Conveyance system and work apparatus

Abstract

A conveyance system according to the present disclosure includes: a work apparatus that is used in a mounting system including a mounting-related apparatus for executing a mounting process for disposing a component in a target, and that performs a prescribed work on the mounting-related apparatus; and a conveyance carriage that moves the work apparatus. The conveyance system comprises a support unit that oscillatably supports the work apparatus on the conveyance carriage so as to correct the angle of the work apparatus along the horizontal direction. Thus, a space for causing the work apparatus to face the mounting-related apparatus is not required, resulting in realization of space saving. Accordingly, the mounting-related apparatus and the work apparatus on the conveyance carriage are allowed to face each other without human intervention, thereby contributing to realization of a smart factory.

Description

Conveying system and working device

[0001] The present specification discloses a conveying system and a working device.

[0002] Conventionally, as a conveying system used in a mounting system, there has been proposed one that includes a carriage body having a loading platform for placing a conveyed object and wheels, a connecting portion that positions the carriage body in the left-right direction when an automated guided vehicle enters the lower side thereof and allows posture change, and a bumper portion that abuts against a reference surface and makes the carriage body face the reference surface correctly, and is connected to the automated guided vehicle (see, for example, Patent Document 1). This conveying system can manage the position and posture when stopping with high accuracy.

[0003] International Publication No. 2023 / 037498

[0004] However, although the conveying system of the aforementioned Patent Document 1 can manage the position and posture when stopping with high accuracy, for example, when movement is allowed between the carriage and the automated guided vehicle to make the carriage face the reference surface correctly, it is difficult for the carriage to move finely in the lateral direction, so further improvement has been required.

[0005] The present disclosure has been made in view of such problems, and a main object thereof is to provide a conveying system and a working device that can more easily make the working device on a conveying carriage face a mounting-related device correctly.

[0006] The conveying system and working device disclosed in the present specification employ the following means to achieve the above-mentioned main object.

[0007] The conveying system of the present disclosure is a conveying system used in a mounting system including a mounting-related device that executes mounting processing for arranging components on an object, the conveying system comprising: a working device that performs predetermined work on the mounting-related device; and a conveying carriage that moves the working device, wherein the conveying system comprises: a support portion that swingably supports the working device on the conveying carriage so as to correct the angle of the working device along the horizontal direction.

[0008] In this transport system, the work device is swung by a support unit to align the work device, rather than the transport trolley, directly with the mounting-related equipment. This transport system makes it easier to align the work device on the transport trolley with the mounting-related equipment by correcting the angle of the work device during this alignment process. This eliminates the need for space required for the work device's alignment, resulting in space savings. Furthermore, this contributes to the realization of a smart factory.

[0009] A schematic diagram showing an example of the mounting system 10 and mounting device 15. An explanatory diagram showing an example of the transport system 50 and storage device 14. An explanatory diagram showing an example of the configuration of the transport system 50. An explanatory diagram showing an example of the configuration of the work device 61 and trolley section 80. An explanatory diagram showing an example of the configuration of the contact release section 70 of the work device 61. An explanatory diagram showing an example of the contact release section 70 and the swivel section 83. An explanatory diagram showing an example of the coupling execution section 56 of the automated guided vehicle 51 and transport trolley. A flowchart showing an example of the storage magazine transport processing routine. A side view showing an example of the operation in which the transport system 50 contacts the storage device 14. An explanatory diagram showing an example of the operation in which the transport system 50 contacts the storage device 14. An explanatory diagram showing an example of another regulating member 72B and guide member 86B. An explanatory diagram showing an example of another swivel member 68B and engaging member 84B. An explanatory diagram showing an example of another support member 67B and receiving member 85B.

[0010] This embodiment will be described below with reference to the drawings. Figure 1 is a schematic diagram showing an example of an assembly system 10 and an assembly device 15. Figure 2 is a diagram showing an example of a transport system 50 and a storage device 14. Figure 3 is a diagram showing an example of a schematic configuration of the transport system 50. Figure 4 is a diagram showing an example of a schematic configuration of a work device 61 and a trolley unit 80, where Figure 4A is an explanatory diagram of the work device 61 and Figure 4B is an explanatory diagram of the trolley unit 80. Figure 5 is a diagram showing an example of a schematic configuration of the contact release unit 70 of the work device 61, where Figure 5A is an explanatory diagram of the contact release unit 70 in the swing restriction position and Figure 5B is an explanatory diagram of the contact release unit 70 in the restriction release position. Figure 6 is a diagram showing an example of a contact release unit 70 and a swivel unit 83, where Figure 6A is an explanatory diagram of the swing restriction position and Figure 6B is an explanatory diagram of the restriction release position. Figure 7 is a diagram showing an example of a coupling execution unit 56 of an automated guided vehicle 51 and a transport trolley. In this embodiment, the left-right direction (X-axis), front-back direction (Y-axis), and up-down direction (Z-axis) are as shown in Figures 1 to 7. Note that the front and back of each device in the mounting system 10 and the front and back of the transport system 50 are opposite to each other, as they face each other.

[0011] The mounting system 10 includes a printing device 11, a printing inspection device 12, a transport system 50 as a moving system, a storage device 14, a management device 13, a mounting device 15, a mounting inspection device 16, a loader 18, a reflow device (not shown), and a control device 19. The mounting system 10 is configured as a production line in which, for example, a mounting device 15 for mounting components P onto a substrate S (the target object) is arranged downstream of the printing device 11 in the transport direction of the substrate S. In the mounting system 10, mounting-related devices related to the mounting process include, for example, the printing device 11, a transport device for transporting the substrate S, a printing inspection device 12, a management device 13, a storage device 14, a mounting device 15, a mounting inspection device 16, a loader 18, a reflow device, a control device 19, and a transport system 50. Examples of mounting-related components include components P and substrates S, as well as a magazine containing the substrate S, a support member for supporting the substrate S, a feeder F as a supply device for supplying components P, a reel that holds components P and is attached to the feeder F, a tray on which components P are placed, a sampling member for collecting components P and a station containing it, and a mounting head on which the sampling member is attached. Furthermore, mounting-related components also include printing-related components used by the printing apparatus 11. Examples of these printing-related components include a screen mask used in the printing process, a support member for supporting the substrate S, a cartridge containing a viscous fluid, and a cartridge containing a cleaning member for cleaning the screen mask.

[0012] The printing device 11 is a device that uses a squeegee to push solder on a screen mask into pattern holes formed in the screen mask, thereby applying (printing) the solder, which is a viscous fluid, onto a substrate S, which is an object below, through the pattern holes. Here, "object" can be, for example, a substrate S on which components P are mounted, or a three-dimensional base material. "Viscous fluid" can be solder paste, conductive paste, or adhesive. The printing inspection device 12 is a device that inspects the state of the viscous fluid, such as solder paste, printed on the substrate S by the printing device 11. The transport system 50 is a device that automatically transports mounting-related components between a preparation facility, such as a warehouse for mounting-related components, and the mounting system 10. The management device 13 is configured as a server that manages the mounting system 10. The management device 13 exchanges information with each device included in the mounting system 10 and manages the usage status of mounting-related components. The storage device 14 is a temporary storage location for the feeder F holding components P. The storage device 14 includes a storage magazine 30 as a storage system for storing the feeders F to be used, and a storage magazine 30 for collecting the feeders F after use. The mounting inspection device 16 is a device for inspecting the condition of the components P mounted on the substrate S. The loader 18 is configured as a mobile work device and moves left and right along the X-axis rail on the front side of the mounting device 15. The loader 18 is a device that automatically attaches, detaches, collects, and replenishes mounting-related components used in the mounting device 15, such as feeders F. The reflow device is a device that reflows the substrate S on which solder has been printed and components P have been placed. The control device 19 is a device that manages information of each device in the mounting system 10 via a network such as the Internet. The control device 19 exchanges information with one or more mounting systems 10 via a network and manages this information.

[0013] The mounting device 15 is a device that picks up components P and mounts them onto a substrate S. The mounting device 15 includes a control device 21, a substrate processing unit 22, a component supply unit 23, a mounting unit 24, a communication unit 27, an operation panel 28, and a mounting imaging unit. The control device 21 is configured as a microprocessor centered on a CPU as the control unit and controls the entire mounting device 15. The control device 21 exchanges signals with each unit and also exchanges information with external devices. The control device 21 has a storage unit that stores mounting job information, including the conditions for executing the mounting process, and mounting processing programs. The substrate processing unit 22 is a unit that loads, fixes, and unloads substrates S. A conveyor is provided in the substrate processing unit 22, and the substrates S are transported by this conveyor. The component supply unit 23 is a unit that supplies components P. The component supply unit 23 has multiple feeders F and a tray unit that contains components P, and is detachably attached to the front side of the mounting device 15. The feeder F is a device that feeds a tape holding components P to a collection position where the components will be collected by the collection member 26. The tray unit has a tray on which multiple components P are arranged and placed, and moves this tray in and out to a predetermined collection position. The mounting imaging unit is a unit that captures images of one or more components P that have been collected and held by the mounting head 25. The mounting unit 24 is a unit that collects components P from the component supply unit 23 and places them on a substrate S fixed to the substrate processing unit 22. The mounting unit 24 is equipped with a mounting head 25 to which the collection member 26 is attached. The mounting head 25 moves in the XY direction by a head movement unit. One or more collection members 26 are detachably attached to the lower surface of the mounting head 25, and multiple components P can be collected at once. The collection member 26 may be a suction nozzle that collects components using negative pressure, or a mechanical chuck that grips components P. The communication unit 27 is an interface for communication with external devices. The control panel 28 has the functions of an operation unit that receives input from the worker W and a notification unit that notifies the worker W of information.

[0014] The storage magazine 30 is configured as a storage unit capable of accommodating multiple feeders F. As shown in Figure 2, the storage magazine 30 has a storage section 31 and slots 32. The storage section 31 is a rectangular parallelepiped housing. Multiple slots 32 are provided along the left-right direction on the rear entrance edge of the storage section 31. The rail members of the feeders F are inserted into the slots 32, holding the feeders F in the correct position and orientation. When the storage magazine 30 is stored in the storage device 14, it is electrically connected to the control unit of the storage device 14 to exchange information. This storage magazine 30 has, for example, 30 slots 32 and is configured to accommodate up to 30 general feeders F corresponding to the number of slots. Using this storage magazine 30, a large number of feeders F can be moved together in a single movement by the transport system 50.

[0015] The storage device 14 is a storage area for temporarily storing the feeder F used in the mounting device 15 by housing the storage magazines 30. The storage device 14 is provided adjacent to the transport device between the printing inspection device 12 and the mounting device 15. As shown in Figure 2, the storage device 14 comprises a magazine storage section 34 and a management device 13, which are arranged side by side. As shown in Figure 2, the magazine storage section 34 is capable of storing two storage magazines 30. In addition, a plurality of transfer rollers 35 that move objects along the direction of the entrance and exit are pivotally supported on the bottom surface of the magazine storage section 34, and the storage magazines 30 are inserted and removed using these transfer rollers 35. A device guide section 36 is provided in the magazine storage section. The device guide section 36 is a component that has a predetermined clearance at the receiving position and positions the storage magazines 30 at the receiving position when the transported object is moved between the receiving position where the storage magazines 30 as transported objects of the transport system 50 are loaded and unloaded and the receiving position where the transported object is received and stored. The device guide section 36 has a shape that provides a large clearance in the width direction of the stored magazine 30 at the receiving position on the opening side, and a smaller clearance at the receiving position on the rear side of the magazine storage section 34. This predetermined clearance may be set to a width that can absorb the positional displacement that occurs when the transport system 50 moves at an angle and faces the magazine storage section 34, depending on the transport position accuracy of the transport system 50.

[0016] As shown in Figures 1 to 7, the transport system 50 automatically transports, for example, mounting-related components used in the mounting system 10, such as feeders F and screen masks, between the storage device 14, the printing device 11, and the preparation facility. The transport system 50 consists of an automated guided vehicle 51 and a transport trolley 60.

[0017] The automated guided vehicle (AGV) 51 is configured as, for example, an AGV (Automatic Guided Vehicle) or an AMR (Autonomous Mobile Robot). The AGV 51 moves in conjunction with a transport trolley 60. As shown in Figure 3, the AGV 51 includes a mounting unit 52, a power supply unit 53, a driving unit 54, and a control device (not shown). The mounting unit 52 is a mechanism for mounting and unmounting the coupling unit 55. The power supply unit 53 is a battery that supplies power to the entire transport system 50. Power supplied from this power supply unit 53 enables the driving of the driving unit 54, the control of the coupling unit 55, communication between the coupling unit 55 and the transport trolley 60, and the driving of the work devices 61 on the transport trolley 60. The driving unit 54 is the unit that drives the AGV 51 and includes drive wheels, driven wheels, and a drive motor. The drive motor drives the drive wheels and controls the direction of travel of the vehicle. The control device is a controller equipped with a control unit and a memory unit, and controls the entire system of the automated guided vehicle 51.

[0018] The coupling unit 55 is a unit that connects the automated guided vehicle 51 and the transport trolley 60. As shown in Figure 7, the coupling unit 55 is removably attached to the mounting part 52 of the automated guided vehicle 51. The coupling unit 55 may also be configured to be attached to the transport trolley 60 side. The coupling unit 55 comprises a coupling execution unit 56, a control unit 57, and a power communication unit 59. The coupling execution unit 56 is a unit that guides the coupling member 82, which is disposed on the underside of the work device 61 of the transport trolley 60, to a predetermined coupling position, and fixes and releases the coupling member 82 at the coupling position. The control unit 57 is a unit that includes an interface for controlling the entire transport system 50. The control unit 57 is disposed at the rear of the coupling unit 55. The control unit 57 has a control unit 58 with a memory unit and an operation panel. The control unit 58 is configured as a microprocessor centered on a CPU and is in charge of controlling the entire device. The memory unit stores information that controls the entire transport system 50, such as transport job information including information on mounting-related components to be transported to the storage device 14, and transport programs that execute transport processes. The operation panel informs the operator W of the status of the transport system 50 and includes a display unit for displaying information and an operation unit for receiving input from the operator W. The power communication unit 59 is a unit that supplies power to the transport trolley 60 and performs communication. The power communication unit 59 includes a power unit that exchanges power and a communication unit that exchanges signals, but these may be an integrated unit or separate units. Furthermore, the power communication unit 59 may be a wired unit with a connector, or a wireless unit without a physical connection, and a wireless unit is preferred for ease of maintenance.

[0019] The transport cart 60 transports mounting-related components related to the mounting process. The transport cart 60 does not have a self-propelled configuration and is connected to an automated guided vehicle 51. It receives power from the automated guided vehicle 51 via a power communication unit 59 and moves automatically as the automated guided vehicle moves. The transport cart 60 comprises a work device 61 and a cart section 80. The work device 61 is a device that performs predetermined work on mounting-related equipment. This work device 61 may, for example, be a loading device equipped with a loading section 62 that transfers the storage magazine 30 as the transported item and hands over the storage magazine 30 to the storage device 14. The work device 61 may also be equipped with a conveyor device as a loading device that moves the transported item between a loading position and an loading / unloading position. This work device 61 comprises a loading section 62, a support section 66, a contact release section 70, and a stopper section 75.

[0020] As shown in Figures 3 and 4, the loading section 62 comprises a transport roller 63, a drive unit 64, and a work guide member 65. The loading section 62 is a platform for loading the storage magazines 30. The transport roller 63 loads the transported items and transfers them to the storage device 14, which is the work target. The drive unit 64 is a drive motor that rotates the transport roller 63, and rotates the transport roller 63 via a drive belt stretched across the multiple transport rollers 63. As shown in Figure 4A, the work guide member 65 has a predetermined clearance at the loading / unloading position and is a member that positions the transported items at the placement position. This work guide member 65 is arranged on both sides in the width direction of the loading section 62. The predetermined clearance may be set to a width that can absorb the positional displacement that occurs when the transport system 50 moves diagonally and faces the magazine storage section 34, depending on the transport position accuracy of the transport system 50. This predetermined clearance may be a range along a direction perpendicular to the direction of movement T of the transport trolley 60, that is, along the width direction of the transport system 50. Alternatively, this predetermined clearance may be a range set to allow the transfer of transported objects based on the range of oscillation of the work device 61, or a range set to allow the transfer of transported objects based on the positional displacement of the transport trolley 60.

[0021] The support unit 66 is a unit that supports the work device 61 on the trolley unit 80 so that it can swing to correct its angle along the horizontal direction. As shown in Figure 5, the support unit 66 is composed of a support member 67 and a swivel member 68. The support member 67 is a member that supports the work device 61 so that it can swing. Multiple support members 67 may be arranged on the work device 61, more preferably three or more locations, but in this support unit 66, they are arranged at four locations at the four corners of the rectangular work device 61. This support unit 66 can support the work device 61 more stably. The support member 67 abuts against a receiving member 85 arranged on the trolley unit 80, and the receiving member 45 supports the work device 61 so that it can swing and move. The support member 67 is not particularly limited as long as it can swing the work device 61 and support the work device 61, but for example, it may be a ball caster. The support member 67 has a ball that is rotatably disposed at its lower part and contacts the receiving member 85. The ball of this ball caster contacts the receiving member 85. A guard member is detachably disposed on the side of the support member 67 to prevent 97 from coming off the receiving member 85 when the work device 61 swings. The swivel member 68 is a member that swings the work device 61 horizontally relative to the transport trolley 60, with the contact surface 78 that contacts the storage device 14 as the pivot axis. The swivel member 68 has an insertion hole 69 with an opening on its lower side. The swivel member 68 allows the work device 61 to swing horizontally when the engaging member 84 (see Figure 4B) disposed on the trolley 80 is inserted into the insertion hole 69.

[0022] The contact release unit 70 is a unit that restricts the swinging of the work device 61 and releases the restriction when it comes into contact with the storage device 14. As shown in Figures 3 and 5, the contact release unit 70 is composed of a bumper unit 71, a restricting member 72, an interlocking unit 73, and a biasing unit 74. The bumper unit 71 is disposed at the tip of the work device 61 and is a member that comes into contact with the storage device 14, which is a mounting-related device. The bumper unit 71 is exemplified as having a vertically elongated rectangular parallelepiped shape, but it is not limited to a rectangular parallelepiped shape as long as it has a shape that matches the contact area of ​​the storage device 14. The restricting member 72 is a member that restricts the swinging of the work device 61. In the contact release unit 70, this restricting member 72 moves between a swing restriction position (Figures 5A and 6A) and a restriction release position (Figures 5B and 6B) in conjunction with the bumper unit 71 coming into contact with the storage device 14. The restricting member 72 restricts the swinging of the work device 61 by fitting into a guide member 86 provided on the trolley section 80 (Figure 6A). The interlocking section 73 is a member that interlocks the bumper section 71, which is located on the front end side of the work device 61, with the restricting member 72, which is located on the rear end side of the work device 61. The interlocking section 73 has a structure in which longitudinal members extending in the front-rear direction of the work device 61 are arranged on the left and right. When the bumper section 71 is pushed and moves backward, the interlocking section 73 moves backward in conjunction with it. The biasing section 74 is a member that biases the bumper section 71 in the contact direction, i.e., forward, so that it comes into contact with the storage device 14. This biasing section 74 may be, for example, a compression spring. In the contact release section 70, the restricting member 72 is always biased by the biasing section 74 and positioned in the swing restricting position, and moves to the restriction release position when the bumper section 71 is pushed backward.

[0023] The stopper portion 75 is positioned on the contact surface 78 side where the work device 61 contacts the storage device 14, and is a member that contacts the storage device 14. The stopper portion 75 is a member that assists the work device 61 to face the storage device 14 when the transport system 50 is tilted relative to the forward direction and approaches the storage device 14. This stopper portion 75 is positioned at two locations on the left and right sides of the contact surface 78 and is biased to be expandable and contractible along the movement direction T (front-back direction) as the contact direction. As shown in Figure 3, this stopper portion 75 comprises a contact member 76 and a pressing portion 77. The contact member 76 is the part that contacts the storage device 14, and may be made of an elastic material such as rubber. The pressing portion 77 may be a pressing spring that presses the contact member 76 forward.

[0024] The trolley section 80 is a vehicle on which the work device 61 is mounted and which moves in connection with the automated guided vehicle 51. As shown in Figures 3 and 4B, the trolley section 80 has casters 81, a connecting member 82, and a swivel section 83. The trolley section 80 moves by supporting the work device 61 with the casters 81. The casters 81 are running wheels that do not have a drive unit. Four casters 81 are mounted on the trolley section 80. As shown in Figure 7, the trolley section 80 has a power communication unit 59, a power communication unit that provides power and communication, and a connecting member 82 mounted on its underside. The connecting member 82 is a member that connects the automated guided vehicle 51 and the transport trolley 60 by being fixed in the connection position by the connection execution unit 56. The connecting member 82 may be, for example, a columnar member. The connecting member 82 is mounted facing downwards on the underside of the trolley section 80.

[0025] The swivel section 83 is a unit for swinging the work device 61 and is composed of an engaging member 84, a receiving member 85, and a guide member 86. The engaging member 84 is configured as a pivot axis on the side that contacts the storage device 14 and is a member that engages with the swivel member 68 that swings the work device 61 horizontally relative to the transport trolley 60. As shown in Figure 4B, the engaging member 84 is located in the center of the front of the trolley section 80. The engaging member 84 is a columnar member that is inserted into an insertion hole 69, with its tip formed facing upward. The receiving member 85 is a plate-shaped member that receives the support member 67 on its upper surface. It is preferable that there are multiple receiving members 85, and they are located at the four corners corresponding to the positions where the support member 67 is located. The guide member 86 is a member that guides the regulating member 72 between the swing regulating position and the release position. As shown in Figure 6, the guide member 86 restricts the movement of the restricting member 72 along the X-axis, i.e., in the left-right direction, when in the swing-restricting position (Figure 6A). In addition, the guide member 86 has a width that allows the restricting member 72 to swing in the left-right direction when in the release position (Figure 6B). Thus, in the transport trolley 60, when the bumper portion 71 contacts the storage device 14 at the contact release portion 70 and the restricting member 72 moves backward, the restricting member 72 moves to a position where the guide member 86 has a swingable width, causing the work device 61 to swing with the engaging member 84 as the pivot axis. In particular, when the transport system 50 contacts the storage device 14 at an angle, the support portion 66 and the contact release portion 70 work together, causing one side to be pushed by the stopper portion 75 and the work device 61 to swing in a direction that faces the storage device 14 directly.

[0026] Next, the mounting process of the mounting apparatus 15 configured in this way will be described. When an execution command for production processing is input from the worker W, the control unit of the control device 21 starts the mounting process routine. When this routine starts, the control unit transports and fixes the substrate S using the substrate processing unit 22. Next, the control unit has the mounting head 25 pick up the components P to be picked up, which have been set based on the mounting job information, from the component supply unit 23 and place them on the substrate S. Once all the components P have been placed on the substrate S, the control unit has the substrate processing unit 22 unload the substrate S and repeats the above process until the next substrate S is gone. In the mounting apparatus 15, feeders F and support members are automatically replaced using a loader 18 based on each production of substrate S or when components run out. The transport system 50 moves the storage magazine 30, which contains mounting machine-related components including feeders F and support members, between the preparation facility and the storage device 14.

[0027] Next, the operation of the storage device 14 and the transport system 50, in particular the process by which the transport system 50 transports the storage magazine 30 and the storage device 14 receives the storage magazine 30, will be described. Figure 8 is a flowchart showing an example of a storage magazine transport processing routine executed by the control device 21 of the mounting device 15. Figure 9 is a side view showing an example of the operation in which the transport system 50 comes into contact with the storage device 14, with Figure 9A being an explanatory diagram before contact and Figure 9B being an explanatory diagram at the time of contact. Figure 10 is an explanatory diagram showing an example of the operation in which the transport system 50 comes into contact with the storage device 14, with Figure 10A being an explanatory diagram before contact and Figure 10B being an explanatory diagram at the time of contact. The storage magazine transport processing routine is stored in the memory unit of the control device 21 and executed at a predetermined timing, such as after the execution of the mounting process has started. As preparation work, worker W connects the unmanned transport vehicle 51 of the transport system 50 with the transport trolley 60 and loads the storage magazine 30 containing the feeder F onto the work device 61.

[0028] When the execution of this magazine transport processing routine begins, the control unit 57's control unit 58 first moves the magazine 30 loaded onto the transport system 50 to a handover preparation position in front of the magazine storage section 34 of the storage device 14, based on the transport job information (S100). Next, when the transport system 50 reaches the handover preparation position, the control unit 58 moves the transport system 50 to a handover position where it contacts the storage device 14 (S110). Next, the control unit 58 moves until the work device 61 contacts the storage device 14 (S120), and when the work device 61 contacts the storage device 14, it stops moving and the drive unit 64 drives the transport rollers 63 of the conveyor (S130). At this time, when the transport system 50 approaches the storage device 14 from an oblique direction, the work device 61 approaches the magazine storage section 34 at an angle in the horizontal direction. When the work device 61 comes into contact with the storage device 14 in this state, the stopper portion 75 on the nearest side comes into contact with the storage device 14 (Figure 9B), the bumper portion 71 of the contact release portion 70 retracts, and the regulating member 72 retracts in conjunction with this (Figures 5B and 6B). As a result, the regulating member 72 moves to the release position, allowing the work device 61 to swing, and pushed by the stopper portion 75, the work device 61 swings with the engaging member 84 as the pivot axis, facing directly toward the storage device 14 (Figure 10B). Even if the transport system 50 comes into contact with the storage device 14 in an inclined state, the transfer of transported items can be made more reliable because the work device 61 swings rather than the trolley portion 80.

[0029] After S130, the control unit 58 determines whether the transfer of the storage magazine 30 is complete (S140). If the transfer of the storage magazine 30 is not complete, the conveyor is driven. On the other hand, if the transfer of the storage magazine 30 is complete, the conveyor is stopped (S150), moved to a retraction position equivalent to the transfer preparation position, and then moved to the next target position (S160), ending this routine.

[0030] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The implementation system 10 of this embodiment is an example of the implementation system of the present disclosure, the transport system 50 is an example of the transport system, the work device 61 is an example of the work device, the transport trolley 60 is an example of the transport trolley, the storage magazine 30 is an example of the storage unit, the support part 66 is an example of the support part, and the contact release part 70 is an example of the contact release part. Also, the bumper part 71 is an example of the bumper part, the regulating member 72 is an example of the regulating member, the interlocking part 73 is an example of the interlocking part, the biasing part 74 is an example of the biasing part, the stopper part 75 is an example of the stopper part, the engaging member 84 is an example of the engaging member, the guide member 86 is an example of the guide member, the work guide member 65 is an example of the work guide member, the device guide part 36 is an example of the device guide part, and the control unit 58 is an example of the control unit. Furthermore, component P is an example of a component, substrate S is an example of an object, feeder F and the like are examples of mounting-related components, and printing device 11, printing inspection device 12, management device 13, storage device 14, mounting device 15, mounting inspection device 16, loader 18, control device 19, transport system 50 and the like are examples of mounting-related devices. In this embodiment, by describing the transport system 50, examples of transport systems and work devices of this disclosure are also made clear.

[0031] The transport system 50 described above is used in a mounting system 10 that includes mounting-related equipment that performs a mounting process of placing components P onto a substrate S as an object. The transport system 50 includes a work device 61 that performs predetermined work on the mounting-related equipment and a transport trolley 60 that moves the work device 61. The transport system 50 includes a support part 66 that supports the work device 61 on the transport trolley 60 so that it can swing to correct its angle along the horizontal direction. In this transport system 50, the support part 66 swings the work device 61 so that the work device 61, rather than the transport trolley 60, is directly facing the storage device 14, which is a mounting-related equipment. In this transport system 50, by correcting the angle of the work device 61 when it is directly facing the equipment, the mounting-related equipment and the work device 61 on the transport trolley 60 can be more easily directly facing each other.

[0032] Furthermore, the transport system 50 includes a contact release unit 70 that restricts the swinging of the work device 61 and releases the restriction when it comes into contact with the storage device 14. In this transport system 50, the transported object can be transported more stably by restricting the swinging of the work device 61 while it is moving. Moreover, the contact release unit 70 has a bumper unit 71 that comes into contact with the storage device 14, a guide member 86 that guides a restricting member 72 that moves between a swing restriction position and a restriction release position, and an interlocking unit 73 that interlocks the bumper unit 71 and the restricting member 72. In this transport system 50, the swing restriction can be released in conjunction with the bumper unit 71 that comes into contact with the device when facing the device. Furthermore, since the guide member 86 has a width that allows the restricting member 72 to swing at the restriction release position, in this transport system 50, the width of the guide member 86 can be used to restrict and allow the restricting member 72 to swing, making it easier to face the mounting-related device and the work device 61 directly. Furthermore, since the contact release section 70 has a biasing section 74 that biases the bumper section 71 in the contact direction so as to contact the storage device 14, in this transport system 50, the biased bumper section 71 allows the work device 61 to be smoothly positioned directly in front of the storage device 14.

[0033] Furthermore, the support section 66 has a pivot member 68 that pivots the work device 61 horizontally relative to the transport trolley 60, with the side that abuts the storage device 14 as the pivot axis. In this transport system 50, the work device 61 and the storage device 14 can be smoothly brought into alignment by pivoting the work device 61 around the pivot axis. Moreover, since the support section 66 is composed of a plurality of support members 67 that pivotably support the work device 61, in this transport system 50, the storage device 14 and the work device 61 can be brought into alignment more easily by using support members 67 that enable both pivoting and support. Furthermore, the work device 61 is equipped with a stopper section 75 disposed on the contact surface 78 side that abuts the storage device 14, which is biased to be expandable and contractible in the contact direction and assists the pivoting of the work device 61. In this transport system 50, the expandable and contractible stopper section 75 allows the storage device 14 and the work device 61 to be smoothly brought into alignment. The work device 61 is a conveyor device that moves the transported object between a placement position and an loading / unloading position. It has a predetermined clearance at the loading / unloading position and is equipped with a work guide member 65 that positions the transported object at the placement position. In this transport system 50, in a conveyor device that transfers transported objects while facing the storage device 14, the work guide member 65 can correct the position of the transported object in response to the deviation caused by the angle correction of the conveyor device. Furthermore, the work device 61 transports a storage magazine 30 containing feeders F as mounting-related components used by the mounting device 15, and performs the operation of exchanging the transported object with the storage device 14. In this transport system 50, when exchanging the storage magazine 30 while facing the storage device 14, the storage device 14 and the work device 61 can be more easily brought into direct opposition. Furthermore, in the transport system 50, the transport cart 60 is connected to an automated guided vehicle 51, and is automatically moved by the automated guided vehicle 51. Therefore, in this transport system 50, the transport cart 60 can be moved automatically.

[0034] Furthermore, in the transport system 50, the storage device 14 is equipped with a device guide section 36 that provides a predetermined clearance at the receiving position and positions the transported object at the receiving position when the transported object is moved between the receiving position where the transported object is loaded and unloaded and the receiving position where the transported object is received. In this transport system 50, the device guide section 36 can correct any misalignment of the work device 61 caused by angle correction.

[0035] It goes without saying that this disclosure is not limited in any way to the embodiments described above, and can be implemented in various forms as long as they fall within the technical scope of the present invention.

[0036] For example, in the embodiment described above, the transport system 50 is equipped with a contact release unit 70, but it is not limited to this, and the contact release unit 70 may be omitted. In this transport system 50, the swinging of the work device 61 is not restricted while the transport trolley 60 is moving, but the support unit 66 ensures that the work device 61 faces the storage device 14 directly, so the transfer of the storage magazine 30 to the storage device 14 can be performed more stably.

[0037] In the embodiment described above, the restricting member 72 is disposed on the work device 61 side and the guide member 86 is disposed on the trolley section 80 side, but the invention is not limited to this. Figure 11 is an explanatory diagram showing an example of another restricting member 72B and guide member 86B, where Figure 11A is an explanatory diagram of the guide member 86B provided on the work device 61 and Figure 11B is an explanatory diagram of the restricting member 72B provided on the trolley section 80. The restricting member 72B is disposed on the rear upper surface of the trolley section 80. The guide member 86BB is disposed on the rear lower surface of the interlocking section 73. In this transport system as well, the swinging of the work device 61 and its regulating motion can be controlled by the restricting member 72B, and the transfer of the storage magazine 30 to the storage device 14 can be performed more stably.

[0038] In the embodiment described above, the swivel member 68 is disposed on the work device 61 side and the engaging member 84 is disposed on the trolley section 80 side, but the invention is not limited to this. Figure 12 is an explanatory diagram showing an example of another support member 67B and receiving member 85B, where Figure 12A is an explanatory diagram of the engaging member 84B provided on the work device 61 and Figure 12B is an explanatory diagram of the swivel member 68B provided on the trolley section 80. The engaging member 84B is disposed on the front lower side of the work device 61. The swivel member 68B is disposed on the front central side of the trolley section 80. In this transport system as well, the work device 61 swings due to the swivel member 68B and the engaging member 84B, so that the transfer of the storage magazine 30 to the storage device 14 can be performed more stably.

[0039] In the embodiment described above, the support member 67 is provided on the work device 61 side and the receiving member 85 is provided on the trolley 80 side, but the invention is not limited to this. Figure 13 is an explanatory diagram showing an example of another support member 67B and receiving member 85B, where Figure 13A is an explanatory diagram of the receiving member 85B provided on the work device 61 and Figure 13B is an explanatory diagram of the support member 67B provided on the trolley 80. The receiving member 85B is provided on the lower side of the work device 61. Four of these receiving members 85B are provided at the four corners of the work device 61. Also, four support members 67B are provided at the four corners of the trolley 80. In this transport system as well, the work device 61 is stably supported and swings by the support members 67B and receiving members 85B, so that the transfer of the storage magazine 30 to the storage device 14 can be performed more stably.

[0040] In the above-described embodiment, the contact release unit 70 is composed of a bumper unit 71, a restricting member 72, an interlocking unit 73, and a biasing unit 74. However, it is not limited to this configuration as long as the restricting member 72 is movable. One or more of these components other than the restricting member 72 may be omitted, or other components may be added in addition to or in place of them.

[0041] In the embodiment described above, the stopper portion 75 is provided on the contact surface 78 of the working device 61. However, the present disclosure is not particularly limited to this, and the stopper portion 75 may be omitted. Also in this conveying system 50, the working device 61 can be swung by the support portion 66.

[0042] In the embodiment described above, the conveying carriage 60 receives power supply from the automated guided vehicle 51. However, the present disclosure is not particularly limited to this, and the conveying carriage 60 may have a power supply device. In addition, although the conveying carriage 60 is described as having neither a driving source nor a power source, the present disclosure is not particularly limited to this, and the conveying carriage 60 may have a driving source and / or a power source. Furthermore, in the embodiment described above, the conveying carriage 60 is coupled to and moved by the automated guided vehicle 51 via the coupling unit 55. However, the present disclosure is not particularly limited to this, and the coupling unit 55 and the automated guided vehicle 51 may be omitted when the conveying carriage 60 is self-propelled.

[0043] In the embodiment described above, the storage unit is the storage magazine 30 that stores mounting-related members such as the feeder F. However, the present disclosure is not particularly limited as long as the unit conveys mounting-related members. For example, the conveying carriage 60 may convey a storage rack that stores a screen mask as the storage unit. Also in this conveying system 50, the storage rack is swingably loaded by the support portion 66, so that the transfer of the storage unit to the mounting-related apparatus can be performed more stably.

[0044] Furthermore, in the embodiment described above, the present disclosure is described as being applied to the forms of the automated guided vehicle 51, the conveying carriage 60 and the conveying system 50. However, the present disclosure may also be applied to the working device 61, a control method for the conveying system 50, or a program that causes a computer to execute each step of the control method.

[0045] Herein, the work apparatus of the present disclosure may be configured as follows. For example, the work apparatus of the present disclosure is used in a mounting system that includes mounting-related equipment that performs mounting processing for placing parts onto an object, and is mounted on a transport trolley to perform predetermined work on the mounting-related equipment, comprising: a support part that supports the work apparatus on the transport trolley so as to be able to swing along the horizontal direction to correct the angle; and a contact release part that restricts the swinging of the work apparatus and releases the restriction when it comes into contact with the mounting-related equipment.

[0046] In this work device, the swinging of the work device is restricted by a contact release section, and the support section ensures that the work device, rather than the transport trolley, is directly aligned with the mounting-related equipment. This work device makes it easier to directly align the mounting-related equipment with the work device on the transport trolley. This work device may also incorporate any of the configurations of the transport system described above.

[0047] In the work apparatus of this disclosure, the contact release portion includes a bumper portion that contacts the mounting-related device, a restricting member that moves between a swing restricting position and a release position, or a guide member that guides the restricting member between the swing restricting position and the release position, and an interlocking portion that interlocks the bumper portion with the restricting member or the guide member, and the support portion may include either a swivel member that pivots the work apparatus horizontally relative to the transport trolley with the side that contacts the mounting-related device as the pivot axis, or an engaging member that engages with a swivel member that pivots the work apparatus horizontally relative to the transport trolley with the side that contacts the mounting-related device as the pivot axis. In this work apparatus, the swing restriction can be released in conjunction with the bumper portion that contacts the device when facing the device. In addition, in this work apparatus, the work apparatus and the mounting-related device can be smoothly faced together by swiveling the work apparatus around the pivot axis.

[0048] In this specification, the technical concept of amending "the conveyance system according to claim 1 or 2" to "the conveyance system according to any one of claims 1 to 5" in the originally filed claim 6, the technical concept of amending "the conveyance system according to claim 1 or 2" to "the conveyance system according to any one of claims 1 to 6" in the originally filed claim 7, the technical concept of amending "the conveyance system according to claim 1 or 2" to "the conveyance system according to any one of claims 1 to 7" in the originally filed claim 8, the technical concept of amending "the conveyance system according to claim 1" to "the conveyance system according to any one of claims 1 to 8" in the originally filed claim 9, the technical concept of amending "the conveyance system according to claim 1" to "the conveyance system according to any one of claims 1 to 9" in the originally filed claim 10, the technical concept of amending "the conveyance system according to claim 9 or 10" to "the conveyance system according to any one of claims 1 to 10" in the originally filed claim 11, and the technical concept of amending "the conveyance system according to claim 1 or 2" to "the conveyance system according to any one of claims 1 to 11" in the originally filed claim 12 are also disclosed herein.

[0049] The present disclosure is applicable to the technical field of apparatuses that perform processing such as picking and placing components.

[0050] 10 Mounting system, 11 Printing device, 12 Printing inspection device, 13 Management device, 14 Storage device, 15 Mounting device, 16 Mounting inspection device, 18 Loader, 19 Control device, 21 Control device, 22 Board processing unit, 23 Parts supply unit, 24 Mounting unit, 25 Mounting head, 26 Sampling material, 27 Communication unit, 28 Operation panel, 30 Storage magazine, 31 Storage unit, 32 Slot, 34 Magazine storage unit, 35 Transfer roller, 36 Device guide unit, 50 Conveying system, 51 Automated guided vehicle, 52 Mounting unit, 53 Power supply unit, 54 Travel unit, 55 Coupling unit, 56 Coupling execution unit, 57 Control unit, 58 Control unit, 59 Power communication unit, 60 Transport trolley, 61 Working device, 62 Loading unit, 63 Transport roller, 64 Drive unit, 65 Working guide member, 66 Support part, 67, 67B Support member, 68, 68B Swivel member, 69 Insertion hole, 70 Contact release part, 71 Bumper part, 72, 72B Regulating member, 72B 73 Interlocking part, 74 Biasing part, 75 Stopper part, 76 Contact member, 77 Pressing part, 78 Contact surface, 80 Trolley part, 81 Caster, 82 Connecting member, 83 Swivel part, 84, 84B Engaging member, 85, 85B Receiving member, 86, 86B Guide part, F Feeder, P Parts, S Circuit board, T Direction of movement, W Operator.

Claims

1. A transport system used in a mounting system that includes a mounting-related device for performing a mounting process of placing components onto an object, and comprising a work device that performs a predetermined operation on the mounting-related device, and a transport trolley for moving the work device, wherein the transport system is provided with a support part that supports the work device on the transport trolley so as to be swingable to correct its angle along the horizontal direction.

2. A transport system according to claim 1, comprising a contact release unit that restricts the swinging of the work device and releases the restriction when it comes into contact with the mounting-related device.

3. The conveying system according to claim 2, wherein the contact release unit comprises a bumper unit that contacts the mounting-related device, a restricting member that moves between a swing restricting position and a release position, or a guide member that guides the restricting member between the swing restricting position and the release position, and an interlocking unit that interlocks the bumper unit with the restricting member or the guide member.

4. The transport system according to claim 3, wherein the guide member has a width that allows the restricting member to swing in the release position.

5. The transport system according to claim 3 or 4, wherein the contact release unit has a biasing unit that biases the bumper unit in the contact direction to contact the mounting-related device.

6. The transport system according to claim 1 or 2, wherein the support portion has either a pivot member that rotates the work device horizontally relative to the transport trolley with the side in contact with the mounting-related device as the pivot axis, or an engaging member that engages with the pivot member that rotates the work device horizontally relative to the transport trolley with the side in contact with the mounting-related device as the pivot axis.

7. The conveying system according to claim 1 or 2, wherein the support portion comprises a plurality of support members that pivotably support the work device.

8. A transport system according to claim 1 or 2, wherein the work device and / or the transport trolley comprises a stopper portion disposed on the contact surface side that contacts the mounting-related device, biased to be extendable and retractable in the contact direction, and assisting the rotation of the work device.

9. The conveying system according to claim 1, wherein the work device is a conveyor device that moves between a placement position and an loading / unloading position for loading and unloading objects, and comprises a work guide member that has a predetermined clearance at the loading / unloading position and positions the objects at the placement position.

10. The transport system according to claim 1, wherein the work device transports a storage unit containing mounting-related components used by the mounting-related device and performs the task of exchanging it with the mounting-related device.

11. The conveying system according to claim 9 or 10, wherein the mounting-related device comprises a device guide section that, when moving the conveyed object between a receiving position for loading and unloading the conveyed object and a receiving position for receiving the conveyed object, has a predetermined clearance at the receiving position and positions the conveyed object at the receiving position.

12. The transport system according to claim 1 or 2, wherein the transport trolley is connected to an automated guided vehicle (AGV) and is automatically moved by the AGV.

13. A work device used in a mounting system including mounting-related equipment that performs mounting processing for placing components onto an object, the work device is mounted on a transport trolley and performs predetermined work on the mounting-related equipment, the work device comprising: a support part that supports the work device on the transport trolley so as to be able to swing along the horizontal direction to correct the angle; and a contact release part that restricts the swinging of the work device and releases the restriction when it comes into contact with the mounting-related equipment.

14. The work device according to claim 13, wherein the contact release portion comprises a bumper portion that contacts the mounting-related device, a restricting member that moves between a swing restricting position and a restriction release position, or a guide member that guides the restricting member between the swing restricting position and the restriction release position, and an interlocking portion that interlocks the bumper portion with the restricting member or the guide member, and the support portion includes either a swivel member that pivots the work device horizontally relative to the transport trolley with the side that contacts the mounting-related device as the pivot axis, or an engaging member that engages with the swivel member that pivots the work device horizontally relative to the transport trolley with the side that contacts the mounting-related device as the pivot axis.

Images