JP2020014021A - Unit storage and component mounting line - Google Patents

Abstract

To provide an easy-to-use storage for a component supply unit.SOLUTION: A component mounting line 10 includes a plurality of component mounting machines 20 lined up along the board transport direction, a feeder storage 60 that stores a plurality of feeders 30 detachable from the component mounting machines 20, and an exchange robot 50 capable of exchanging the feeder 30 between the feeder storage 60 and each of the component mounting machines 20, and the feeder storage 60 is provided in the same arrangement as the plurality of component mounting machines 20, and the exchange robot 50 moves along the board transfer direction to replace the feeder 30. This allows the feeder storage 60 to supply and recover the feeder 30 used in any of the component mounting machines 20, such that a worker can easily supply and recover the feeder 30.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a component mounting line.

  2. Description of the Related Art Conventionally, there has been proposed a component mounter that collects components from a component supply unit in which a plurality of components are accommodated and mounts the components on a board, in which the component supply unit can be automatically replaced. For example, Patent Literature 1 discloses a supply station in which a component supply unit is mounted so that components can be collected by a component mounter, a storage provided adjacent to the component mounter and configured to store a plurality of component supply units, A configuration including a loader that replaces a component supply unit between a storage and a supply station is disclosed. In this configuration, when an empty component supply unit that has run out of components occurs, the component supply unit is automatically replaced by the loader replacing the empty component supply unit with the component supply unit in the storage. .

JP-A-7-176892

  When the technology described in Patent Literature 1 is applied to a component mounting line configured by arranging a plurality of component mounters, storages corresponding to the respective component mounters are provided adjacent to the respective component mounters. . For this reason, the total length of the component mounting line may be longer than expected. In addition, when a storage corresponding to each of the component mounting machines is provided, it is necessary to supply or collect a component supply unit to each storage. As described above, in a configuration in which the storage is adjacent to each of the component mounters, the usability may be rather deteriorated.

  An object of the present invention is to provide an easy-to-use storage for a component supply unit.

  The present invention employs the following means in order to achieve the above main object.

  The component mounting line of the present invention is configured by arranging a plurality of component mounters for detachably setting a component supply unit and mounting components supplied by the component supply unit on a mounting target along a transport direction of the mounting target. A component mounting line, a unit storage that stores a plurality of the component supply units, and the component supply unit that is mounted on the plurality of component mounting machines and the component supply unit that is stored in the unit storage. A unit exchange device capable of replacing the unit, and a control device for controlling the unit exchange device, wherein the unit storage is installed alongside the plurality of component mounters, and the control device is arranged along the transport direction. The gist of the present invention is to control the unit exchange device so as to move the predetermined supply range and exchange the component supply unit.

  In the component mounting line of the present invention, a unit storage for storing a plurality of component supply units is installed in the same order as a plurality of component mounters, and moves in a predetermined moving range along a transport direction of a mounting target to supply components. The unit exchange device is controlled to exchange the unit. Accordingly, the loading and unloading of the component supply unit, such as replenishment and collection, may be performed in the unit storage, regardless of the component supply unit used in any of the component mounters. In addition, if the unit exchange device is outside the predetermined range on the front surface of the unit storage, the component supply unit can be carried in and out at an arbitrary timing. As a result, an easy-to-use unit storage can be provided.

  In the component mounting line of the present invention, the unit storage is located at an upstream position of the most upstream component mounter or a downstream position of the most downstream component mounter in the direction in which the plurality of component mounters are arranged. It can also be installed. With this configuration, since the unit storage is installed at a position that is the end of the arrangement of the plurality of component mounters, loading and unloading of the component supply unit to and from the unit storage can be further facilitated.

  In the component mounting line according to the aspect of the present invention, the unit storage may be installed at an intermediate position in the arrangement of the plurality of component mounters in addition to the upstream position or the downstream position. it can. In this way, even if the component mounting line is a long line composed of a large number of component mounters, the distance over which the unit exchange device moves between the unit storage and the component mounter becomes longer than necessary. Can be prevented.

  Further, in the component mounting line according to the present invention, the unit storage may include a transport device that transports the mounting target in the transport direction. With this configuration, the unit storage can be easily installed at the same position as the plurality of component mounters.

  Further, in the component mounting line of the present invention, the unit storage has the same configuration as a configuration in which the component supply unit is detachably set to the component mounter, and the unit replacement device includes the component mounting unit. The attachment / detachment of the component supply unit in a machine and the attachment / detachment of the component supply unit in the unit storage may be performed by a common operation using the same mechanism. This prevents the configuration of the unit exchange device from becoming complicated, and allows the component supply unit to be efficiently attached and detached.

  Further, in the component mounting line of the present invention, the unit storage is configured such that an operator can carry in and out the component supply unit, and that the operator can move the component supply unit within a predetermined range including the front of the unit storage in the moving range. The apparatus may further include a detector for detecting the presence or absence, and the control device may control the unit exchange device so as not to move within the predetermined range when the detector detects an operator. . With this configuration, it is possible to ensure the safety of the worker who carries the component supply unit in and out.

  In the component mounting line according to the aspect of the present invention, when the detector detects the worker, the control device performs the predetermined operation at a lower speed than when the detector does not detect the worker. The unit exchange device may be controlled to move within the movement range excluding the range. This allows the unit exchange device to be moved within a range that does not impair the safety of the operator.

  Further, in the component mounting line according to the present invention, the unit storage is configured to be able to carry in and out the component supply unit by an automatic transport device that automatically transports the component supply unit from outside the component mounting line. Can also. This makes it possible to automate the loading and unloading of the component supply unit, thereby improving the efficiency.

  Further, in the component mounting line of the present invention, a management device for managing the mounting of the component mounting machine can be arranged in an installation space of the unit storage. In this case, the space in the component mounting line can be efficiently used.

  In the component mounting line of the present invention, the component supply unit supplies the component to the component mounter by sending out a housing member that stores the component, and the component supply unit sends the component to the component mounter. And a waste material transport device that transports the waste material of the housing member after the supply of the waste material to the installation space of the unit storage, and collects the waste material transported by the waste material transport device in the installation space of the unit storage. It is also possible to arrange a collection container to be used. In this case, the space in the component mounting line can be efficiently used.

FIG. 2 is a configuration diagram illustrating an outline of a configuration of a component mounting line. FIG. 2 is a configuration diagram illustrating a schematic configuration of a component mounter 20; FIG. 2 is a configuration diagram illustrating a schematic configuration of a feeder 30. FIG. 2 is a configuration diagram illustrating a schematic configuration of an exchange robot. The block diagram which shows the outline of a structure of the feeder storage 60. FIG. 2 is a configuration diagram related to control of the component mounting line 10. 9 is a flowchart illustrating an example of a storage area information update process. Explanatory drawing which shows an example of storage area information. 9 is a flowchart illustrating an example of a feeder replacement process. 9 is a flowchart illustrating an example of an exchange robot moving process. The block diagram which shows the outline of the structure of the component mounting line of a modification. The block diagram which shows the outline of the structure of the component mounting line of a modification.

  FIG. 1 is a configuration diagram schematically illustrating the configuration of the component mounting line 10, FIG. 2 is a configuration diagram schematically illustrating the configuration of the component mounter 20, and FIG. 3 is a configuration diagram schematically illustrating the configuration of the feeder 30. is there. 4 is a configuration diagram schematically showing the configuration of the exchange robot 50, FIG. 5 is a configuration diagram schematically showing the configuration of the feeder storage 60, and FIG. 6 is a configuration diagram relating to control of the component mounting line 10. is there. 1 is the X direction, the front and rear direction is the Y direction, and the up and down direction is the Z direction.

  As shown in FIG. 1, the component mounting line 10 includes a printing machine 12 for printing solder on a board, a printing inspection machine 14 for checking the state of the printed solder, and a component supplied from the feeder 30 to the board. A plurality of component mounters 20 to be mounted, a mounting inspection machine (not shown) for inspecting a component mounting state, a feeder storage 60 capable of storing a plurality of feeders 30, a management device 80 for managing the entire line, and the like. Prepare. In the component mounting line 10, a printing machine 12, a printing inspection machine 14, and a plurality of component mounting machines 20 are arranged in this order in the board transport direction (X direction). In addition, the feeder storage 60 is incorporated in the component mounting line 10, and is provided between the component mounting machine 20 of the plurality of component mounting machines 20 on the most upstream side in the board conveyance direction and the print inspection machine 14. It is installed in. That is, the feeder storage 60 is installed at a position upstream of the component mounter 20 on the most upstream side. In the present embodiment, the worker replenishes the feeder storage 60 with the feeder 30 or collects the feeder 30 from the feeder storage 60. Supplying and collecting the feeder 30 to and from the feeder storage 60 is also referred to as carrying in and out of the feeder 30.

  Further, the component mounting line 10 includes an exchange robot 50 that automatically exchanges the feeder 30 between the plurality of component mounters 20 and the feeder storage 60. The exchange robot 50 is movable along the X-axis rail 18 provided in front of the plurality of component mounters 20 and the front of the feeder storage 60 in parallel with the board transfer direction (X direction). . 2 and 5, the illustration of the X-axis rail 18 is omitted. In the present embodiment, the range in front of the feeder storage 60 and the plurality of component mounters 20 will be described by dividing the range into three ranges. The respective ranges are, in order from the upstream side in the transport direction, a pre-storage area 11a including the front of the feeder storage 60 and the front of the component mounting machine 20 adjacent to the feeder storage 60, and an adjacent area adjacent to the pre-storage area 11a. A range 11b and a non-adjacent range 11c adjacent to the adjacent range 11b and not adjacent to the pre-storage range 11a.

  As shown in FIG. 2, the component mounter 20 includes a substrate transport device 21 that transports the substrate S in the X direction, a head 22 having a suction nozzle that suctions components supplied by the feeder 30, and a head 22 in the XY direction. It includes a head moving mechanism 23 for moving, and a mounting control device 28 (see FIG. 6) for controlling the entire device. The mounting control device 28 includes a well-known CPU, ROM, RAM, and the like, and outputs a drive signal to the substrate transfer device 21, the head 22, the head moving mechanism 23, and the like.

  The feeder 30 is configured as a tape feeder that sends out a tape containing components at a predetermined pitch. As shown in FIG. 3, the feeder 30 includes a tape reel 32 around which the tape is wound, a tape feed mechanism 33 that pulls out the tape from the tape reel 32 and feeds the tape, and a connector 35 having two projecting positioning pins 34. , A rail member 37 provided at the lower end, and a feeder control device 39 (see FIG. 6) for controlling the entire feeder. The feeder control device 39 includes a known CPU, ROM, RAM, and the like, and outputs a drive signal to the tape feed mechanism 33. Further, the feeder control device 39 can communicate with a control unit (e.g., the mounting control device 28 or the management device 80) to which the feeder 30 is attached via the connector 35.

  As shown in FIG. 2, the component mounter 20 has two upper and lower areas to which a feeder 30 can be attached in front. The upper area is a component supply area 20A where the feeder 30 can supply components, and the lower area is a stock area 20B where the feeder 30 can be stocked. In the supply area 20A and the stock area 20B, a feeder table 40 to which a plurality of feeders 30 are attached is provided. The feeder base 40 is an L-shaped base when viewed from the side. A plurality of slots 42 arranged in the X direction at intervals at which the rail members 37 of the feeder 30 can be inserted, and two positioning pins 34 of the feeder 30 are inserted. It comprises two possible positioning holes 44 and a connector 45 provided between the two positioning holes 44 and to which the connector 35 is connected.

  The component mounter 20 is cut by the tape duct 24 that feeds the tape after the feeder 30 supplies the component, the tape cutter 25 that cuts the tape that has passed through the tape duct 24 into small pieces, and the tape cutter 25. The apparatus includes a tape chute 26 on which the waste tape falls, and a waste tape transport device 27 disposed below the tape chute 26. The waste tape transport device 27 of the present embodiment is configured as a belt conveyor device that transports waste tape by a conveyor belt from the right side to the left side in the X direction. The waste tape transport device 27 is fixed in a state where the conveyor belt is inclined so as to be inclined upward from the right side to the left side in the X direction. Further, the waste tape transport device 27 is configured such that the left end of the conveyor belt protrudes from the left side of the component mounter 20 and the waste tape transport device 27 (conveyor belt) of the component mounter 20 adjacent to the left side (upstream in the transport direction). The length exceeds the width of the component mounter 20 in the X direction so as to be located above the right end. For this reason, the waste tape transport devices 27 of the adjacent component mounters 20 can transfer the waste tape by overlapping each other, and the waste tape transport devices 27 of the respective component mounters 20 move in the opposite direction to the transport direction of the substrate S. This constitutes one waste tape transport line.

  As illustrated in FIG. 4, the exchange robot 50 includes a robot moving mechanism 51 that moves the exchange robot 50 along the X-axis rail 18 and a feeder transfer that transfers the feeder 30 to the component mounter 20 or the feeder storage 60. A mechanism 53 and a robot controller 59 (see FIG. 6) for controlling the entire robot are provided. The robot moving mechanism 51 includes an X-axis motor 52a such as a servomotor that drives a driving belt for moving the replacement robot 50, and a guide roller 52b that guides the movement of the replacement robot 50 along the X-axis rail 18. Prepare. The feeder transfer mechanism 53 includes a Y-axis slider 55 on which a clamp unit 54 for clamping the feeder 30 and a Y-axis motor 55a for moving the clamp unit 54 along the Y-axis guide rail 55b are mounted. A Z-axis motor 56a that moves along the axis guide rail 56b. The exchange robot 50 also includes an encoder 57 (see FIG. 6) for detecting the movement position in the X direction, and left and right monitoring sensors (left side monitoring sensors) such as an infrared sensor for monitoring the presence or absence of left and right obstacles (workers). A sensor 58a, a right monitoring sensor 58b, and FIG. 6).

  The Y-axis slider 55 of the feeder transfer mechanism 53 is driven by a Z-axis motor 56a to move an upper transfer area 50A facing the supply area 20A of the component mounter 20 and a lower transfer area facing the stock area 20B of the component mounter 20. It moves to the mounting area 50B. The robot controller 59 moves the Y-axis slider 55, which is clamping the feeder 30 by the clamp unit 54, from the upper transfer area 50A to the supply area 20A by driving the Y-axis motor 55a to move the rail member 37 of the feeder 30. The feeder 30 is mounted on the feeder table 40 in the supply area 20A by inserting the feeder 30 into the slot 42 of the feeder table 40 and releasing the clamp of the clamp unit 54. Further, the robot controller 59 clamps the feeder 30 attached to the feeder table 40 in the supply area 20A by the clamp unit 54, and transfers the Y-axis slider 55 from the supply area 20A to the upper part by driving the Y-axis motor 55a. By moving to the area 50A, the feeder 30 is removed from the feeder table 40 of the supply area 20A (pulled into the upper transfer area 50A). The robot controller 59 moves the lower part of the Y-axis slider 55 by driving the Z-axis motor 56a when attaching the feeder 30 to the feeder table 40 in the stock area 20B or removing the feeder 30 from the feeder table 40 in the stock area 20B. Since the same processing is performed except that the lower transfer area 50B is moved to the area 50B instead of the upper transfer area 50A, the description is omitted.

  As shown in FIG. 5, the feeder storage 60 has a storage area 60 </ b> A to which the feeder 30 can be attached at the upper front right side of the housing 61. In the storage area 60A, a feeder table 40 having the same configuration as the feeder table 40 provided in the supply area 20A and the stock area 20B of the component mounter 20 is provided. Further, the feeder table 40 in the storage area 60A is provided at the same height (Z-direction position) as the feeder table 40 in the supply area 20A. Therefore, the robot controller 59 of the exchange robot 50 moves the Y-axis slider 55 clamping the feeder 30 by the clamp unit 54 from the upper transfer area 50A to the storage area 60A by driving the Y-axis motor 55a. By inserting the rail member 37 of the feeder 30 into the slot 42 of the feeder base 40 and releasing the clamp of the clamp part 54, the feeder 30 can be attached to the feeder base 40 in the storage area 60A. Further, the robot controller 59 clamps the feeder 30 attached to the feeder table 40 in the storage area 60A by the clamp section 54, and transfers the Y-axis slider 55 from the storage area 60A to the upper part by driving the Y-axis motor 55a. By moving the feeder 30 to the area 50A, the feeder 30 can be removed from the feeder table 40 of the storage area 60A (pulled into the upper transfer area 50A). That is, the replacement robot 50 attaches and detaches the feeder 30 to and from the feeder table 40 in the storage area 60A of the feeder storage 60 by the same operation as attaching and detaching the feeder 30 to and from the feeder table 40 in the supply area 20A of the component mounter 20. Can be. The feeder 30 that is not in use (not supplying components) can be stored in the storage area 60A of the feeder storage 60 and the stock area 20B of the component mounter 20. For example, the stock area 20B may store the feeder 30 having the remaining parts or the feeder 30 whose use schedule is relatively short, and the storage area 60A may store the used feeder 30 having no remaining parts. it can.

  In addition, the feeder storage 60 includes a substrate transport device 62 that transports the substrate S in the X direction at the upper rear part of the housing 61. This board transfer device 62 has the same position in the front-rear direction and the up-down direction as the board transfer device (not shown) of the print inspection machine 14 and the board transfer device 21 of the adjacent component mounting machine 20. Therefore, the board transfer device 62 can transfer the board S received from the board transfer device of the print inspection machine 14 and transfer it to the board transfer device 21 of the adjacent component mounting machine 20.

  In a lower space 63A at a lower rear portion of the housing 61 of the feeder storage 60, a collection container 64 for collecting the waste tape transported by the waste tape transport line is disposed. As described above, the waste tape transporting device 27 of the component mounter 20 of the component mounter 20 adjacent to the feeder storage 60 is also on the left side since the waste tape transport device 27 of each component mounter 20 protrudes from the left end of each component mounter 20. The protrusion protrudes and enters the housing 61. The collection container 64 is disposed below the left end of the waste tape transport device 27 that has entered the housing 61, so that the waste tape can be collected. Further, an opening 63B is formed in a lower portion on the front right side of the housing 61 and communicates with the lower space 63A and is larger than the height and the width of the collection container 64. For this reason, the worker can put the collection container 64 in and out of the opening 63B and collect the collection container 64 (waste tape). In addition, the feeder storage 60 may have an area in which the feeder 30 can be attached even below the storage area 60A, and the opening 63B may not be formed. In this case, the collection container 64 is inserted and removed from the rear of the housing 61. You may comprise so that it is possible.

  Further, on the front left side of the housing 61 of the feeder storage 60, a storage portion 65A having a rectangular parallelepiped opening is formed at a lower portion, and a mounting table 65B having a horizontal surface is formed at an upper portion. The storage section 65A is formed in a size slightly larger than the main body of the management device 80, and stores the main body of the management device 80 as shown in FIG. A display 82 and an input device 84 are placed on the upper table 65B, as shown in FIG. As described above, the installation space of the feeder storage 60 is also used as an arrangement space for the collection container 64 and the management device 80.

  As shown in FIG. 6, the management device 80 includes a well-known CPU 80a, ROM 80b, HDD 80c, RAM 80d, and the like, and includes a display 82 such as an LCD and an input device 84 such as a keyboard and a mouse. The management device 80 stores a production program of the substrate S and the like. The production program of the substrate S refers to a program that determines which components are to be mounted on which substrate S, how many substrates S are mounted in such a manner, and the like. The management device 80 is communicably connected to the mounting control device 28 by wire and is communicatively connected to the robot control device 59 by wireless. In addition, the control device 80 controls the printing machine 12, the print inspection machine 14, and the mounting inspection machine. Is communicably connected to The management device 80 receives information about the mounting status of the component mounter 20 from the mounting control device 28 and receives information about the driving status of the replacement robot 50 from the robot control device 59. The management device 80 of the present embodiment also manages the feeder storage 60. The management device 80 is communicably connected to the feeder control device 39 of the feeder 30 attached to the feeder table 40 in the storage area 60A via the connectors 35 and 45. Further, the management device 80 outputs a drive signal to the substrate transport device 62 of the feeder storage 60 to cause the substrate transport device 62 to transport the substrate S. Further, the management device 80 receives a detection signal from a pre-storage monitoring sensor 86 such as an infrared sensor that monitors the presence of an operator in the pre-storage range 11a.

  The following is an explanation of the processing performed by the management device 80 of the component mounting line 10. FIG. 7 is a flowchart illustrating an example of the storage area information update processing. The storage area information is information on the mounting position, ID information, and accommodated parts of the feeder 30 set on the feeder table 40 in the storage area 60A, and is stored in the HDD 80c. In the storage area information update process, the CPU 80a of the management device 80 first determines whether the feeder 30 has been newly attached to the feeder table 40 in the storage area 60A (S100). When the CPU 80a determines that the feeder 30 has been newly attached, the CPU 80a acquires position information of the attachment position based on the position of the attached connector 45 (S105), and sends the feeder 30 from the feeder control device 39 of the attached feeder 30. , And feeder information such as the type and quantity of contained parts (S110). Then, the CPU 80a updates the storage area information by registering the feeder information in association with the position information (S115), and proceeds to the next processing of S120. When the CPU 80a determines that the feeder 30 is not newly attached in S100, the CPU 80a skips the processing of S105 to S115 and proceeds to the next processing of S120.

  Next, the CPU 80a of the management device 80 determines whether or not the feeder 30 has been removed from the feeder table 40 in the storage area 60A (S120). If it is determined that the feeder 30 has not been removed, the storage area information updating process is performed. finish. On the other hand, when determining that the feeder 30 has been removed, the CPU 80a acquires the position information of the removal position based on the position of the removed connector 45 (S125), and deletes the feeder information associated with the position information. Thus, the storage area information is updated (S130), and the storage area information update processing ends.

  Here, FIG. 8 is an explanatory diagram showing an example of the storage area information. In the storage area information, ID information of the feeder 30, information of a component type, information of a component amount, and the like are stored in association with positional information of a mounting position of the feeder 30. The position information is determined in order with the reference slot (for example, the leftmost slot 42) of the plurality of slots 42 of the feeder table 40 as the leading position “001”. In the example of FIG. 8, at the position where the position information is “001” or “002”, the feeder 30 whose component type is “A-001” and whose component amount is “Full” (not used after the worker supplies). Indicates that is attached. Also, it indicates that the feeder 30 is not attached to the position where the position information is “003”. At the position where the position information is “004” or “005”, a feeder 30 whose component type is “B-005” and whose component amount is “Empty” (already used in the component mounter 20) is attached. Indicates that When the number of “Empty” feeders 30 exceeds a predetermined number, the worker is notified by voice. Note that the storage area information is not limited to the one that stores “Full” or “Empty” in the component amount, but may be one that stores the value of the remaining number of components. Further, the management device 80 may display the storage area information on the display 82 so as to be visually recognizable based on a request of the worker. The mounting control device 28 of each component mounter 20 supplies the supply area information in which the position information in the supply area 20A is associated with the feeder information, the position information in the stock area 20B, and the feeder information in the same manner as the storage area information. Is stored in the storage area information.

  FIG. 9 is a flowchart illustrating an example of the feeder replacement process. This processing is executed when the feeder 30 in the storage area 60A of the feeder storage 60 and the feeder 30 in the supply area 20A (or in the stock area 20B) of the component mounter 20 are exchanged. In order to replace the feeder 30, the management device 80 removes the feeder 30 containing the components necessary for the next mounting process from the storage area 60A and attaches the feeder 30 to the supply area 20A of each component mounter 20 based on the production program of the substrate S. Alternatively, the feeder 30 containing components unnecessary for the next mounting process is removed from the supply area 20A and attached to the stock area 20B or the storage area 60A. Alternatively, the replacement of the feeder 30 is performed when the remaining number of components in the feeder 30 attached to the supply area 20 </ b> A has a value of 0 and the out-of-component information transmitted from the component mounter 20 is received. This is performed by removing the feeder 30 from the supply area 20A and attaching it to the storage area 60A, or removing the feeder 30 containing the same type of components from the storage area 60A and attaching it to the supply area 20A or the stock area 20B. As described above, the replacement process of the feeder 30 is performed when the feeder 30 is attached or detached in the feeder storage 60 (storage area 60A), or when the feeder 30 is attached or detached in the component mounter 20 (supply area 20A or stock area 20B). There is.

  In the feeder replacement process, the CPU 80a of the management device 80 first determines whether or not it is time to attach or detach the feeder 30 in the feeder storage 60 (storage area 60A) (S200). The process proceeds to S225. On the other hand, if the CPU 80a determines that it is time to attach / detach, the CPU 80a sets a processing target position where the feeder 30 is attached / detached based on the storage area information (S205). Further, the CPU 80a sets a position to be moved by the exchange robot 50 to attach and detach the feeder 30 at the processing target position to a target position (S210). For example, when removing the feeder 30 from the feeder storage 60 (storage area 60A), the position (attachment position) of the slot 42 in which the feeder 30 is attached is the processing target position, and the removal of the feeder 30 from the processing target position is required. The possible position of the exchange robot 50 is the target position. When the used feeder 30 is mounted on the feeder storage 60 (storage area 60A), the position of the empty slot 42 to which the feeder 30 can be mounted is a processing target position, and the feeder 30 can be mounted at the processing target position. Is the target position. When the target position is set, the CPU 80a executes an exchange robot moving process of moving the exchange robot 50 to the target position (S215), and drives and controls the exchange robot 50 at the target position to control the feeder storage 60 (storage area 60A). The attachment / detachment process of the feeder 30 to / from the processing target position is performed (S220), and the process proceeds to the next S225.

  Next, the CPU 80a determines whether or not it is time to attach / detach the feeder 30 in the component mounter 20 (the supply area 20A, the stock area 20B) (S225). I do. On the other hand, if the CPU 80a determines that it is the timing of attachment / detachment, the CPU 80a specifies the component mounter 20 to be processed (S230), and sets the processing target position based on the supply area information and the stock area information of the specified component mounter 20. At the same time (S235), the target position of the exchange robot 50 is set (S240). For example, when removing the feeder 30 of the component mounter 20 (supply area 20A, stock area 20B), the position of the slot 42 (attachment position) where the feeder 30 is attached is a processing target position, and the feeder is located at the processing target position. The position of the exchange robot 50 from which the detachable robot 30 can be removed is the target position. When the feeder 30 is mounted on the component mounter 20 (supply area 20A, stock area 20B), the position of the empty slot 42 to which the feeder 30 can be mounted is the processing target position, and the mounting of the feeder 30 is performed at the processing target position. The possible position of the exchange robot 50 is the target position. When the target position is set, the CPU 80a executes an exchange robot moving process of moving the exchange robot 50 to the target position (S245), and drives and controls the exchange robot 50 at the target position to control the mounting of the component mounter 20 (the supply area 20A, the stock). The process of attaching and detaching the feeder 30 to and from the processing target position in the area 20B) is performed (S250), and the feeder exchange process ends. In the processing of S235 to S250, an operation of exchanging the feeder 30 between the supply area 20A and the stock area 20B may be performed. Hereinafter, the exchange robot moving process in S215 and S245 will be described. FIG. 10 is a flowchart illustrating an example of the exchange robot moving process. This processing is performed by the CPU of the robot control device 59 based on a drive command from the management device 80.

  In this exchange robot moving process, the robot control device 59 first determines whether or not a sensor on the traveling direction side (the side toward the target position) of the exchange robot 50 detects an operator (an obstacle) (S300). ). The process of S300 is performed based on a detection signal from the left monitoring sensor 58a if the traveling direction is the left direction, and is performed based on a detection signal from the right monitoring sensor 58b if the traveling direction is the right direction. If the robot control device 59 determines that the sensor in the traveling direction has detected the worker, it stops the exchange robot 50 (S305) and repeats the determination of S300. The process of S305 is performed by terminating the movement if the exchange robot 50 is moving, and is performed by maintaining the state if the exchange robot 50 is stopped.

  On the other hand, when the robot control device 59 determines that the sensor on the traveling direction side does not detect the worker, the traveling direction of the exchange robot 50 is set to the feeder storage 60 side (in the present embodiment, the upstream side of the component mounting line 10). ) Is determined (S310). If the robot control device 59 determines that the traveling direction of the exchange robot 50 is not on the feeder storage 60 side (downstream of the component mounting line 10), the robot control device 59 moves the exchange robot 50 at a predetermined speed (S315), and proceeds to S360. Proceed to processing. If the robot control device 59 determines that the traveling direction of the exchange robot 50 is on the feeder storage 60 side, the robot control device 59 determines whether or not there is an operator in the pre-storage range 11 a based on a detection signal from the pre-storage monitoring sensor 86. Is determined (S320). If the robot control device 59 determines that there is an operator in the pre-storage range 11a, the robot control device 59 determines whether the current position of the replacement robot 50 is within the adjacent range 11b based on the detection position of the encoder 57 (S325). . The robot control device 59 determines that the exchange robot 50 is not within the adjacent range 11b even if it determines that there is no worker in the pre-storage range 11a or determines that there is a worker in the pre-storage range 11a (in this embodiment, Is determined to be within the non-adjacent range 11c), the exchange robot 50 is moved at a predetermined speed (S330). When the robot controller 59 determines that the worker is present in the pre-storage area 11a and determines that the replacement robot 50 is in the adjacent area 11b, the robot control apparatus 59 moves the replacement robot 50 at a lower speed than the predetermined speed. (S335). As described above, when the exchange robot 50 approaches the worker in the area 11a in front of the storage, the exchange robot 50 is moved at a low speed in the adjacent area 11b. It is possible to prevent the movement of 50 from being unnecessarily restricted.

  Next, the robot controller 59 determines whether or not the replacement robot 50 has reached the boundary position between the adjacent range 11b and the pre-storage range 11a based on the detection position of the encoder 57 (S340). If it is determined that there is not, the process proceeds to S360. When determining that the exchange robot 50 has reached the boundary position, the robot controller 59 determines whether or not there is an operator in the pre-storage range 11a based on the detection signal from the pre-storage monitoring sensor 86 (S345). If it is determined that there is an operator in the pre-storage range 11a, the exchange robot 50 is stopped (S350), and the determination in S345 is repeated. The process of S350 is performed by terminating the movement if the exchange robot 50 is moving, and is performed by maintaining the state if the exchange robot 50 is stopped. As described above, if there is an operator in the pre-storage area 11a, the exchange robot 50 is prevented from entering the pre-storage area 11a from the adjacent area 11b and is not moved in the pre-storage area 11a. Thus, the safety of the worker who carries the feeder 30 into and out of the feeder storage 60 can be ensured. Here, for example, it is assumed that the detection range of the monitoring sensor (the left monitoring sensor 58a) of the robot controller 50 is smaller than the detection range of the pre-storage monitoring sensor 86 that monitors the pre-storage range 11a. For this reason, based on the detection signal from the pre-storage monitoring sensor 86, the safety of the workers in the pre-storage range 11a can be appropriately secured. Further, the pre-storage area 11a includes not only the area in front of the feeder storage 60 but also the area in front of the adjacent component mounter 20, so that it is possible to more easily ensure the safety of workers.

  In S345, if the robot control device 59 determines that there is no worker in the pre-storage range 11a, the robot control device 59 moves the exchange robot 50 at a predetermined speed to enter the pre-storage range 11a (S355), and proceeds to the processing of S360. . After stopping the replacement robot 50 in S350, if the robot controller 59 determines in S345 that the pre-storage monitoring sensor 86 does not detect the worker, the robot controller 59 waits until a predetermined time has elapsed, and then replaces the replacement robot 50. 50 may be moved. Then, the robot control device 59 determines whether or not the replacement robot 50 has reached the target position (S360). If the robot controller 59 determines that the replacement robot 50 has not reached the target position, the process returns to S300 and repeats the process. If it determines that the replacement robot 50 has reached the target position, the robot controller 59 stops the replacement robot 50 (S365). The exchange robot moving process ends. After the replacement robot 50 enters the pre-storage range 11a, if the worker is detected before reaching the target position, the movement is stopped in S305.

  Here, the correspondence between the components of the present embodiment and the components of the present invention will be clarified. The feeder 30 of the present embodiment corresponds to a component supply unit, the component mounter 20 corresponds to a component mounter, the component mounting line 10 corresponds to a component mounting line, the feeder storage 60 corresponds to a unit storage, The exchange robot 50 corresponds to a unit exchange device, and the management device 80 executing the feeder exchange process in FIG. 9 and the robot control device 59 executing the exchange robot moving process in FIG. 10 correspond to the control device. The substrate transfer device 62 corresponds to a transfer device, the pre-storage monitoring sensor 86 corresponds to a detector, the management device 80 corresponds to a management device, and the waste material transfer device 26 corresponds to a waste material transfer device.

  The component mounting line 10 described above includes a plurality of component mounters 20 arranged along the board transfer direction, a feeder storage 60 for storing a plurality of feeders 30 detachable from the component mounter 20, and a feeder storage 60. And a replacement robot 50 capable of exchanging the feeder 30 between each of the component mounters 20. The feeder storage 60 is arranged in the same order as the plurality of component mounters 20, and the exchange robot 50 is mounted in the direction of transport of the substrate. To replace the feeder 30. Thus, the worker can replenish the feeders 30 to the component mounters 20 of the component mounting line 10 only by replenishing the feeder storage 60 with the feeders 30. Further, since the used feeders 30 can be automatically collected from the component mounters 20 in the feeder storage 60, the operator can collect and collect the feeders 30 from the feeder storage 60. That is, the worker can supply and collect the feeder 30 in the feeder storage 60 regardless of the feeder 30 used in any of the component mounters 20. If the exchange robot 50 is not located in front of the feeder storage 60, the feeder 30 can be replenished or collected at an arbitrary timing. Further, as compared with the case where the operator supplies the feeder 30 to each of the component mounters 20, the moving exchange robot 50 can be prevented from being frequently stopped. As a result, an easy-to-use feeder storage 60 can be provided. Further, by configuring the feeder storage 60 such that the number of storages (storage) of the feeders 30 in the feeder storage 60 is an appropriate number according to the number of components mounted on the component mounting line 10 and the component type, The feeder storage 60 can function properly as an in-line parts storage.

  In addition, since the feeder storage 60 includes the substrate transfer device 62, the feeder storage 60 can be easily installed at the same position as the plurality of component mounters 20. Since the component mounting line 10 installs the feeder storage 60 at a position upstream of the component mounting machine 20 on the most upstream side, it interferes with the movement of the exchange robot 50 when loading and unloading the feeder 30 into and from the feeder storage 60. Can be suppressed. In addition, the component mounting line 10 has a common feeder table 40 at the same height position between the feeder storage 60 and the component mounter 20, and the replacement robot 50 uses a common feeder transfer mechanism 53 using the same feeder transfer mechanism 53. The operation allows the feeder 30 to be efficiently attached and detached between the feeder storage 60 and the component mounter 20.

  In addition, when the pre-storage monitoring sensor 86 detects the worker, the component mounting line 10 does not allow the replacement robot 50 to enter the pre-storage range 11a, so that the safety of the worker can be ensured. When the pre-storage monitoring sensor 86 detects an operator, the exchange robot 50 moves toward the feeder storage 60 at a low speed in the adjacent range 11b, so that the exchange is performed within a range that does not hinder the safety of the operator. The robot 50 can be moved. In addition, since the component mounting line 10 arranges the management device 80 and the collection container 64 in the installation space of the feeder storage 60, the space can be used efficiently.

  It should be noted that the present invention is not limited to the above-described embodiment at all, and it goes without saying that the present invention can be implemented in various modes as long as it belongs to the technical scope of the present invention.

  For example, in the above-described embodiment, the feeder storage 60 is installed at a position upstream of the most upstream component mounter 20. However, the present invention is not limited to this, and the most downstream component in the direction in which the plurality of component mounters 20 are arranged. The feeder storage 60 may be installed at a position downstream of the mounting machine 20. Alternatively, the feeder storage 60 may be installed at a position in the middle of the arrangement direction of the plurality of component mounters 20 (position sandwiched between the component mounters 20). Although only one feeder storage 60 is installed in the component mounting line 10, a plurality of feeders may be installed. FIG. 11 is a configuration diagram schematically illustrating a configuration of a component mounting line 10B according to a modification. As shown in the drawing, in the component mounting line 10B of the modified example, a total position is provided at a position upstream of the most upstream component mounter 20 and at a position (substantially middle position) in the arrangement direction of the plurality of component mounters 20. Two feeder storages 60 are installed. In this case, the feeder 30 used in the component mounter 20 between the upstream side feeder storage 60 and the intermediate position feeder storage 60 is mainly supplied and collected in the upstream side feeder storage 60, and is stored in the intermediate position. The feeder 30 used in the component mounter 20 on the downstream side of the feeder storage 60 may be one that is supplied or collected mainly in the feeder storage 60 at an intermediate position. Thus, even when many component mounters 20 are arranged as the plurality of component mounters 20 and the total length of the component mounting line 10B is long, the moving distance of the exchange robot 50 is prevented from becoming unnecessarily long, and the feeder is prevented. It is possible to suppress a decrease in the work efficiency of the automatic replacement of the 30. In addition, not only the feeder storage 60 but also a plurality of exchange robots 50 may be installed.

  In the above-described embodiment, the worker carries the feeder 30 into and out of the feeder storage 60. However, the present invention is not limited to this, and an automatic transport device capable of automatically transporting the feeder 30 from outside the line of the component mounter 10 is provided. The feeder 30 may be used to carry the feeder 30 into and out of the feeder storage 60. FIG. 12 is a configuration diagram schematically illustrating the configuration of the component mounting lines 10C and 10D of the modification. As the automatic transfer device, for example, as shown in FIG. 12A, an OHT (overhead traveling unmanned transfer vehicle) 90 can be used. The loading and unloading of the feeder 30 by the OHT 90 requires that the upper portion of the loading / unloading destination be open, but it is difficult to configure the component mounter 20 to open the upper portion due to the structure for moving the head 22. is there. The feeder storage 60 has no such restriction and can open the upper part of the storage area 60A, so that the OHT 90 can automatically load and unload the feeder 30. Further, as shown in FIG. 12B, an AGV (autonomous guided vehicle traveling on the floor) 100 can be used as the automatic transfer device. Assuming that the AGV carries the feeder 30 in and out of each component mounter 20, a problem of interference between the movement of the AGV and the movement of the exchange robot 50 may occur frequently. Further, in order to smoothly carry in and out the feeder 30 by the AGV, it is desirable to provide a guide for adjusting the stop position of the AGV. However, if the AGV carries in and out the feeder 30 to each component mounting machine 20, Providing a guide in the component mounter 20 may cause a space problem. As in the modified example, the AGV 100 carries the feeder 30 in and out of the feeder storage 60 only, thereby preventing interference between the movement of the AGV 100 and the movement of the exchange robot 50 only in the pre-storage range 11a, Since a guide may be provided only in the feeder storage 60, such problems can be prevented.

  In the above-described embodiment, the management device 80 and the collection container 64 are arranged in the installation space of the feeder storage 60. However, the present invention is not limited to this, and one or both of the management device 80 and the collection container 64 are not arranged. It may be. Note that the collection container 64 is not limited to the one that collects waste tapes, and may be one that collects waste materials of a housing member (for example, a tray-shaped member) that houses components.

  In the above-described embodiment, when there is an operator in the pre-storage area 11a, the exchange robot 50 moving toward the feeder storage 60 in the adjacent area 11b is moved at a lower speed than the predetermined speed. The invention is not limited thereto, and the exchange robot 50 may be moved at a predetermined speed.

  In the above-described embodiment, the pre-storage monitoring sensor 86 detects (monitors) the presence or absence of the worker in the pre-storage range 11a, but the invention is not limited to this. For example, a safety fence that can be pulled out by an operator may be provided between the feeder storage 60 and the adjacent component mounter 20 to detect whether or not the safety fence is pulled out.

  In the above-described embodiment, the exchange robot 50 is stopped without entering the pre-storage range 11a if an operator is present in the pre-storage range 11a. However, the present invention is not limited to such processing. For example, in the feeder replacement process, when it is detected that an operator is present in the pre-storage range 11a, the control unit controls the replacement robot 50 to perform a process executable in a range other than the pre-storage range 11a first. It may be.

  In the embodiment described above, in the movement control of the replacement robot 50, the monitoring sensor 86 before the storage and the left and right monitoring sensors 58a and 58b of the replacement robot 50 are used, but the present invention is not limited to this. Only the sensors 58a and 58b may be used. In this case, the left and right monitoring sensors 58a and 58b are each configured by a plurality of sensors having a first detection range and a second detection range wider than the first detection range, and the worker is detected in the second detection range. It may move at a low speed when detected, and stop when an operator is detected in the first detection range. Alternatively, even when the movement control of the exchange robot 50 is performed using only the pre-storage monitoring sensor 86, the worker can safely work in the pre-storage range 11a.

  In the above-described embodiment, the worker may carry the feeders 30 into and out of the feeder storage 60 one by one, or may carry in and out a plurality of feeders 30 collectively. For example, a magazine in which a plurality of feeders 30 can be collectively attached and detached can be set in the storage area 60A of the feeder storage 60. Then, the worker attaches a plurality of new feeders 30 to the magazine and replenishes the storage area 60A, or collects the used magazines when the plurality of used feeders 30 are attached to the magazine in the storage area 60A. In this case, the worker may perform replenishment and collection using a cart on which a magazine can be mounted. In the storage area 60A of the feeder storage 60, a trolley on which such a magazine is mounted can be set, and even if the work vehicle is replaced for each trolley (including the feeder 30 in the magazine on the trolley). Good.

  In the above-described embodiment, the component mounter 20 includes the feeder stock area 20B, but may not include the feeder stock area 20B. In this case, the exchange robot 50 may not include the lower transfer area 50B, or the lower transfer area 50B may be used as a stock area of the feeder 30 in the exchange robot 50. Further, the exchange robot 50 may be configured so as to accommodate a plurality of feeders 30 and exchange the plurality of feeders 30 collectively.

   INDUSTRIAL APPLICABILITY The present invention is applicable to a manufacturing industry of a component mounting line and the like.

  10, 10B, 10C, 10D Component mounting line, 11a Storage area, 11b Adjacent area, 11c Non-adjacent area, 12 printing machine, 14 print inspection machine, 18 X-axis rail, 20 component mounting machine, 20A supply area, 20B Stock area, 21 board transfer device, 22 head, 23 head moving mechanism, 24 tape duct, 25 tape cutter, 26 tape chute, 27 waste tape transfer device, 28 mounting control device, 30 feeder, 32 tape reel, 33 tape feed mechanism , 34 positioning pin, 35 connector, 37 rail member, 39 feeder control device, 40 feeder stand, 42 slot, 44 positioning hole, 45 connector, 50 exchange robot, 50A upper transfer area, 50B lower transfer area, 51 robot movement Mechanism, 52a X axis Data, 52b guide roller, 53 feeder transfer mechanism, 54 clamp unit, 55 Y axis slider, 55a Y axis motor, 55b Y axis guide rail, 56a Z axis motor, 56b Z axis guide rail, 57 encoder, 58a Left side monitoring Sensor, 58b Right side monitoring sensor, 59 Robot controller, 60 feeder storage, 60A storage area, 61 housing, 62 substrate transfer device, 63A lower space, 63B opening, 64 collection container, 65A storage unit, 65B holder, 80 Management device, 80a CPU, 80b ROM, 80c HDD, 80d RAM, 82 display, 84 input device, 86 monitoring sensor before storage, 90 OHT, 100 AGV, S board.

Claims (10)

A component mounting line in which a component supply unit is detachably set, and a plurality of component mounters for mounting components supplied by the component supply unit on a mounting target are arranged in a plurality along the transport direction of the mounting target. ,
A unit storage for storing a plurality of the component supply units,
The component supply unit attached to the plurality of component mounters, and a unit exchange device capable of exchanging the component supply unit stored in the unit storage,
A control device for controlling the unit exchange device,
With
The unit storage is installed in the same arrangement as the plurality of component mounting machines,
The component mounting line, wherein the control device controls the unit exchange device to move the predetermined supply range along the transport direction to exchange the component supply unit. The component mounting line according to claim 1,
The component mounting line, wherein the unit storage is installed at a position upstream of the most upstream component mounter in the direction in which the plurality of component mounters are arranged or at a position downstream of the most downstream component mounter. The component mounting line according to claim 2,
The component mounting line, wherein the unit storage is installed at an intermediate position in the arrangement of the plurality of component mounters in addition to the upstream position or the downstream position. The component mounting line according to claim 1, wherein:
The component storage line includes a transport device that transports the mounting object in the transport direction. The component mounting line according to claim 1, wherein:
The unit storage has a configuration common to the configuration in which the component supply unit is detachably set to the component mounter,
A component mounting line, wherein the unit exchange device performs attachment / detachment of the component supply unit in the component mounter and attachment / detachment of the component supply unit in the unit storage by a common operation using the same mechanism. The component mounting line according to claim 1, wherein:
The unit storage is capable of loading and unloading the component supply unit by an operator,
A detector that detects the presence or absence of an operator within a predetermined range including the front of the unit storage in the movement range,
The component mounting line, wherein the control device controls the unit replacement device so as not to move within the predetermined range when the detector detects an operator. The component mounting line according to claim 6, wherein
The control device, when the detector is detecting the worker, moves in the moving range except the predetermined range at a lower speed than when the detector is not detecting the worker. A component mounting line capable of controlling the unit exchange device. The component mounting line according to claim 1, wherein:
The component mounting line is configured such that the component supply unit can be loaded and unloaded by an automatic transport device that automatically transports the component supply unit from outside the component mounting line. The component mounting line according to claim 1, wherein:
A management device for managing the mounting of the component mounter,
A component mounting line on which the management device can be arranged in an installation space of the unit storage. The component mounting line according to claim 1, wherein:
The component supply unit supplies the component to the component mounter by sending out a storage member that stores the component,
A waste material transport device that transports waste material of the housing member after the component is supplied from the component supply unit to the component mounter to an installation space of the unit storage,
With
A component mounting line, wherein a collection container for collecting the waste material transported by the waste material transport device can be arranged in an installation space of the unit storage.

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