into and from each of the plurality of slots; a reading device that reads identification information of pallets inserted into and extracted from each of the plurality of slots; a pallet detection mechanism that detects whether a pallet is stored in each of the plurality of slots; and a moving device that moves the insertion / extraction device, the reading device, and the pallet detection mechanism together.

[0006] To solve the above problems, this specification discloses a work system comprising a tray unit and a mounting machine for mounting components supplied by the tray unit onto a substrate, wherein the tray unit has an encoder for detecting the movement position of the reading device by the moving device, and when the pallet detection mechanism detects that a pallet is stored in one of the plurality of slots, the encoder detects the movement position of the reading device and the reading device reads the identification information of the pallet stored in the first slot, thereby associating and storing the movement position of the reading device detected by the encoder with the identification information of the pallet read by the reading device.

[0007] To solve the above problems, this specification discloses a mounting machine in which the tray unit is detachably attached and components supplied by the tray unit are mounted on a substrate, wherein, at the timing when the pallet detection mechanism detects that a pallet is stored in one of the plurality of slots, the mounting machine stores in association the movement position of the reading device detected by an encoder disposed on the moving device of the tray unit with the identification information of the pallet stored in the first slot read by the reading device.

[0008] To solve the above problems, this specification discloses a mounting machine comprising: a magazine having a plurality of slots for storing pallets on which trays containing parts are placed; an insertion / removal device for inserting and removing pallets into and from each of the plurality of slots; a reading device for reading identification information of pallets inserted into and removed from each of the plurality of slots; a pallet detection mechanism for detecting whether or not a pallet is stored in each of the plurality of slots; and a moving device for moving the insertion / removal device, the reading device, and the pallet detection mechanism together, wherein the presence or absence of a pallet detected by the pallet detection mechanism and the identification information of the pallet read by the reading device are stored in association.

[0009] In this disclosure, an insertion / removal device for inserting and removing pallets into each of a plurality of slots, a reading device for reading identification information of the pallets being inserted into and removed from each of the plurality of slots, and a pallet detection mechanism for detecting whether or not a pallet is stored in each of the plurality of slots are moved by a moving device. This makes it possible to appropriately identify the pallets stored in each of the plurality of slots.

[0010] This is a perspective view showing an electronic component mounting system. This is a plan view showing a work unit and a tray unit. This is a perspective view showing a tray unit. This is a perspective view showing the internal structure of a tray unit. This is a side view showing the internal structure of a tray unit. This is a diagram showing a tray unit from above. This is a diagram showing a pallet with a tray placed on it. This is a perspective view showing a replacement shuttle. This is a diagram showing a pallet before it is held by a holder. This is a diagram showing a pallet held by a holder. This is a diagram showing a holder for holding a pallet. This is a perspective view showing the internal structure of a tray unit. This is a block diagram of the control device of a work unit. This is a block diagram of the control device of a tray unit. This is a perspective view showing a conventional tray unit. This is a schematic diagram showing when a pallet is inserted from the shuttle into a slot. This is a block diagram showing the control device of a work unit and a control device of a tray unit. This is a block diagram showing the control device of a work unit and a control device of a tray unit. This is a sequence diagram showing the operating state of the control device of a work unit, a control device of a tray unit and a detection sensor. This is a time chart showing the detected value of the encoder, the detected value of the detection sensor and the reading by the code reader. This is a diagram showing the storage slot, pallet identification information, storage position information, pallet component information and component position information.

[0011] Hereinafter, embodiments of the present invention will be described in detail with reference to the figures, as embodiments for carrying out the present invention.

[0012] Figure 1 shows an electronic component mounting system 10. The electronic component mounting system 10 consists of a system base 12, a work unit 14 disposed on the system base 12, and a tray unit 16 connected to the work unit 14. As shown in Figure 2, the work unit 14 is equipped with two board-to-board work machines 18. The two board-to-board work machines 18 are arranged adjacent to each other, and the direction in which the two board-to-board work machines 18 are aligned is called the X-axis direction, the horizontal direction perpendicular to that direction is called the Y-axis direction, and the direction perpendicular to the X-axis direction and the Y-axis direction is called the Z-axis direction. Figure 2 is a plan view showing the inside of the work unit 14 from a top-down perspective.

[0013] The two circuit board handling machines 18 have substantially the same structure, and each circuit board handling machine 18 mainly comprises a work machine body 20, a transport device 22, a moving device 24, a work head 26, and a supply device 28. The work machine body 20 is composed of a frame 32 and a beam (not shown) mounted on the frame 32.

[0014] The conveying device 22 is equipped with two conveyor devices 40 and 42. These two conveyor devices 40 and 42 are arranged on the frame 32 so as to be parallel to each other and extending in the X-axis direction. Each of the two conveyor devices 40 and 42 transports the circuit board 47 supported by each conveyor device 40 and 42 in the X-axis direction by an electromagnetic motor (see Figure 13) 46. The circuit board 47 is also fixedly held in a predetermined position by a board holding device (see Figure 13) 48.

[0015] The mobile device 24 is an XY robot type mobile device and includes an electromagnetic motor (see Figure 13) 52 that slides the slider 50 in the X-axis direction and an electromagnetic motor (see Figure 13) 54 that slides it in the Y-axis direction. A work head 26 is detachably attached to the slider 50. The work head 26 attached to the slider moves to any position on the frame 32 by the operation of the electromagnetic motors. The work head 26 has a discharge head 26a and a mounting head 26b.

[0016] The discharge head 26a dispenses adhesive onto the circuit board 47. A syringe 60 is attached to the lower end surface of the discharge head 26a. The syringe 60 is filled with adhesive and is connected to an air supply device (see Figure 13) 64 via an air passage. The syringe 60 dispenses adhesive when air is supplied from the air supply device 64. The discharge head 26a also has a syringe lifting device (see Figure 13) 65 that raises and lowers the syringe 60. The syringe lifting device 65 allows the discharge head 26a to change the adhesive dispensing position in the vertical direction. The discharge head 26a is attached to the slider 50 of the left-hand circuit board work machine 18a of the two circuit board work machines 18.

[0017] The mounting head 26b is used to mount electronic components onto the circuit board 47. A suction nozzle 62 is provided on the lower end surface of the mounting head 26b. The suction nozzle 62 is connected to a positive / negative pressure supply device (see Figure 13) 66 via negative pressure air and positive pressure air passages. The suction nozzle 62 attracts and holds electronic components using negative pressure and releases the held electronic components using positive pressure. The mounting head 26b also has a nozzle lifting device (see Figure 13) 68 that raises and lowers the suction nozzle 62. The nozzle lifting device 68 allows the mounting head 26b to change the vertical position of the electronic components it holds. The mounting head 26b is attached to the slider 50 of the right-hand board-to-board work machine 18b of the two board-to-board work machines 18.

[0018] Furthermore, as shown in Figure 3, the tray unit 16 has a unit body 70 and a mounting base 72. Inside the unit body 70, as shown in Figures 4 to 6, a storage shelf 76 and a replacement shuttle 78 are arranged. Figure 4 is a perspective view showing the inside of the tray unit 16, Figure 5 is a side view showing the inside of the tray unit 16, and Figure 6 is a top view showing the tray unit 16.

[0019] The storage shelf 76 is composed of a first storage shelf 76a having multiple shelves 80a arranged in a single row in the vertical direction, and a second storage shelf 76b having multiple shelves 80b arranged in a single row in the vertical direction. The first storage shelf 76a and the second storage shelf 76b are arranged adjacent to each other in the X-axis direction. The first storage shelf 76a has a storage space (not shown) at its upper end for storing a replacement magazine (see Figure 12), which will be described later, and multiple shelves 80a are formed over the entire vertical area excluding this storage space. On the other hand, the second storage shelf 76b has multiple shelves 80b formed in the upper and lower parts, excluding the central area in the vertical direction. A lifting magazine 82 is mounted in the central area of ​​the second storage shelf 76b so as to be able to move up and down. The lifting magazine 82 moves up and down by an electromagnetic motor (see Figure 14) 83 in the area where no shelves 80b are formed. Furthermore, multiple shelves 84 are formed inside the lifting magazine 82, arranged in a vertical direction.

[0020] The shelf 80a of the first storage shelf 76a, the shelf 80b of the second storage shelf 76b, and the shelf 84 of the lifting magazine 82 are of the same dimensions, and each shelf 80a, 80b, and 84 stores the pallet 86 shown in Figure 7. The pallet 86 is generally rectangular in shape, and a tray 88 is placed on the top surface of the pallet 86. The tray 88 has multiple cavities 90 arranged in a grid pattern, for example, in a 9x8 grid, and each cavity 90 stores an electronic component 92. The pallet 86 also has a pair of first blocks 96 on one of its opposing short sides, and a pair of second blocks 98 on the other side.

[0021] In this manner, the pallet 86 on which the tray 88 is placed is stored in either the shelf 80a of the first storage shelf 76a, the shelf 80b of the second storage shelf 76b, or the shelf 84 of the lifting magazine 82 by the operation of the exchange shuttle 78 and the exchange magazine 120. Specifically, as shown in Figure 8, the exchange shuttle 78 includes a moving device 100 and an exchange device 101. The moving device 100 includes a lifting platform 102 and a shuttle 103. As shown in Figure 4, the lifting platform 102 is arranged to be able to move up and down in the vertical direction at a position opposite the first storage shelf 76a and the second storage shelf 76b in the Y-axis direction. The lifting platform 102 moves up and down by an electromagnetic motor (see Figure 14) 104 between the upper ends of the first storage shelf 76a and the second storage shelf 76b and the lower ends of the first storage shelf 76a and the second storage shelf 76b. Furthermore, the X-axis dimension of the lifting platform 102 is the sum of the X-axis dimension of the first storage shelf 76a and the X-axis dimension of the second storage shelf 76b.

[0022] Furthermore, as shown in Figure 8, the shuttle 103 is slidably mounted on the upper surface of the lifting platform 102 in the X-axis direction and moves in front of any storage shelf 76 of the first storage shelf 76a and the second storage shelf 76b by an electromagnetic motor (see Figure 14) 105. As a result, the shuttle 103 moves in front of any shelf among the multiple shelves 80a of the first storage shelf 76a, the multiple shelves 80b of the second storage shelf 76b, and the multiple shelves 84 of the lifting magazine 82 by the operation of the electromagnetic motors 104 and 105. The shuttle 103 is generally composed of a rectangular bottom surface 106 and a pair of opposing side surfaces 108. The shuttle 103 is mounted on the upper surface of the lifting platform 102 such that the opposing direction of the pair of side surfaces 108 is in the X-axis direction.

[0023] Furthermore, the switching device 101 is located inside the shuttle 103 and has a pair of conveyor belts 110 and a holder 112. The pair of conveyor belts 110 are arranged to extend in the Y-axis direction inside a pair of side surfaces 108 of the shuttle 103, and the conveyor belts 110 and the holder 112 are connected via a connecting mechanism 113. The pair of conveyor belts 110 rotate due to the operation of an electromagnetic motor (see Figure 14) 114, causing the holder 112 to move in the Y-axis direction.

[0024] Furthermore, as shown in Figure 9, the holder 112 is composed of a pair of claws 115. The pair of claws 115 are arranged in a straight line with their tips facing opposite directions, and are opened and closed by an air cylinder (see Figure 14) 116. In other words, the pair of claws 115 move closer together and further apart. When the pair of claws 115 are closest together, the distance between their tips is L1. The distance between a pair of first blocks 96 on the pallet 86 is K, which is longer than the distance L1 between the tips of the pair of claws 115 when they are closest together. Therefore, when the pair of claws 115 are closest together, they fit between the pair of first blocks 96 on the pallet 86. Also, when the pair of claws 115 are separated by the air cylinder 116, the distance between their tips becomes longer than the distance K between the pair of first blocks 96. Therefore, as shown in Figure 10, the pair of claws 115 that are inserted between the pair of first blocks 96 separate and engage with the pair of V-shaped notches 117 formed in the pair of first blocks 96. As a result, the pallet 86 is held in place by the holder 112 on the pair of first blocks 96. The distance between the tips of the pair of claws 115 when they are engaged with the notches 117 of the pair of first blocks 96 is L2 (>K). When the pair of claws 115 are separated to their furthest extent by the air cylinder 116, the distance between the tips of the pair of claws 115 is L3, as shown in Figure 11, which is longer than L2. In other words, the distance between the tips of a pair of claws 115 changes between L1 and L3 by the air cylinder 116, but when the pair of claws 115 engage with the notches 117 of the pair of first blocks 96, the distance between the tips of the pair of claws 115 is restricted to L2 (< L3).

[0025] As shown in Figure 3, a door 118 is provided at the upper left corner of the front side of the unit body 70 of the tray unit 16. By opening the door 118, the worker can insert and remove the pallet 86 into and out of the unit body 70 through the open door 118. Inside the unit body 70, as shown in Figure 12, a replacement magazine 120 is provided. The replacement magazine 120 is slidable in the Y-axis direction and slides between the upper end of the first storage shelf 76a and a position facing the door 118 by an electromagnetic motor (see Figure 14) 122. The replacement magazine 120 is a magazine capable of holding one pallet 86. Therefore, when the replacement magazine 120 is in a position facing the door 118, the worker can open the door 118 to place a pallet 86 into the replacement magazine 120 or remove a pallet 86 that has been placed in the replacement magazine 120.

[0026] With this structure, the pallet 86 is stored in either the shelf 80a of the first storage shelf 76a, the shelf 80b of the second storage shelf 76b, or the shelf 84 of the lifting magazine 82 by the operation of the exchange shuttle 78 and the exchange magazine 120. Specifically, the worker opens the door 118 and places the pallet 86 into the exchange magazine 120 via the door 118. At this time, the worker places the pallet 86 into the exchange magazine 120 so that the first block 96 of the pallet 86 faces the worker and the second block 98 of the pallet 86 faces the inside of the unit body 70. Note that the door 118 can only be opened and closed when the exchange magazine 120 has moved to a position opposite the door 118. A tray 88 is placed on the pallet 86 that is placed in the exchange magazine 120.

[0027] Then, when the pallet 86 is placed in the replacement magazine and the door 118 is closed, the replacement magazine 120 moves into the first storage shelf 76a. Next, the electromagnetic motors 104 and 105 of the moving device 100 are activated so that the shuttle 103 moves to a position opposite the replacement magazine 120 that has moved into the first storage shelf 76a. Then, with the shuttle 103 in the position opposite the replacement magazine 120, the holder 112 moves toward the replacement magazine 120 by the electromagnetic motor 114. At this time, a pair of claws 115 of the holder 112 are brought closer together by the air cylinder 116. As a result, the pair of claws 115 enter between a pair of first blocks 96 of the pallet 86 that is placed on the replacement magazine 120. Then, the pair of claws 115 of the holder 112 are separated by the air cylinder 116 and engage with the notches 117 of the pair of first blocks 96. As a result, the pallet 86 is held by the holder 112 in a pair of first blocks 96. Next, the holder 112 is moved toward the interior of the shuttle 103 by an electromagnetic motor 114. This causes the pallet 86, which is placed in the replacement magazine 120, to be pulled out of the replacement magazine 120 and placed on the pair of conveyor belts 110 of the shuttle 103.

[0028] Then, the electromagnetic motors 104 and 105 of the moving device 100 are activated so that the shuttle 103 moves to a position opposite the shelf to be stored among the shelves 80a of the first storage shelf 76a, the shelf 80b of the second storage shelf 76b, and the shelf 84 of the lifting magazine 82. Subsequently, the holder 112 is moved from inside the shuttle 103 toward the shelf to be stored by the electromagnetic motor 114. As a result, the pallet 86 placed on the pair of conveyor belts 110 is stored on the shelf to be stored. Then, the pair of claws 115 of the holder 112 are brought closer by the air cylinder 116, releasing the holder 112 from holding the pallet 86. In this way, the pallet 86 is stored on the shelf to be stored by the operation of the exchange shuttle 78 and the exchange magazine 120.

[0029] Furthermore, a pallet 86 stored in either the shelf 80a of the first storage shelf 76a, the shelf 80b of the second storage shelf 76b, or the shelf 84 of the lifting magazine 82 is removed from the unit body 70 by the operation of the replacement shuttle 78 and the replacement magazine 120. Specifically, the electromagnetic motors 104 and 105 of the moving device 100 are operated so that the shuttle 103 moves to a position opposite the shelf where the pallet 86 to be removed is stored. Then, at the shuttle 103 that has moved to a position opposite the shelf where the pallet 86 to be removed is stored, the holder 112 holds the first block 96 of the pallet 86 stored in that shelf. Subsequently, the holder 112 is moved toward the interior of the shuttle 103 by the electromagnetic motor 114. As a result, the pallet 86 stored in the shelf is pulled out from the shelf and placed on the pair of conveyor belts 110 of the shuttle 103. Then, the electromagnetic motors 104 and 105 of the moving device 100 are activated so that the shuttle 103 moves to a position opposite the replacement magazine 120, which is moving inside the first storage shelf 76a. Subsequently, the holder 112 is moved by the electromagnetic motor 114 from inside the shuttle 103 toward the replacement magazine 120. As a result, the pallet 86, which is placed on the pair of conveyor belts 110 of the shuttle 103, is stored in the replacement magazine 120, and the holder 112 releases its grip on the pallet 86. Next, the shuttle 103 moves from the position opposite the replacement magazine 120, and the replacement magazine 120 moves from inside the first storage shelf 76a toward the position opposite the door 118. Then, the worker opens the door 118 and removes the pallet 86 from the replacement magazine 120 to the outside of the unit body 70 through the door 118.

[0030] In this way, the unit body 70 stores pallets 86 in any of the shelves of the first storage shelf 76a, the second storage shelf 76b, and the lifting magazine 82, and retrieves pallets 86 from each of the shelves of the first storage shelf 76a, the second storage shelf 76b, and the lifting magazine 82. Furthermore, when a pallet 86 stored in the shelf 84 of the lifting magazine 82 of the unit body 70 is pulled out onto the mounting base 72, the tray unit 16 supplies the electronic components 92 stored in the tray 88.

[0031] More specifically, as shown in Figures 4 to 6, the mounting base 72 is fixed to the side of the unit body 70 at a position opposite the second storage shelf 76b in the Y-axis direction. The mounting base 72 is fixed to the side of the unit body 70 at a position opposite the center of the lifting range of the lifting magazine 82 in the vertical direction. As a result, when the lifting magazine 82 moves up and down, each of the shelves 84 of the lifting magazine 82 faces the mounting base 72 in the Y-direction. A holder 130 is also provided on the upper surface of the mounting base 72. The holder 130 has the same structure as the holder 112 and holds a pair of second blocks 98 of the pallet 86. The holder 130 also moves in the Y-axis direction on the upper surface of the mounting base 72. Therefore, the second block 98 of the pallet 86 stored in the shelf 84 of the lifting magazine 82 is held by the holder 130, and as the holder 130 moves away from the lifting magazine 82, the pallet 86 stored in the lifting magazine 82 is pulled out to the upper surface of the mounting table 72.

[0032] Specifically, the lifting magazine 82 moves up and down so that the shelf 84 containing the pallet 86 to be pulled out faces the mounting base 72. Then, on the mounting base 72 facing the shelf 84 containing the pallet 86, the holder 130 holds the second block 98 of the pallet 86 stored on that shelf 84. Subsequently, the holder 130 moves away from the lifting magazine 82. As a result, the pallet 86 stored in the lifting magazine 82 is pulled out to the upper surface of the mounting base 72. Then, the tray unit 16 supplies the electronic components 92 stored in the tray 88 to the pallet 86 that has been pulled out to the upper surface of the mounting base 72.

[0033] In the tray unit 16, as described above, the pallets 86 stored in the lifting magazine 82 are pulled out onto the mounting platform 72. For this reason, the pallets 86 stored in each shelf 80 of the first storage shelf 76a and the second storage shelf 76b cannot be directly pulled out onto the mounting platform 72. Therefore, the pallets 86 stored in each shelf 80 of the first storage shelf 76a and the second storage shelf 76b are transferred to the lifting magazine 82, and the pallets 86 stored in each shelf 80 of the first storage shelf 76a and the second storage shelf 76b are pulled out onto the mounting platform 72 via the lifting magazine 82. In other words, the pallets 86 stored in each shelf 80 of the first storage shelf 76a and the second storage shelf 76b are pulled out onto the shuttle 103 by the operation of the exchange shuttle 78. Then, the electromagnetic motors 104 and 105 of the moving device 100 are activated so that the shuttle 103 moves in front of the shelf 84 of the lifting magazine 82 which does not contain a pallet 86. Subsequently, the pallet 86 placed on the shuttle 103 is placed in the shelf 84 of the lifting magazine 82 by the operation of the switching device 101. As a result, the pallets 86 stored in the shelves 80 of the first storage shelf 76a and the second storage shelf 76b are pulled out onto the mounting platform 72 via the lifting magazine 82.

[0034] Furthermore, by moving the tray unit 16 closer to and further away from the work unit 14 in the Y-axis direction, the tray unit 16 can be detachably attached to the work unit 14. When the tray unit 16 is attached to the work unit 14, as shown in Figure 2, the mounting base 72 enters the interior of the substrate work machine 18b of the work unit 14. As a result, in the substrate work machine 18b of the work unit 14, the mounting head 26b holds the electronic components 92 supplied by the tray unit 16 on the mounting base 72.

[0035] Furthermore, the work unit 14 is equipped with a control device 140 as shown in Figure 13. The control device 140 has a controller 142, a plurality of drive circuits 144, and a memory 148. The controller 142 is a computer-based device equipped with a CPU, ROM, RAM, etc. The controller 142 is connected to the plurality of drive circuits 144, which in turn are connected to electromagnetic motors 46, 52, 54, a substrate holding device 48, an air supply device 64, a syringe lifting device 65, a positive / negative pressure supply device 66, and a nozzle lifting device 68. As a result, the operation of the transport device 22, the moving device 24, etc. is controlled by the controller 142. The controller 142 is also connected to the memory 148. As a result, the controller 142 stores various information in the memory 148 and retrieves various information from the memory 148.

[0036] Furthermore, the tray unit 16 is equipped with a control device 150 as shown in Figure 14. The control device 150 has a controller 152 and a plurality of drive circuits 154. The controller 152 is a computer-based device equipped with a CPU, ROM, RAM, etc. The controller 152 is connected to the plurality of drive circuits 154, and these drive circuits 154 are connected to electromagnetic motors 83, 104, 105, 114, 122 and air cylinder 116. As a result, the operation of the lifting magazine 82, the moving device 100, etc. is controlled by the controller 152.

[0037] In the work unit 14 and tray unit 16, as described above, adhesive is dispensed onto the circuit board 47 in the board-to-board work machine 18a, and electronic components are mounted onto the circuit board 47 in the board-to-board work machine 18b. Specifically, the circuit board 47 is loaded into the board-to-board work machine 18a, and the transport device 22 of the board-to-board work machine 18a transports the circuit board to the work position and holds it fixedly in that position. Next, the dispensing head 26a moves above the circuit board by the operation of the moving device 24. Then, the dispensing head 26a dispenses adhesive onto the upper surface of the circuit board. At this time, the dispensing head 26a dispenses adhesive to the positions on the circuit board where the electronic components are to be mounted. When the dispensing of adhesive by the dispensing head 26a is completed, the circuit board is removed from the board-to-board work machine 18a and loaded into the board-to-board work machine 18b.

[0038] When a circuit board is loaded into the circuit board handling machine 18b, the transport device 22 of the circuit board handling machine 18b transports the circuit board to the work position and holds it fixedly in that position. In the tray unit 16, a pallet 86 on which a tray 88 containing the electronic components 92 to be supplied is placed is stored in a lifting magazine 82 and is pulled out from the lifting magazine 82 onto the mounting table 72. Therefore, in the circuit board handling machine 18b, the electronic components 92 to be supplied are placed in the tray 88 of the pallet 86 that has been pulled out onto the mounting table 72 of the tray unit 16. Then, the mounting head 26b moves above the tray 88 by the operation of the moving device 24 and picks up and holds the electronic components 92 with the suction nozzle 62. Then, the mounting head 26b moves above the planned mounting position of the electronic components on the circuit board, that is, above the position where the adhesive is dispensed, by the operation of the moving device 24, and mounts the held electronic components onto the circuit board. This allows the electronic components to be mounted on the circuit board in their designated positions using adhesive.

[0039] Thus, in the tray unit 16, a pallet 86 on which a tray 88 containing the electronic components 92 to be supplied is placed is stored in a lifting magazine 82 and pulled out from the lifting magazine 82 onto the mounting table 72. Then, in the circuit board work machine 18b, the electronic components 92 to be supplied are supplied from the tray 88 of the pallet 86 pulled out onto the mounting table 72 of the tray unit 16 and mounted onto the circuit board. For this reason, it is necessary to link the position in which the pallet 86 is stored in the tray unit 16 with the electronic components 92 contained in the tray 88 of that pallet 86.

[0040] Therefore, before the worker places the pallet 86 on which the tray 88 is placed into the unit body 70 of the tray unit 16, a linking operation is first performed between the pallet 86 and the electronic components 92 supplied from the tray 88 placed on the pallet 86. Specifically, as shown in Figure 7, a barcode 160 is affixed to the corner of the top surface of the pallet 86. The barcode 160 is a unique code for the pallet 86 and indicates the identification information of the pallet 86. Also, a barcode 162 is affixed to the corner of the top surface of the tray 88. The barcode 162 is a unique code for the tray 88 and indicates the identification information of the electronic components 92 contained in the tray 88. For this reason, before the worker places the pallet 86 on which the tray 88 is placed into the unit body 70 of the tray unit 16, the worker reads the barcode 160 on the pallet 86 and the barcode 162 on the tray 88 using a handheld code reader (not shown). The code reader is connected to the control device 140 of the work unit 14, and the information from the barcodes 160 and 162 read by the code reader, that is, the identification information of the pallet 86 and the identification information of the electronic component 92, is input to the control device 140. The control device 150 then stores the pallet component information, which associates the identification information of the pallet 86 and the identification information of the electronic component 92, in the memory 148.

[0041] Furthermore, when the operator reads the barcode 160 on the pallet 86 and the barcode 162 on the tray 88 using a code reader, they place the tray 88 on top of the pallet 86, open the door 118 of the tray unit 16, and place the pallet 86 on the exchange magazine 120. Then, the pallet 86 placed on the exchange magazine 120 is stored in one of the shelves 80a, 80b, or 84 of the first storage shelf 76a, the second storage shelf 76b, or the lifting magazine 82 by the operation of the exchange shuttle 78 and the exchange magazine 120. At this time, the identification information of the pallet 86 to be stored in one of the shelves 80a, 80b, or 84 of the first storage shelf 76a, the second storage shelf 76b, or the lifting magazine 82, and information indicating the position of the shelf 80a, 80b, or 84 in which the pallet 86 is stored are associated and stored. In the following description, any of the shelves 80a, 80b, or 84 among the first storage shelf 76a, the second storage shelf 76b, and the lifting magazine 82 will be referred to as slots (see Figure 16) 180.

[0042] Incidentally, in the conventional tray unit 170, as shown in Figure 15, a lifting magazine 176 with the same structure as the lifting magazine 82 of the tray unit 16 is built into the unit body 172, but there is no built-in storage shelf 76 with the same structure as the tray unit 16. For this reason, in the conventional tray unit 170, all pallets 86 are stored in the lifting magazine 176, and all pallets 86 move up and down together with the lifting magazine 176. For this reason, a code reader (not shown) is fixedly installed inside the unit body 172, and as the lifting magazine 176 moves up and down, the barcodes of all pallets 86 stored in the lifting magazine 176 are read by the code reader. From this, the identification information of all pallets 86 stored in the unit body 172 of the tray unit 170 is detected.

[0043] On the other hand, in the tray unit 16, pallets 86 are stored not only in the lifting magazine 82 that moves up and down, but also in the first storage shelf 76a and the second storage shelf 76b. For this reason, even if a code reader is fixedly arranged inside the unit main body 70, although the barcode of the pallet stored in the lifting magazine 82 can be read by the code reader, the barcodes of the pallets stored in the first storage shelf 76a and the second storage shelf 76b cannot be read by the code reader. Further, if code readers are arranged in all the slots 180 of the unit main body 70, the barcodes of all the pallets 86 stored in the unit main body 70 can be read by the code readers, but this is not practical in terms of cost. In view of the above circumstances, in consideration of the fact that the shuttle 103 of the replacement shuttle 78 can move to a position facing all the slots 180 of the first storage shelf 76a, the second storage shelf 76b, and the lifting magazine 82, a code reader (see FIG. 8) 190 is arranged on the shuttle 103. When a pallet 86 is stored in any one of the slots 180 of the first storage shelf 76a, the second storage shelf 76b, and the lifting magazine 82, the barcode of the pallet 86 is read by the code reader 190.

[0044] Specifically, as shown in FIG. 16, the code reader 190 is arranged on the bottom surface 106 at the end of the shuttle 103 facing the first storage shelf 76a, the second storage shelf 76b, and the lifting magazine 82. The code reader 190 has an optical axis at an angle inclined downward from each slot 180 of the first storage shelf 76a, the second storage shelf 76b, and the lifting magazine 82, and is arranged in a posture facing obliquely upward with respect to the slot 180. Above the code reader 190, a holder 112 held by a coupling mechanism 113 is arranged, and a conveyor belt 110 that moves the holder 112 together with the coupling mechanism 113 in the Y-axis direction is also arranged above the code reader 190.

[0045] Furthermore, in the shuttle 103, the pallet 86 held by the holder 112 is placed on the conveyor belt 110. Therefore, when the pallet 86 is to be stored in one of the slots 180, the electromagnetic motors 104 and 105 of the moving device 100 are activated so that the shuttle 103 moves to a position where the pallet 86 and the slot 180 to be stored face each other. Then, the holder 112 moves toward the slot 180 to be stored, and the pallet 86 held by the holder 112 is stored in the slot 180. As shown in Figure 7, a barcode 160 is attached to the first block 96 side of the upper surface of the pallet 86, but as shown in Figure 16, a barcode 182 is also attached to the first block 96 side of the lower surface of the pallet 86. When the pallet 86 is stored in the slot 180, the barcode 182 is exposed from the slot 180 toward the shuttle 103 and is within the reading range of the code reader 190. Therefore, when the pallet 86 is placed in the storage slot 180, the barcode 182 of the pallet 86 is read by the code reader 190. In other words, at the height at which the pallet 86, held by the holder 112, is placed in the storage slot 180, the barcode 182 of the pallet 86 is read by the code reader 190. As shown in Figure 17, the code reader 190 is connected to the control device 140 of the work unit 14. Therefore, the control device 140 of the work unit 14 acquires the identification information of the pallet 86.

[0046] Furthermore, when the barcode 182 on the pallet 86 is read by the code reader 190, the shuttle 103 moves to a position opposite the slot 180 in which the pallet 86 is stored, as shown in Figure 16. The shuttle 103 moves due to the operation of the electromagnetic motors 104 and 105 of the moving device 100, and encoders 196 and 198 are provided on the electromagnetic motors 104 and 105 of the moving device 100, as shown in Figure 17. The encoders 196 and 198 detect the amount and direction of operation of the electromagnetic motors 104 and 105, and can determine the amount and direction of movement of the shuttle 103 as it moves due to the operation of the electromagnetic motors 104 and 105. The electromagnetic motors 104 and 105 of the moving device 100 are connected to the control device 150 of the tray unit 16, and the control device 150 calculates the position of the shuttle 103 by determining the amount and direction of movement of the shuttle 103 based on the detected values ​​of the encoders 196 and 198. Furthermore, since the shuttle 103 and slot 180 face each other when the pallet 86 placed on the shuttle 103 is stored in the slot 180, the slot 180 in which the pallet 86 is stored can be identified based on the movement position of the shuttle 103. For this reason, when the control device 150 calculates the movement position of the shuttle 103, it identifies the slot in which the pallet 86 is stored (hereinafter referred to as the "storage slot") based on the movement position of the shuttle 103.

[0047] When the control device 140 acquires the identification information of the pallet 86, it outputs the identification information of the pallet 86 to the control device 150. The control device 150 then stores in memory 148 storage position information that associates the identification information of the pallet 86 output from the control device 140 with the storage slot identified based on the movement position of the shuttle 103. Since the storage slot is the slot in which the pallet is stored, the storage slot also indicates whether or not the pallet 86 is stored in slot 180. Therefore, the storage position information can also be described as information that associates the identification information of the pallet 86 with information indicating whether or not the pallet 86 is stored in slot 180. Furthermore, as explained earlier, the memory 148 of the control device 150 stores pallet component information that associates the identification information of the pallet 86 with the identification information of the electronic component 92. Therefore, the control device 150 extracts the identification information of the same pallet 86 from the storage position information and the pallet component information. The control device 150 then stores in the memory 148 component position information that associates the storage slot of the storage position information, which includes the identification information of the extracted identical pallet 86, with the identification information of the electronic component 92 of the pallet component information, which also includes the identification information of the extracted identical pallet 86. This links the position (storage slot) where the pallet 86 is stored in the tray unit 16 with the identification information of the electronic component 92 stored in the tray 88 of that pallet 86, enabling the tray unit 16 to appropriately supply the electronic component to be supplied.

[0048] Further, in the above description, the barcode 182 of the pallet 86 is read by the code reader 190 when the pallet 86 is stored from the shuttle 103 into the slot 180. However, the barcode 182 of the pallet 86 already stored in the slot 180 may be read by the code reader 190. Specifically, for example, in a state where the pallets 86 are stored in a plurality of slots 180, a cover (see FIG. 3) 200 covering the unit main body 70 of the tray unit 16 may be removed for maintenance or the like. In such a case, an operator may take out the pallet 86 from the slot 180 for some reason. When the operator takes out the pallet 86 from the slot 180 as described above, the storage position information stored in the control device 150 differs from the position of the pallet 86 actually stored in the unit main body 70, which makes it impossible to properly supply electronic components in the tray unit 16. Therefore, for example, when the cover 200 of the unit main body 70 is removed for maintenance or the like, the barcode 182 of the pallet 86 already stored in the slot 180 is read by the code reader 190.

[0049] Specifically, for example, the shuttle 103 is moved to a position opposite the uppermost slot 180 of the first storage shelf 76a, and the barcode 182 of the pallet 86 stored in that slot 180 is read by the code reader 190. At this time, the storage slot is calculated based on the detected values ​​of encoders 196 and 198, and storage position information associating the identification information of the pallet 86 with the storage slot is stored in the memory 148. Next, the shuttle 103 is lowered to a position opposite the second slot 180 from the top of the first storage shelf 76a, and the barcode 182 of the pallet 86 stored in that slot 180 is read by the code reader 190. At this time, the storage slot is calculated based on the detected values ​​of encoders 196 and 198, and storage position information associating the identification information of the pallet 86 with the storage slot is stored in the memory 148. In this way, the shuttle 103 is lowered sequentially from the top of the first storage shelf 76a downwards to a position opposite the slot 180, and the barcode 182 of the pallet 86 stored in the slot 180 is read by the code reader 190, and the storage slot is calculated based on the detected values ​​of the encoders 196 and 198. Next, the shuttle 103 is lowered sequentially from the top of the second storage shelf 76b downwards to a position opposite the slot 180, and the barcode 182 of the pallet 86 stored in the slot 180 is read by the code reader 190, and the storage slot is calculated based on the detected values ​​of the encoders 196 and 198. As a result, the storage position information of all pallets 86 housed in the unit body 70 is stored in the memory 148. In this way, when the cover 200 of the unit body 70 is removed for maintenance or the like, the barcode 182 of the pallet 86 already stored in the slot 180 is read by the code reader 190, and the storage position information of all pallets 86 housed in the unit body 70 is updated.

[0050] As mentioned above, when the code reader 190 attempts to read the barcode 182, the code reader 190 may be unable to read the barcode 182 due to dirt, damage, etc. On the other hand, if the pallet 86 is not stored in the slot 180, the code reader 190 cannot read the barcode 182 on the pallet 86. For this reason, the shuttle 103 is equipped with a detection sensor 210, as shown in Figure 8. The detection sensor 210 is a non-contact sensor capable of detecting the presence or absence of an object in the detection direction. The detection sensor 210 has an optical axis that is tilted downward from each of the slots 180 of the first storage shelf 76a, the second storage shelf 76b, and the lifting magazine 82, and is positioned to face diagonally upward relative to the slot 180. Therefore, when the shuttle 103 moves to a position facing one of the slots 180, the detection sensor 210 will have its tip facing that one of the slots 180. In other words, when the holder 112 installed on the shuttle 103 is at a height where the pallet 86 is stored in the slot 180, its tip is pointed towards the slot 180. The detection sensor 210 emits light from its tip, and when the pallet 86 is stored in the slot 180, the emitted light is reflected by the pallet 86, and the detection sensor 210 receives the reflected light. In this case, the detection sensor 210 detects that the pallet 86 is stored in the slot 180. On the other hand, when the pallet 86 is stored in the slot 180, the light emitted by the detection sensor 210 is not reflected by the pallet 86, and therefore the detection sensor 210 does not receive the reflected light. In this case, the detection sensor 210 detects that the pallet 86 is not stored in the slot 180. In this way, the detection sensor 210 detects whether or not the pallet 86 is stored in the slot 180.

[0051] Therefore, when the code reader 190 attempts to read the barcode 182, the detection sensor 210 detects whether or not a pallet 86 is stored in the slot 180. If the detection sensor 210 detects that a pallet 86 is stored in the slot 180, but the code reader 190 is unable to read the barcode 182, error information indicating that the barcode 182 could not be read is stored as storage location information. On the other hand, if the detection sensor 210 detects that a pallet 86 is not stored in the slot 180, information indicating that a pallet is not stored is stored as storage location information.

[0052] Furthermore, as shown in Figure 17, the encoders 196 and 198 of the electromagnetic motors 104 and 105, which are used to identify the movement position of the shuttle 103, i.e., the storage slot, are connected to the control device 150, and the code reader 190, which reads the barcode 182 on the pallet, is connected to the control device 140. However, the control devices 140 and 150 cannot be synchronously controlled. Therefore, when the shuttle 103 is lowered downwards from the upper end of the first storage shelf 76a or the second storage shelf 76b, the descent of the shuttle 103 stops each time the shuttle 103 comes into contact with a slot 180, and the code reader 190 performs the reading operation.

[0053] Specifically, for example, when the shuttle 103 is descending, the control device 150 detects the movement position of the shuttle 103 based on the detected values ​​of the encoders 196 and 198. When the control device 150 detects that the movement position of the shuttle 103 is opposite to slot 180, it stops the descent of the shuttle 103. At this time, the code reader 190 reads the barcode 182 of the pallet 86 stored in that slot 180, and the control device 140 obtains the identification information of the pallet 86. The control device 140 then outputs the identification information of the pallet 86 to the control device 150, so that the control device 150 stores the storage position information that associates the identification information of the pallet 86 with the storage slot. Subsequently, the control device 150 lowers the shuttle 103 again, and when it detects that the movement position of the shuttle 103 is opposite to the next slot 180, it stops the descent of the shuttle 103. At this point, the code reader 190 reads the barcode 182 of the pallet 86 stored in the next slot 180, and the control device 140 obtains the identification information of the pallet 86. The control device 140 then outputs the identification information of the pallet 86 to the control device 150, which stores the storage position information associating the identification information of the pallet 86 with the storage slot. Thus, when lowering the shuttle 103, the descent of the shuttle 103 stops each time the shuttle 103 comes into contact with a slot 180, and the storage position information is stored, which required a long working time.

[0054] In light of this, a detection sensor 210 for detecting whether or not a pallet 86 is stored in slot 180 is connected to control device 140 and control device 150, respectively, as shown in Figure 18. Then, control device 140 acquires identification information of the pallet 86 based on the detection value from the detection sensor 210, and control device 150 determines the movement position of the shuttle 103 based on the detection value from the detection sensor 210. Specifically, as shown in Figure 19, when the detection sensor 210 detects that a pallet 86 is stored in slot 180 (S10), it outputs information indicating that a pallet 86 is stored in slot 180 (hereinafter referred to as "pallet detection information") to control device 140 and control device 150 (S12, S14). Then, when control device 150 receives the pallet detection information, it identifies the storage slot based on the encoders 196, 198 of the electromagnetic motors 104, 105 (S16). Furthermore, when the control device 140 receives pallet detection information, it reads the barcode 182 of the pallet 86 with the code reader 190 and obtains identification information for the pallet 86 (S18).

[0055] In this way, the control device 140 acquires identification information of the pallet 86 based on the detection value of the detection sensor 210, and the control device 150 identifies the storage slot based on the detection value of the detection sensor 210, making it possible to create storage position information without stopping the shuttle 103 as it descends. Specifically, when the shuttle 103 descends without stopping due to the operation of the electromagnetic motors 104 and 105 of the moving device 100, the encoder values ​​of the encoders of the electromagnetic motors 104 and 105 decrease proportionally with the passage of time T, as shown in Figure 20. At this time, the shuttle 103 descends via slots 1, 2, 3 and 4. Pallet A is stored in slot 1, pallet B is stored in slot 3, and pallet C is stored in slot 4. Also, no pallet is stored in slot 2.

[0056] Based on these conditions, when the shuttle 103 descends due to the operation of the electromagnetic motors 104 and 105, the detection sensor 210 detects that pallet 86 is stored in slot 1 between times T1 and T2, and outputs pallet detection information to the control devices 140 and 150. As a result, the control device 140 reads the barcode 182 of pallet 86 with the code reader 190 between times T1 and T2 to obtain identification information for pallet A. The control device 150 also identifies that the storage slot is slot 1 based on the encoder values ​​of encoders 196 and 198 between times T1 and T2. During this time, the shuttle 103 continues to descend without stopping.

[0057] Next, as the shuttle 103 descends further due to the operation of the electromagnetic motors 104 and 105, between time T3 and T4, the detection sensor 210 detects that pallet 86 is stored in slot 3 and outputs pallet detection information to the control devices 140 and 150. As a result, between time T3 and T4, the control device 140 reads the barcode 182 of pallet 86 with the code reader 190 and obtains identification information for pallet B. Also, between time T3 and T4, the control device 150 identifies that the storage slot is slot 3 based on the encoder values ​​of encoders 196 and 198. During this time as well, the shuttle 103 continues to descend without stopping. Note that since pallet 86 is not stored in slot 2, the detection sensor 210 does not detect pallet 86 when the shuttle 103 is descending to a position opposite slot 2. For this reason, the detection sensor 210 does not output pallet detection information, the control device 150 does not identify the storage slot, and the control device 140 does not obtain identification information for pallet 86.

[0058] Furthermore, as the shuttle 103 descends due to the operation of the electromagnetic motors 104 and 105, the detection sensor 210 detects that a pallet 86 is stored in slot 4 between times T5 and T6, and outputs pallet detection information to the control devices 140 and 150. As a result, the control device 140 reads the barcode 182 of the pallet 86 with the code reader 190 between times T5 and T6 to obtain identification information for pallet C. Also, the control device 150 identifies that the storage slot is slot 4 based on the encoder values ​​of encoders 196 and 198 between times T5 and T6. Even during this time, the shuttle 103 continues to descend without stopping.

[0059] Thus, when the control device 140 acquires identification information for pallet 86, as shown in Figure 21, pallet A is acquired as the first identification information, pallet B as the second identification information, and pallet C as the third identification information. On the other hand, when the control device 150 identifies the storage slots, slot 1 is identified as the first storage slot, slot 3 is acquired as the second storage slot, and slot 4 is acquired as the third storage slot. When the control device 140 outputs the identification information for pallet 86 to the control device 150, the control device 150 associates the storage slots with the identification information for pallet 86 in the order and creates storage position information. In other words, the control device 150 associates the first storage slot (slot 1) with the first identification information (pallet A) to create the first storage position information (slot 1: pallet A). The control device 150 also associates the second storage slot (slot 3) with the second identification information (pallet B) to create the second storage position information (slot 3: pallet B). Furthermore, the control device 150 associates the third storage slot (slot 4) with the third identification information (pallet C) to create the third storage position information (slot 4:pallet C). Then, the control device 150 stores all the storage position information in the memory 148.

[0060] In this way, the control device 140 acquires identification information of the pallet 86 based on the detection value of the detection sensor 210, and the control device 150 identifies the storage slot based on the detection value of the detection sensor 210, making it possible to create storage position information without stopping the shuttle 103 as it descends. This makes it possible to reduce the time required to create the storage position information.

[0061] Furthermore, in the control device 150, as described above, once storage location information is created, component location information is created based on the pallet component information stored in the memory 148. Specifically, pallet component information associating pallet A with component A, pallet component information associating pallet B with component B, and pallet component information associating pallet C with component C are stored in the memory 148. The control device 150 then extracts identification information for the same pallet 86 from the storage location information and the pallet component information. At this time, the control device 150 extracts pallet A as identification information for the same pallet 86. The control device 150 then stores component location information (slot 1: component A) in the memory 148 as component location information, associating the storage slot (slot 1) of the storage location information containing the identification information of pallet A with the identification information of electronic component 92 (component A) of the pallet component information containing the identification information of pallet A. The control device 150 also extracts pallet B as identification information for the same pallet 86. The control device 150 then stores component position information (slot 3: component B) in the memory 148 as component position information, which associates the storage slot (slot 3) of the storage position information containing the identification information of pallet B with the identification information of electronic component 92 (component B) of the pallet component information containing the identification information of pallet B. The control device 150 also extracts pallet C as the identification information of the same pallet 86. The control device 150 then stores component position information (slot 4: component C) in the memory 148 as component position information, which associates the storage slot (slot 4) of the storage position information containing the identification information of pallet C with the identification information of electronic component 92 (component C) of the pallet component information containing the identification information of pallet C.

[0062] In the above embodiment, the electronic component mounting system 10 is an example of a work system. The work unit 14 is an example of a mounting machine. The tray unit 16 is an example of a tray unit. The storage shelf 76 is an example of a second magazine. The exchange shuttle 78 is an example of a pallet transfer device. The lifting magazine 82 is an example of a first magazine. The pallet 86 is an example of a pallet. The tray 88 is an example of a tray. The electronic component 92 is an example of a component. The moving device 100 is an example of a moving device. The exchange device 101 is an example of an insertion / removal device. The holder 112 is an example of a gripping mechanism. The claw 115 is an example of a gripping claw. The air cylinder 116 is an example of an opening / closing mechanism. The notch 117 is an example of a notch. The control device 140 is an example of a second control device. The control device 150 is an example of a first control device. The slot 180 is an example of a slot. Barcode 182 is an example of identification information. Code reader 190 is an example of a reading device. Encoders 196 and 198 are examples of encoders. Detection sensor 210 is an example of a pallet detection mechanism.

[0063] In the embodiment described above, the following effects are achieved.

[0064] In the tray unit 16, a tray 88 containing electronic components 92 is placed on a pallet 86, and the pallets 86 are stored in multiple slots 180 of the storage shelf 76 and the lifting magazine 82. A replacement device 101 is also mounted on the shuttle 103, and the replacement device 101 inserts and removes the pallets 86 from each of the multiple slots 180. A code reader 190 that reads the barcode 182 of the pallets 86 being inserted and removed from each of the multiple slots 180, and a detection sensor 210 that detects whether or not a pallet 86 is stored in each of the multiple slots 180 are also mounted on the shuttle 103. The moving device 100 moves the shuttle 103, thereby moving the code reader 190, the replacement device 101, and the detection sensor 210 together. This allows the barcode 182 of all pallets 86 stored in the tray unit 16 to be read by the code reader 190, and enables detection of whether or not a pallet 86 is stored in any of the multiple slots 180 of the tray unit 16.

[0065] Furthermore, the code reader 190 is positioned at an inclined angle from below the pallet 86, and reads the barcode 182 of the pallet 86 at a height at which the replacement device 101 can replace the pallet 86. This allows the identification information of the pallet 86 to be read when replacing the pallet 86.

[0066] Furthermore, the detection sensor 210 is a non-contact sensor capable of detecting the presence or absence of an object in the detection direction, and detects the presence or absence of the pallet 86 when the replacement device 101 and the slot 180 face each other. This allows for the proper detection of the presence or absence of a pallet.

[0067] Furthermore, the code reader 190 has an optical axis at an angle inclined from below the pallet, and reads the pallet identification information at a height at which the replacement device 101 can replace the pallet. Similarly, the detection sensor 210 has an optical axis at an angle inclined from below the pallet, and detects the presence or absence of the pallet at a height at which the replacement device 101 can replace the pallet. This allows the detection of the presence or absence of the pallet by the detection sensor 210 to occur at the same time as the reading operation by the code reader 190.

[0068] Furthermore, the tray unit 16 includes a lifting magazine 82 that is vertically movable within the tray unit, a storage shelf 76 that is fixedly installed within the tray unit, and a transfer shuttle 78 that transfers pallets to the respective slots of the lifting magazine 82 and the storage shelf 76. The transfer shuttle 78 includes a transfer device 101, a code reader 190, and a detection sensor 210. This makes it possible to appropriately read the identification information of the pallets 86 stored in each slot in a tray unit that has a fixedly installed storage shelf 76 and a vertically movable lifting magazine 82.

[0069] Furthermore, encoders 196 and 198 are provided on the electromagnetic motors 104 and 105 of the moving device 100, and encoders 196 and 198 detect the movement position of the shuttle 103, that is, the movement position of the code reader 190 provided on the shuttle 103. Also, when the detection sensor 210 detects that a pallet 86 is stored in one of the multiple slots 180, encoders 196 and 198 detect the movement position of the code reader 190. This identifies the position (storage slot) of the slot 180 in which the pallet 86 read by the code reader 190 is stored. Also, when the detection sensor 210 detects that a pallet 86 is stored in one of the multiple slots 180, the code reader 190 reads the code reader 190 of the pallet 86 stored in the shelf 1, thereby obtaining identification information of the pallet 86 stored in the shelf 1. The identified storage slot and the acquired identification information of the pallet 86 are then associated and stored in the memory 148. This allows the storage slot and the identification information of the pallet 86 stored in that storage slot to be stored in an appropriate association.

[0070] Furthermore, the control device 140 acquires identification information of the pallet 86 based on the barcode 182 read by the code reader 190. The control device 150 calculates the movement position of the shuttle 103, that is, the movement position of the code reader 190 mounted on the shuttle 103, based on the encoder values ​​of the encoders 196 and 198 of the electromagnetic motors 104 and 105. This identifies the position of the slot 180 (storage slot) in which the pallet 86 read by the code reader 190 is stored. The identification information of the pallet 86 acquired by the control device 140 and the storage slot identified by the control device 150 are then associated and stored in the memory 148. This allows the control device 140 and the control device 150 to appropriately acquire various information.

[0071] Furthermore, the control device 140 acquires the location (storage slot) of the slot 180 in which the pallet 86, read by the code reader 190 from the control device 150, is stored, and associates the identification information of the pallet 86 with the storage slot and stores it in the memory 148. This allows the information acquired by the control device 140 and the control device 150 to be stored in an appropriate association.

[0072] Furthermore, the work unit 14 has a control device 140, and the tray unit 16 has a control device 150. This allows the tray unit 16, which houses the pallets 86, to appropriately move the replacement device 101, which replaces the pallets 86, based on the detected values ​​of the encoders 196 and 198. In addition, the work unit 14, which performs the parts mounting work, can appropriately manage the storage position information, which associates the identification information of the pallets 86 with the storage slots.

[0073] Furthermore, information linking the storage slot and the identification information of the pallet 86 is stored in memory 148 as storage location information. Since the storage slot is the slot in which the pallet is stored, the storage slot also indicates whether or not the pallet 86 is stored in slot 180. For this reason, information linking the identification information of the pallet 86 and information indicating whether or not the pallet 86 is stored in slot 180 is stored in memory 148 as storage location information. This makes it possible to appropriately manage whether or not the pallet 86 is stored in slot 180.

[0074] It should be noted that the present invention is not limited to the above embodiments, and can be implemented in various forms with various modifications and improvements based on the knowledge of those skilled in the art. Specifically, for example, in the above embodiment, whether or not a pallet 86 is stored in the slot 180 is determined using a detection sensor 210, but whether or not a pallet 86 is stored in the slot 180 may be determined based on the operating state of the holder 112. Specifically, as shown in Figure 10, the holder 112 has a pair of claws 115, and the pair of claws 115 that have entered between a pair of first blocks 96 of the pallet 86 engage with the notches 117 of the pair of first blocks 96 by separating. As a result, the pallet 86 is held by the holder 112 in the pair of first blocks 96. The distance between the tips of the pair of claws 115 when the pair of claws 115 engage with the notches 117 of the pair of first blocks 96 is L2. Furthermore, when the pair of claws 115 are separated as far apart as possible by the air cylinder 116, the distance between the tips of the pair of claws 115 is L3, as shown in Figure 11. Therefore, when a pallet 86 is stored in the slot 180 and the holder 112 holds the pallet 86 stored in the slot 180, the distance between the tips of the pair of claws 115 is L2. On the other hand, when the pair of claws 115 are separated when the pallet 86 is not stored in the slot 180, the separation of the pair of claws 115 is not restricted, so the pair of claws 115 are separated as far apart as possible, and the distance between the tips of the pair of claws 115 is L3. Therefore, when the pair of claws 115 are separated in the slot 180 and the holder 112 holds the pallet 86, if the distance between the tips of the pair of claws 115 is L2, it is determined that a pallet 86 is stored in the slot 180. On the other hand, when the pair of claws 115 are separated in the slot 180 and the holder 112 is used to hold the pallet 86, if the distance between the tips of the pair of claws 115 is L3, it is determined that the pallet 86 is not stored in the slot 180. Thus, whether or not the pallet 86 is stored in the slot 180 may be determined based on the distance between the tips of the pair of claws 115, that is, the position of the claws 115.

[0075] Furthermore, in the above embodiment, the pallet 86 is gripped by a pair of claws 115 and inserted into and removed from the slot 180. However, the pallet 86 may also be hooked onto claws supporting the pallet 86 from above or below and inserted into and removed from the slot 180. In such a case, it may be determined that the pallet 86 is stored in the slot 180 when the claws stop at a predetermined position, and that the pallet 86 is not stored in the slot 180 when the claws do not stop at a predetermined position.

[0076] Furthermore, in the above embodiment, a chuck that holds the pallet 86 with a pair of claws 115 is used as a holder for holding the pallet 86, but a suction nozzle that holds by air suction may also be used. When a suction nozzle is used as a holder for holding the pallet 86, if the pallet 86 is stored in the slot 180, negative pressure is supplied to the suction nozzle, causing the suction nozzle to suction and hold the pallet 86, so the negative pressure supplied to the suction nozzle does not decrease significantly. On the other hand, if the pallet 86 is not stored in the slot 180 and negative pressure is supplied to the suction nozzle, the suction nozzle cannot suction and hold the pallet 86, so the negative pressure supplied to the suction nozzle decreases rapidly. Therefore, it is possible to determine whether or not the pallet 86 is stored in the slot 180 based on the state of the negative pressure supplied to the suction nozzle.

[0077] In the above embodiment, the code reader 190 is connected to the control device 140, and the electromagnetic motors 104 and 105 of the mobile device 100 are connected to the control device 150. Alternatively, the code reader 190 and the electromagnetic motors 104 and 105 of the mobile device 100 may be connected to the control device 150. In such a case, the control device 150 may create storage position information and output the created storage position information to the control device 140.

[0078] Furthermore, in the above embodiment, a code reader 190 is used as a reading device to read the identification information of the pallet 86, but an RFID reader may also be used. If an RFID reader is used, an RFID tag can be attached to the pallet 86, and the information on the RFID tag can be read by the RFID reader.

[0079] 10: Electronic component mounting system (work system) 14: Work unit (mounting machine) 16: Tray unit 76: Storage shelf (second magazine) 78: Replacement shuttle (pallet transfer device) 82: Lifting magazine (first magazine) 86: Pallet 88: Tray 92: Electronic component (component) 100: Moving device 101: Replacement device (insertion / removal device) 112: Holder (gripping mechanism) 115: Claw (gripping claw) 116: Air cylinder (opening / closing mechanism) 117: Notch 140: Control device (second control device) 150: Control device (first control device) 180: Slot 182: Barcode (identification information) 190: Code reader (reading device) 196: Encoder 198: Encoder 210: Detection sensor (pallet detection mechanism)

Claims

1. A tray unit comprising: a magazine having a plurality of slots for storing pallets on which trays containing parts are placed; an insertion / removal device for inserting and removing pallets into each of the plurality of slots; a reading device for reading identification information of pallets to be inserted into or removed from each of the plurality of slots; a pallet detection mechanism for detecting whether or not a pallet is stored in each of the plurality of slots; and a moving device for moving the insertion / removal device, the reading device, and the pallet detection mechanism together.

2. The tray unit according to claim 1, wherein the reading device is positioned at an inclined angle from below the pallet, and the insertion / removal device reads the identification information of the pallet at a height from which the pallet can be inserted or removed.

3. The tray unit according to claim 1, wherein the pallet detection mechanism is a sensor capable of detecting the presence or absence of an object in the detection direction without contact, and detects the presence or absence of a pallet when the insertion / removal device and the slot face each other.

4. The tray unit according to claim 3, wherein the pallet detection mechanism and the reading device are arranged such that their optical axes are directed at an inclined angle from below the pallet, the pallet detection mechanism detects the presence or absence of a pallet at a height at which the insertion / removal device can insert or remove the pallet, and the reading device reads the identification information of the pallet.

5. The tray unit according to claim 1, wherein the insertion / removal device comprises a gripping mechanism for gripping a pallet, and the pallet detection mechanism detects the presence or absence of a pallet based on the gripping of the pallet by the gripping mechanism.

6. The tray unit according to claim 5, wherein a pair of V-shaped notches are provided on the pallet opposite each other, the insertion / removal device has a pair of gripping claws corresponding to the pair of notches, and an opening / closing mechanism that can open and close the pair of gripping claws in the direction in which the pair of notches face each other, and the pallet detection mechanism detects the presence or absence of a pallet based on the position moved by the pair of gripping claws when the pair of gripping claws are opened and closed while gripping the pallet.

7. The tray unit according to claim 1, comprising a first magazine movably disposed inside the tray unit, a second magazine fixedly disposed inside the tray unit, and a pallet transfer device for transferring pallets to the respective slots of the first magazine and the second magazine, wherein the pallet transfer device comprises an insertion / removal device, a reading device, and a pallet detection mechanism.

8. A work system comprising: a tray unit according to any one of claims 1 to 7; and a mounting machine for mounting components supplied by the tray unit onto a substrate, wherein the tray unit has an encoder for detecting the movement position of the reading device by the moving device, and when the pallet detection mechanism detects that a pallet is stored in one of the plurality of slots, the encoder detects the movement position of the reading device and the reading device reads the identification information of the pallet stored in the first slot, thereby associating and storing the movement position of the reading device detected by the encoder with the identification information of the pallet read by the reading device.

9. The work system according to claim 8, comprising: a first control device that acquires the movement position of the reading device detected by the encoder; and a second control device that acquires identification information of a pallet read by the reading device, wherein the movement position of the reading device acquired by the first control device and the identification information of a pallet acquired by the second control device are stored in association with each other.

10. The work system according to claim 9, wherein the second control device obtains the movement position of the reading device from the first control device and stores the movement position of the reading device in association with the identification information of the pallet.

11. The work system according to claim 10, wherein the tray unit has the first control device and the mounting machine has the second control device.

12. A mounting machine in which a tray unit according to any one of claims 1 to 7 is detachably attached, and components supplied by the tray unit are mounted on a substrate, wherein the mounting machine associates and stores the movement position of the reading device detected by an encoder disposed on the moving device of the tray unit with the identification information of the pallet stored in the 1 slot read by the reading device at the timing when the pallet detection mechanism detects that a pallet is stored in one of the plurality of slots.

13. A mounting machine comprising: a magazine having a plurality of slots for storing pallets on which trays containing parts are placed; an insertion / removal device for inserting and removing pallets from each of the plurality of slots; a reading device for reading identification information of pallets to be inserted or removed from each of the plurality of slots; a pallet detection mechanism for detecting whether or not a pallet is stored in each of the plurality of slots; and a moving device for moving the insertion / removal device, the reading device, and the pallet detection mechanism together, wherein the mounting machine stores the presence or absence of a pallet detected by the pallet detection mechanism in association with the identification information of the pallet read by the reading device.

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