JP6850849B2 - Tape feeder storage and component mounting line - Google Patents

Description

The present invention relates to a component mounting line.

Conventionally, in a component mounting machine for collecting components from a component supply unit containing a plurality of components and mounting them on a board, a component mounting machine in which the component supply unit can be automatically replaced has been proposed. For example, Patent Document 1 describes a supply station on which a component supply unit is mounted so that a component mounting machine can collect parts, a storage cabinet provided adjacent to the component mounting machine and storing a plurality of component supply units, and the like. A configuration is disclosed that includes a loader that replaces a component supply unit between a storage and a supply station. In this configuration, when an empty parts supply unit that runs out of parts occurs, the loader replaces the empty parts supply unit and the parts supply unit in the storage, and the parts supply unit is automatically replaced. ..

Japanese Unexamined Patent Publication No. 7-176892

When the technique described in Patent Document 1 is applied to a component mounting line composed of a plurality of component mounting machines arranged side by side, a storage corresponding to each component mounting machine is provided adjacent to each component mounting machine. .. Therefore, the total length of the component mounting line may be longer than expected. Further, when each component mounting machine is provided with a corresponding storage, it is necessary to replenish or collect the component supply unit for each storage. In this way, in a configuration in which the storage is adjacent to each component mounting machine, the usability may be worsened.

An object of the present invention is to provide a convenient storage for a parts supply unit.

The present invention has taken the following measures to achieve the above-mentioned main object.

The component mounting line of the present invention is configured by arranging a plurality of component mounting machines in which the component supply unit is detachably set and the components supplied by the component supply unit are mounted on the mounting object along the transport direction of the mounting object. A unit storage unit that stores a plurality of the component supply units in a component mounting line, the component supply unit attached to the plurality of component mounting machines, and the component supply unit stored in the unit storage unit. The unit is provided with a unit exchange device capable of exchanging the unit and a control device for controlling the unit exchange device. The unit storage is installed in the same arrangement as the plurality of component mounting machines, and the control device is installed along the transport direction. The gist is to control the unit replacement device so as to move the predetermined movement range and replace the component supply unit.

In the component mounting line of the present invention, a unit storage unit for storing a plurality of component supply units is installed in the same arrangement as a plurality of component mounting machines, and the component is supplied by moving a predetermined movement range along a transport direction of a mounting object. Control the unit replacement device to replace the unit. As a result, regardless of the component supply unit used in any of the component mounting machines, the component supply unit may be replenished or collected in the unit storage. Further, if the unit replacement device is outside the predetermined range on the front surface of the unit storage, the parts supply unit can be carried in and out at an arbitrary timing. As a result, it is possible to provide an easy-to-use unit storage.

Further, in the component mounting line of the present invention, the unit storage is located upstream of the most upstream component mounting machine or downstream of the most downstream component mounting machine in the arrangement direction of the plurality of component mounting machines. It can also be installed. By doing so, since the unit storage is installed at the position at the end of the arrangement of the plurality of component mounting machines, it is possible to further facilitate the loading and unloading of the component supply unit to and from the unit storage.

In the component mounting line of the present invention of this aspect, the unit storage may be installed at an intermediate position in the arrangement of the plurality of component mounting machines 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 many component mounting machines, the distance traveled by the unit replacement device between the unit storage and the component mounting machine becomes longer than necessary. Can be prevented.

Further, in the component mounting line of the present invention, the unit storage may be provided with a transport device for transporting the mounting object in the transport direction. In this way, the unit storage can be easily installed at the same position as the plurality of component mounting machines.

Further, in the component mounting line of the present invention, the unit storage has a configuration common to a configuration in which the component supply unit is detachably set in the component mounting machine, and the unit replacement device is the component mounting device. It is also possible to attach / detach the parts supply unit in the machine and attach / detach the parts supply unit in the unit storage by a common operation using the same mechanism. By doing so, it is possible to prevent the configuration of the unit replacement device from becoming complicated and to efficiently attach / detach the component supply unit.

Further, in the component mounting line of the present invention, the unit storage can be carried in and out by an operator, and the operator within a predetermined range including the front of the unit storage within the moving range. A detector for detecting the presence or absence may be provided, 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. .. In this way, the safety of the operator who carries in and out the parts supply unit can be ensured.

In the component mounting line of the present invention of this aspect, the control device is said to have the predetermined speed when the detector detects the worker at a slower speed than when the detector does not detect the worker. The unit exchange device can also be controlled to move within the moving range excluding the range. In this way, the unit exchange device can be moved within a range that does not impair the safety of the operator.

Further, in the component mounting line of the present invention, the unit storage unit shall be capable of loading and unloading the component supply unit by an automatic transport device that automatically transports the component supply unit from outside the component mounting line. You can also. In this way, the loading and unloading of the parts supply unit can be automated and made efficient.

Further, in the component mounting line of the present invention, a management device that manages the mounting of the component mounting machine can be arranged in the installation space of the unit storage. In this way, the space in the component mounting line can be efficiently used.

Further, in the component mounting line of the present invention, the component supply unit supplies the component to the component mounting machine by sending out an accommodating member for accommodating the component, and the component supply unit feeds the component to the component mounting machine. The waste material transporting device for transporting the waste material of the accommodating member to the installation space of the unit storage is provided, and the waste material transported by the waste material transporting device is collected in the installation space of the unit storage. It is also possible to arrange the collection container to be used. In this way, the space in the component mounting line can be efficiently used.

The block diagram which shows the outline of the structure of the component mounting line 10. The block diagram which shows the outline of the structure of the component mounting machine 20. The block diagram which shows the outline of the structure of the feeder 30. The block diagram which shows the outline of the structure of the exchange robot 50. The block diagram which shows the outline of the structure of the feeder storage 60. The block diagram about the control of the component mounting line 10. A flowchart showing an example of storage area information update processing. Explanatory drawing which shows an example of storage area information. The flowchart which shows an example of a feeder exchange process. The flowchart which shows an example of exchange robot movement processing. The block diagram which shows the outline of the structure of the component mounting line of the modification example. The block diagram which shows the outline of the structure of the component mounting line of the modification example.

FIG. 1 is a configuration diagram showing an outline of the configuration of the component mounting line 10, FIG. 2 is a configuration diagram showing an outline of the configuration of the component mounting machine 20, and FIG. 3 is a configuration diagram showing an outline of the configuration of the feeder 30. is there. Further, FIG. 4 is a configuration diagram showing an outline of the configuration of the replacement robot 50, FIG. 5 is a configuration diagram showing an outline of 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. The left-right direction in FIG. 1 is the X direction, the front-back direction is the Y direction, and the up-down direction is the Z direction.

As shown in FIG. 1, the component mounting line 10 uses a printing machine 12 for printing solder on a substrate, a printing inspection machine 14 for inspecting the state of the printed solder, and components supplied from the feeder 30 on the substrate. A plurality of component mounting machines 20 to be mounted, a mounting inspection machine (not shown) for inspecting the mounting state of components, a feeder storage 60 capable of storing a plurality of feeders 30, a management device 80 for managing the entire line, and the like. Be prepared. In the component mounting line 10, the printing machine 12, the printing inspection machine 14, and the plurality of component mounting machines 20 are installed side by side in the transfer direction (X direction) of the substrate in this order. Further, the feeder storage 60 is incorporated in the line of the component mounting line 10, and is between the component mounting machine 20 on the most upstream side in the board transport direction among the plurality of component mounting machines 20 and the printing inspection machine 14. It is installed in. That is, the feeder storage 60 is installed at a position upstream of the component mounting machine 20 on the most upstream side. In the present embodiment, the worker replenishes the feeder storage 60 with the feeder 30 and collects the feeder 30 from the feeder storage 60. The supply and collection of the feeder 30 to the feeder storage 60 is also referred to as the loading and unloading of the feeder 30.

Further, the component mounting line 10 includes a replacement robot 50 that automatically replaces the feeder 30 between the plurality of component mounting machines 20 and the feeder storage 60. The replacement robot 50 can move along an X-axis rail 18 provided parallel to the transfer direction (X direction) of the substrate on the front surface of the plurality of component mounting machines 20 and the front surface of the feeder storage 60. .. In addition, in FIG. 2 and FIG. 5, the illustration of the X-axis rail 18 is omitted. In the present embodiment, the front range of the feeder storage 60 and the plurality of component mounting machines 20 will be described by dividing it into three ranges. Each range includes the front of the feeder storage 60 and the front of the component mounting machine 20 adjacent to the feeder storage 60 in this order from the upstream side in the transport direction, and the adjacent range 11a adjacent to the front storage range 11a. The range 11b and the non-adjacent range 11c adjacent to the adjacent range 11b and not adjacent to the storage front range 11a.

As shown in FIG. 2, the component mounting machine 20 has a substrate transfer device 21 for transporting the substrate S in the X direction, a head 22 having a suction nozzle for sucking the components supplied by the feeder 30, and the head 22 in the XY direction. A head moving mechanism 23 for moving and a mounting control device 28 (see FIG. 6) for controlling the entire device are provided. The mounting control device 28 is composed of a well-known CPU, ROM, RAM, etc., 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 that accommodates parts at a predetermined pitch. As shown in FIG. 3, the feeder 30 includes a tape reel 32 on which tape is wound, a tape feeding mechanism 33 that pulls out and feeds tape from the tape reel 32, and a connector 35 having two protruding 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 are provided. The feeder control device 39 is composed of a well-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 (mounting control device 28, management device 80, etc.) to which the feeder 30 is attached via the connector 35.

As shown in FIG. 2, the component mounting machine 20 has two upper and lower areas to which the feeder 30 can be mounted in the front. The upper area is a parts supply area 20A to which the feeder 30 can supply parts, and the lower area is a stock area 20B to which the feeder 30 can be stocked. A feeder stand 40 to which a plurality of feeders 30 are attached is provided in each of the supply area 20A and the stock area 20B. The feeder base 40 is a base having an L-shaped side view, and a plurality of slots 42 arranged in the X direction at intervals at which rail members 37 of the feeder 30 can be inserted and two positioning pins 34 of the feeder 30 are inserted. It includes two possible positioning holes 44 and a connector 45 provided between the two positioning holes 44 to which the connector 35 is connected.

Further, the component mounting machine 20 was cut by a tape duct 24 that sends the tape downward after the feeder 30 supplies the components, a tape cutter 25 that finely cuts the tape that has passed through the tape duct 24, and a tape cutter 25. A tape chute 26 on which the waste tape falls and a waste tape transfer device 27 arranged below the tape chute 26 are provided. The waste tape transfer device 27 of the present embodiment is configured as a belt conveyor device that conveys waste tape by a conveyor belt from the right side to the left side in the X direction. The waste tape transfer device 27 is fixed in a state in which the conveyor belt is tilted so as to have an upward slope from the right side to the left side in the X direction. Further, in the waste tape transfer device 27, the left end portion of the conveyor belt protrudes from the left side of the component mounting machine 20, and the waste tape transfer device 27 (conveyor belt) of the component mounting machine 20 adjacent to the left side (upstream side in the transport direction). The length exceeds the width of the component mounting machine 20 in the X direction so as to be located above the right end portion. Therefore, the waste tape transfer devices 27 of the adjacent component mounting machines 20 can overlap each other and deliver the waste tape, and the waste tape transfer devices 27 of each component mounting machine 20 are in the direction opposite to the transfer direction of the substrate S. It constitutes one waste tape transfer line.

As shown in FIG. 4, the replacement robot 50 has a robot moving mechanism 51 that moves the replacement robot 50 along the X-axis rail 18, and a feeder transfer that transfers the feeder 30 to the component mounting machine 20 and the feeder storage 60. It includes a mechanism 53 and a robot control device 59 (see FIG. 6) that controls the entire robot. The robot moving mechanism 51 includes an X-axis motor 52a such as a servomotor that drives a drive belt for moving the replacement robot 50, a guide roller 52b that guides the movement of the replacement robot 50 along the X-axis rail 18, and the like. Be prepared. The feeder transfer mechanism 53 has a Y-axis slider 55 equipped with a clamp portion 54 for clamping the feeder 30 and a Y-axis motor 55a for moving the clamp portion 54 along the Y-axis guide rail 55b, and a Y-axis slider 55 Z. It includes a Z-axis motor 56a that moves along the shaft guide rail 56b. In addition to this, the exchange robot 50 has an encoder 57 (see FIG. 6) that detects the movement position in the X direction, and left and right monitoring sensors (left side monitoring) such as an infrared sensor that monitors the presence or absence of obstacles (workers) on the left and right. The sensor 58a, the right side monitoring sensor 58b, see FIG. 6) and the like are provided.

The Y-axis slider 55 of the feeder transfer mechanism 53 is driven by the Z-axis motor 56a to move the upper transfer area 50A facing the supply area 20A of the component mounting machine 20 and the lower transfer area 50A facing the stock area 20B of the component mounting machine 20. Move to the loading area 50B. The robot control device 59 moves the Y-axis slider 55, which clamps the feeder 30 by the clamp portion 54, from the upper transfer area 50A to the supply area 20A by driving the Y-axis motor 55a, and moves the rail member 37 of the feeder 30. The feeder 30 is attached to the feeder base 40 in the supply area 20A by inserting it into the slot 42 of the feeder base 40 and releasing the clamp of the clamp portion 54. Further, the robot control device 59 clamps the feeder 30 attached to the feeder base 40 of the supply area 20A by the clamp portion 54, and the Y-axis slider 55 is moved upward from the supply area 20A by driving the Y-axis motor 55a. By moving to the area 50A, the feeder 30 is removed from the feeder base 40 of the supply area 20A (pulled into the upper transfer area 50A). In the robot control device 59, the Y-axis slider 55 is moved downward by driving the Z-axis motor 56a for attaching the feeder 30 to the feeder base 40 in the stock area 20B and removing the feeder 30 from the feeder base 40 in the stock area 20B. Since the same processing is performed except that the device is moved to the area 50B and the lower transfer area 50B is used instead of the upper transfer area 50A, the description thereof will be omitted.

As shown in FIG. 5, the feeder storage 60 has a storage area 60A to which the feeder 30 can be attached in the upper part on the front right side of the housing 61. The storage area 60A is provided with 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 mounting machine 20. Further, the feeder base 40 in the storage area 60A is provided at the same height (position in the Z direction) as the feeder base 40 in the supply area 20A. Therefore, the robot control device 59 of the replacement robot 50 moves the Y-axis slider 55, which clamps the feeder 30 by the clamp portion 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 portion 54, the feeder 30 can be attached to the feeder base 40 of the storage area 60A. Further, the robot control device 59 clamps the feeder 30 attached to the feeder base 40 of the storage area 60A by the clamp portion 54, and the Y-axis slider 55 is moved upward from the storage area 60A by driving the Y-axis motor 55a. By moving to the area 50A, the feeder 30 can be removed from the feeder stand 40 of the storage area 60A (pulled into the upper transfer area 50A). That is, the replacement robot 50 attaches / detaches the feeder 30 to / from the feeder base 40 of the storage area 60A of the feeder storage 60 in the same operation as attaching / detaching the feeder 30 to / from the feeder base 40 of the supply area 20A of the component mounting machine 20. Can be done. The feeder 30 that is not in use (parts are not being supplied) can be stored in the storage area 60A of the feeder storage 60 and the stock area 20B of the component mounting machine 20. For example, the stock area 20B may store a feeder 30 having remaining parts or a feeder 30 whose scheduled use time is relatively close, and the storage area 60A may store a used feeder 30 having no remaining parts. it can.

Further, the feeder storage 60 is provided with a substrate transfer device 62 for transporting the substrate S in the X direction in the upper rear portion of the housing 61. The board transfer device 62 has the same positions in the front-rear direction and the vertical direction as the board transfer device (not shown) of the printing 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 printing inspection machine 14 and deliver it to the board transfer device 21 of the adjacent component mounting machine 20.

In the lower space 63A at the lower rear part of the housing 61 of the feeder storage 60, a collection container 64 for collecting the waste tape conveyed by the waste tape transfer line is arranged. As described above, since the left end of the waste tape transfer device 27 of each component mounting machine 20 protrudes from the left side of each component mounting machine 20, the waste tape transfer device 27 of the component mounting machine 20 adjacent to the feeder storage 60 is also on the left side. Will stick out and invade the housing 61. The collection container 64 is arranged below the left end of the waste tape transport device 27 that has penetrated into the housing 61, so that the waste tape can be collected. Further, in the lower part on the front right side of the housing 61, an opening 63B is formed which communicates with the lower space 63A and opens larger than the height and the left and right widths of the collection container 64. Therefore, the operator can take the collection container 64 in and out from the opening 63B to collect the collection container 64 (waste tape). The feeder storage 60 may also have an area below the storage area 60A to which the feeder 30 can be attached so that the opening 63B is not formed. In that case, the collection container 64 is taken in and out from the rear of the housing 61. It may be configured as possible.

Further, on the front left side of the housing 61 of the feeder storage 60, a storage portion 65A opened in a rectangular parallelepiped shape is formed at the lower part, and a stand 65B having a horizontal plane is formed at the upper part. The storage unit 65A is formed to be one size larger than the main body of the management device 80, and as shown in FIG. 1, the main body of the management device 80 is stored. Further, as shown in FIG. 1, the display 82 and the input device 84 are mounted on the upper stand 65B. In this way, 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 board S refers to a program that defines which component is mounted on which board S, and how many boards S mounted in this way are to be manufactured. The management device 80 is communicably connected to the mounting control device 28 by wire and wirelessly communicably connected to the robot control device 59, and is also connected to the printing machine 12, the printing inspection machine 14, and the mounting inspection machine. Is connected so that it can communicate with. The management device 80 receives information on the mounting status of the component mounting machine 20 from the mounting control device 28, and receives information on 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 base 40 of the storage area 60A via the connectors 35 and 45. Further, the management device 80 outputs a drive signal to the board transfer device 62 of the feeder storage 60 to transfer the board S to the board transfer device 62. Further, the management device 80 receives a detection signal from the storage front monitoring sensor 86 such as an infrared sensor that monitors the presence of a worker in the storage front range 11a.

The following is a description of the processing performed by the management device 80 of the component mounting line 10. FIG. 7 is a flowchart showing an example of the storage area information update process. The storage area information is information on the mounting position and ID information of the feeder 30 set on the feeder base 40 of the storage area 60A, and the accommodation parts, 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 or not the feeder 30 is newly attached to the feeder base 40 of the storage area 60A (S100). When the CPU 80a determines that the feeder 30 is newly attached, the CPU 80a acquires the position information of the attachment position based on the position of the attached connector 45 (S105), and the feeder 30 from the feeder control device 39 of the attached feeder 30. The feeder information such as the ID information of the above, the type of the contained part, and the amount of the part is acquired (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. If the CPU 80a determines in S100 that the feeder 30 is not newly attached, the CPU 80a skips the processes of S105 to S115 and proceeds to the next process of S120.

Next, the CPU 80a of the management device 80 determines whether or not the feeder 30 has been removed from the feeder base 40 of the storage area 60A (S120), and if it determines that the feeder 30 has not been removed, the storage area information update process is performed. finish. On the other hand, when the CPU 80a determines 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. As a result, the storage area information is updated (S130), and the storage area information update process is completed.

Here, FIG. 8 is an explanatory diagram showing an example of storage area information. In the storage area information, ID information of the feeder 30, information on the part type, information on the amount of parts, and the like are stored in association with the position information of the mounting position of the feeder 30. The position information is determined in order with the reference slot (for example, the leftmost slot 42) as the head position "001" among the plurality of slots 42 of the feeder base 40. In the example of FIG. 8, at the position where the position information is "001" or "002", the feeder 30 having the part type "A-001" and the part amount "Full" (unused after being replenished by the operator) Indicates that is installed. Further, it indicates that the feeder 30 is not attached to the position where the position information is "003". Further, at the position where the position information is "004" or "005", a feeder 30 having a component type of "B-005" and a component quantity of "Empty" (already used in the component mounting machine 20) is attached. Show that. When the number of feeders 30 of "Empty" exceeds a predetermined number, the operator is notified by voice. The storage area information is not limited to storing "Full" or "Empty" in the amount of parts, and may store the value of the remaining number of parts. Further, the management device 80 may visually display the storage area information on the display 82 based on the request of the operator. In addition, the mounting control device 28 of each component mounting machine 20 has the supply area information in which the position information in the supply area 20A and the feeder information are associated with each other and the position information and the feeder information in the stock area 20B as well as the storage area information. Stores stock area information associated with.

FIG. 9 is a flowchart showing an example of the feeder exchange process. This process is executed when the feeder 30 in the storage area 60A of the feeder storage 60 is replaced with the feeder 30 in the supply area 20A (or the stock area 20B) of the component mounting machine 20. To replace the feeder 30, the management device 80 removes the feeder 30 containing the parts required for the next mounting process from the storage area 60A and attaches it to the supply area 20A of each component mounting machine 20 based on the production program of the board S. Alternatively, the feeder 30 containing parts 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 feeder 30 is replaced when the remaining number of parts in the feeder 30 attached to the supply area 20A becomes 0 and the parts out information transmitted from the parts mounting machine 20 is received. This is done 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 parts from the storage area 60A and attaching it to the supply area 20A or the stock area 20B. In this way, the feeder 30 can be replaced when the feeder 30 is attached / detached in the feeder storage 60 (storage area 60A) and when the feeder 30 is attached / detached in the component mounting machine 20 (supply area 20A, 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 the attachment / detachment timing for attaching / detaching the feeder 30 in the feeder storage 60 (storage area 60A) (S200). Proceed to the process of S225. On the other hand, when the CPU 80a determines that it is the attachment / detachment timing, the CPU 80a sets the processing target position which is the position where the feeder 30 is attached / detached based on the storage area information (S205). Further, the CPU 80a sets a position at which the replacement robot 50 should move in order to attach / detach the feeder 30 at the processing target position to the target position (S210). For example, when removing the feeder 30 of the feeder storage 60 (storage area 60A), the position (mounting position) of the slot 42 in which the feeder 30 is mounted becomes the processing target position, and the feeder 30 can be removed from the processing target position. The position of the exchange robot 50 that becomes possible becomes the target position. Further, when the used feeder 30 is attached to the feeder storage 60 (storage area 60A), the position of the empty slot 42 to which the feeder 30 can be attached becomes the processing target position, and the feeder 30 can be attached at the processing target position. The position of the exchange robot 50 is the target position. When the target position is set, the CPU 80a executes an exchange robot movement process for moving the exchange robot 50 to the target position (S215), drives and controls the exchange robot 50 at the target position, and causes the feeder storage 60 (storage area 60A). The feeder 30 is attached / detached to / from the processing target position (S220), and the process proceeds to the next processing of S225.

Next, the CPU 80a determines whether or not it is the attachment / detachment timing for attaching / detaching the feeder 30 in the component mounting machine 20 (supply area 20A, stock area 20B) (S225), and if it is determined that it is not the attachment / detachment timing, the feeder replacement process ends. To do. On the other hand, when the CPU 80a determines that it is the attachment / detachment timing, the component mounting machine 20 to be processed is specified (S230), and the processing target position is set based on the supply area information and the stock area information of the specified component mounting machine 20. At the same time (S235), the target position of the exchange robot 50 is set (S240). For example, when the feeder 30 of the component mounting machine 20 (supply area 20A, stock area 20B) is removed, the position (mounting position) of the slot 42 in which the feeder 30 is mounted becomes the processing target position, and the feeder is at the processing target position. The position of the replacement robot 50 that allows the removal of 30 is the target position. Further, when the feeder 30 is attached to the component mounting machine 20 (supply area 20A, stock area 20B), the position of the empty slot 42 to which the feeder 30 can be attached becomes the processing target position, and the feeder 30 can be attached at the processing target position. The position of the exchange robot 50 that becomes possible becomes the target position. When the target position is set, the CPU 80a executes an exchange robot movement process for moving the exchange robot 50 to the target position (S245), drives and controls the exchange robot 50 at the target position, and controls the parts mounting machine 20 (supply area 20A, stock). The feeder 30 is attached / detached to / from the processing target position in the area 20B) (S250), and the feeder replacement process is completed. In the processing of S235 to S250, the feeder 30 may be exchanged between the supply area 20A and the stock area 20B. Hereinafter, the exchange robot movement processing of S215 and S245 will be described. FIG. 10 is a flowchart showing an example of the exchange robot movement process. This process is performed by the CPU of the robot control device 59 based on the drive command from the management device 80.

In this exchange robot movement process, the robot control device 59 first determines whether or not the sensor on the traveling direction side (the side toward the target position) of the exchange robot 50 detects an operator (obstacle) (S300). ). The processing of S300 is performed based on the detection signal from the left side monitoring sensor 58a if the traveling direction is to the left, and is performed based on the detection signal from the right side monitoring sensor 58b if the traveling direction is to the right. When the robot control device 59 determines that the sensor on the traveling direction side has detected the operator, the replacement robot 50 is stopped (S305), and the determination of S300 is repeated. The process of S305 is performed by ending the movement if the exchange robot 50 is moving, and by maintaining that 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 operator, the traveling direction of the replacement robot 50 is on the feeder storage 60 side (in this embodiment, the upstream side of the component mounting line 10). ) (S310). When the robot control device 59 determines that the traveling direction of the replacement robot 50 is not on the feeder storage 60 side (downstream side of the component mounting line 10), the robot control device 59 moves the replacement robot 50 at a predetermined speed (S315), and the replacement robot 50 is moved in S360. Proceed to processing. Further, when the robot control device 59 determines that the traveling direction of the replacement robot 50 is on the feeder storage 60 side, whether or not there is an operator in the storage front range 11a based on the detection signal from the storage front monitoring sensor 86. (S320). When the robot control device 59 determines that there is an operator in the storage front range 11a, it determines whether or not 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 there is no worker in the storage front range 11a, or determines that there is a worker in the storage front range 11a, but the replacement robot 50 is not within the adjacent range 11b (in the present embodiment). , Within the non-adjacent range 11c), the exchange robot 50 is moved at a predetermined speed (S330). Further, when the robot control device 59 determines that there is an operator in the storage front range 11a and determines that the replacement robot 50 is within the adjacent range 11b, the robot control device 59 moves the replacement robot 50 at a speed slower than a predetermined speed. (S335). In this way, when the replacement robot 50 approaches the worker in the storage front range 11a, the replacement robot 50 is moved at a low speed within the adjacent range 11b, so that the replacement robot can be safely performed by the worker. It is possible to prevent the movement of 50 from being restricted more than necessary.

Next, the robot control device 59 determines whether or not the replacement robot 50 has reached the boundary position between the adjacent range 11b and the storage front range 11a based on the detection position of the encoder 57 (S340), and reaches the boundary position. If it is determined that there is no such procedure, the process proceeds to S360. When the robot control device 59 determines that the replacement robot 50 has reached the boundary position, it determines whether or not there is an operator in the storage front range 11a based on the detection signal from the storage front monitoring sensor 86 (S345). When it is determined that there is an operator in the range 11a in front of the storage, the replacement robot 50 is stopped (S350), and the determination in S345 is repeated. The processing of S350 is performed by ending the movement if the exchange robot 50 is moving, and by maintaining that state if the exchange robot 50 is stopped. In this way, if there is an operator in the storage front range 11a, the replacement robot 50 is not allowed to enter the storage front range 11a from the adjacent range 11b, and the replacement robot 50 is not moved in the storage front range 11a. , The safety of the worker who carries the feeder 30 into and out of the feeder storage 60 can be ensured. Here, for example, the detection range of the monitoring sensor (left side monitoring sensor 58a) of the robot control device 50 is narrower than the detection range of the storage front monitoring sensor 86 that monitors the storage front range 11a. Therefore, based on the detection signal from the storage front monitoring sensor 86, the safety of the operator in the storage front range 11a can be appropriately ensured. Further, since the range 11a in front of the storage includes not only the range in front of the feeder storage 60 but also the range in front of the adjacent component mounting machine 20, it is possible to make it easier to ensure the safety of the operator.

In S345, when the robot control device 59 determines that there is no worker in the storage front range 11a, the replacement robot 50 is moved at a predetermined speed to enter the storage front range 11a (S355), and the process proceeds to S360. .. When the robot control device 59 determines in S345 that the worker is not detected by the storage front monitoring sensor 86 after stopping the replacement robot 50 in S350, the robot control device 59 waits until a predetermined time elapses and then the replacement robot. 50 may be moved. Then, the robot control device 59 determines whether or not the exchange robot 50 has reached the target position (S360). When the robot control device 59 determines that the replacement robot 50 has not reached the target position, it returns to S300 and repeats the process, and when it determines that the replacement robot 50 has reached the target position, the replacement robot 50 is stopped (S365). The exchange robot movement process is completed. If the replacement robot 50 detects an operator after entering the storage storage range 11a and before reaching the target position, the movement will be stopped at 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 this embodiment corresponds to the component supply unit, the component mounting machine 20 corresponds to the component mounting machine, the component mounting line 10 corresponds to the component mounting line, and the feeder storage 60 corresponds to the unit storage. The exchange robot 50 corresponds to the unit exchange device, and the management device 80 that executes the feeder exchange process of FIG. 9 and the robot control device 59 that executes the exchange robot movement process of FIG. 10 correspond to the control device. Further, the substrate transfer device 62 corresponds to the transfer device, the storage pre-storage monitoring sensor 86 corresponds to the detector, the management device 80 corresponds to the management device, and the waste material transfer device 26 corresponds to the waste material transfer device.

The component mounting line 10 described above includes a plurality of component mounting machines 20 arranged along the transfer direction of the substrate, a feeder storage 60 for storing a plurality of feeders 30 detachable from the component mounting machine 20, and a feeder storage 60. A replacement robot 50 capable of exchanging the feeder 30 between the component mounting machine 20 and each component mounting machine 20 is provided, the feeder storage 60 is installed in the same arrangement as the plurality of component mounting machines 20, and the replacement robot 50 is in the transfer direction of the substrate. Move along to replace the feeder 30. As a result, the operator can supply the feeder 30 to each component mounting machine 20 of the component mounting line 10 simply by supplying the feeder 30 to the feeder storage 60. Further, since the used feeder 30 can be automatically collected from each component mounting machine 20 in the feeder storage 60, the operator can collectively collect the feeder 30 from the feeder storage 60. That is, the operator can replenish or collect the feeder 30 used in any of the component mounting machines 20 in the feeder storage 60. Further, if the replacement robot 50 is not in front of the feeder storage 60, the feeder 30 can be replenished or collected at an arbitrary timing. Further, it is possible to prevent the moving replacement robot 50 from being stopped more frequently than the one in which the operator supplies the feeder 30 to each component mounting machine 20. As a result, it is possible to provide a user-friendly feeder storage 60. Further, by configuring the feeder storage 60 so that the number of storage (storage) of the feeder 30 in the feeder storage 60 becomes an appropriate number according to the number of parts mounted on the component mounting line 10 and the component type. The feeder storage 60 can be appropriately functioned as an in-line type parts warehouse.

Further, since the feeder storage 60 includes the board transfer device 62, the feeder storage 60 can be easily installed at a position in the same arrangement as the plurality of component mounting machines 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 replacement robot 50 when the feeder 30 is carried in and out of the feeder storage 60. Can be suppressed. Further, the component mounting line 10 is provided with a feeder stand 40 common to the feeder storage 60 and the component mounting machine 20 at the same height position, and the replacement robot 50 uses the same feeder transfer mechanism 53 in common. By the operation, the feeder 30 can be efficiently attached to and detached from the feeder storage 60 and the component mounting machine 20.

Further, in the component mounting line 10, when the worker is detected by the storage storage front monitoring sensor 86, the replacement robot 50 is not allowed to enter the storage storage front range 11a, so that the safety of the worker can be ensured. Further, when the front storage monitoring sensor 86 detects the worker, the replacement robot 50 toward the feeder storage 60 side is moved at a low speed within the adjacent range 11b, so that the replacement is performed within a range that does not impair the safety of the worker. The robot 50 can be moved. Further, 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 efficiently used.

It goes without saying that the present invention is not limited to the above-described embodiment, and can be implemented in various aspects 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 mounting machine 20, but the present invention is not limited to this, and the most downstream component in the arrangement direction of the plurality of component mounting machines 20 is not limited to this. 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 mounting machines 20 (position sandwiched between the component mounting machines 20). Further, although only one feeder storage 60 is installed in the component mounting line 10, a plurality of feeder storage 60s may be installed. FIG. 11 is a configuration diagram showing an outline of the configuration of the component mounting line 10B of the modified example. As shown in the figure, in the component mounting line 10B of the modified example, the positions upstream of the component mounting machine 20 on the most upstream side and the positions in the middle of the arrangement direction of the plurality of component mounting machines 20 (substantially intermediate positions) are totaled. Two feeder storages 60 are installed. In this case, the feeder 30 used in the component mounting machine 20 between the feeder storage 60 on the upstream side and the feeder storage 60 at the intermediate position is mainly replenished and collected in the feeder storage 60 on the upstream side, and is supplied and collected at the intermediate position. The feeder 30 used in the component mounting machine 20 on the downstream side of the feeder storage 60 can be mainly replenished or collected in the feeder storage 60 at an intermediate position. As a result, even when many component mounting machines 20 are lined up as a plurality of component mounting machines 20 and the total length of the component mounting line 10B becomes long, the moving distance of the replacement robot 50 is prevented from becoming longer than necessary, and the feeder is used. It is possible to suppress a decrease in the work efficiency of the automatic replacement of 30. In addition to the feeder storage 60, a plurality of replacement robots 50 may be installed.

In the above-described embodiment, the operator carries in and out the feeder 30 to and from the feeder storage 60, but 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 mounting machine 10 is provided. The feeder 30 may be carried in and out of the feeder storage 60. FIG. 12 is a configuration diagram showing an outline of the configuration of the component mounting lines 10C and 10D of the modified example. As the automatic transfer device, for example, as shown in FIG. 12A, an OHT (ceiling automatic guided vehicle) 90 can be used. The loading / unloading of the feeder 30 by the OHT 90 requires that the upper part of the loading / unloading destination is open, but it is difficult to configure the component mounting machine 20 to open the upper part due to the structure for moving the head 22. is there. Since the feeder storage 60 can open the upper part of the storage area 60A without such restrictions, the feeder 30 can be automatically carried in and out by the OHT 90. Further, as the automatic guided vehicle, AGV (automated guided vehicle on the floor) 100 can be used as shown in FIG. 12 (b). If the AGV carries in and out the feeder 30 to each component mounting machine 20, the problem of interference between the movement of the AGV and the movement of the replacement robot 50 may occur frequently. Further, in order to make the loading and unloading of the feeder 30 by the AGV smooth, it is desirable to provide a guide for aligning the stop position of the AGV. However, assuming that the AGV carries in and out the feeder 30 to each component mounting machine 20, each Space problems may occur due to the provision of guides in the component mounting machine 20. As in the modified example, by assuming that the AGV 100 carries in and out the feeder 30 only to the feeder storage 60, interference between the movement of the AGV 100 and the movement of the replacement robot 50 can be prevented only in the range 11a in front of the storage. Since it is only necessary to provide the guide in the feeder storage 60, it is possible to prevent these problems from occurring.

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, but 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. May be. The collection container 64 is not limited to the one that collects the waste tape, and may be the one that collects the waste material of the accommodating member (for example, a tray-shaped member) for accommodating the parts.

In the above-described embodiment, when there is an operator in the storage storage front range 11a, the exchange robot 50 heading toward the feeder storage 60 side is moved within the adjacent range 11b at a speed slower than a predetermined speed. The exchange robot 50 may be moved at a predetermined speed without limitation.

In the above-described embodiment, the storage pre-storage monitoring sensor 86 detects (monitors) the presence or absence of an operator in the storage pre-storage range 11a, but the present 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 mounting machine 20 to detect whether or not the safety fence has been pulled out.

In the above-described embodiment, if there is an operator in the storage storage front range 11a, the replacement robot 50 is stopped without entering the storage storage front range 11a, but the processing is not limited to this. For example, in the feeder replacement process, when it is detected that there is a worker in the storage pre-storage range 11a, the replacement robot 50 is controlled so as to perform a process that can be executed in a range other than the storage pre-range 11a first. May be.

In the above-described embodiment, in the movement control of the exchange robot 50, the front storage monitoring sensor 86 and the left and right monitoring sensors 58a and 58b of the exchange robot 50 are used, but the present invention is not limited to this, and the left and right monitoring of the exchange robot 50 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 composed of a plurality of sensors having a first detection range and a second detection range wider than the first detection range, and the operator is set in the second detection range. When it is detected, it moves at a low speed, and when it detects a worker in the first detection range, it may stop. Alternatively, even if the movement control of the replacement robot 50 is performed using only the storage storage front monitoring sensor 86, the operator can safely work in the storage storage front range 11a.

In the above-described embodiment, the operator may carry in / out the feeders 30 one by one into the feeder storage 60, or may carry in / out a plurality of feeders 30 together. For example, in the storage area 60A of the feeder storage 60, a magazine in which a plurality of feeders 30 can be attached and detached at once can be set. Then, the operator attaches a plurality of new feeders 30 to the magazine to replenish the storage area 60A, or collects the magazine when a plurality of used feeders 30 are attached to the magazine in the storage area 60A. In this case, the worker may replenish or collect the magazine using a trolley on which the magazine can be mounted. Further, in the storage area 60A of the feeder storage 60, a trolley equipped with such a magazine 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 mounting machine 20 includes the feeder stock area 20B, but the feeder stock area 20B may not be provided. In this case, the replacement robot 50 may not include the lower transfer area 50B, or the lower transfer area 50B may be used as a stock area for the feeder 30 in the replacement robot 50. Further, the exchange robot 50 may accommodate a plurality of feeders 30 so that the plurality of feeders 30 can be exchanged together.

The present invention can be used in the manufacturing industry of component mounting lines and the like.

10,10B, 10C, 10D parts mounting line, 11a storage front range, 11b adjacent range, 11c non-adjacent range, 12 printing machine, 14 printing inspection machine, 18 X-axis rail, 20 parts mounting machine, 20A supply area, 20B Stock area, 21 board transfer device, 22 heads, 23 head movement 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 replacement robot, 50A upper transfer area, 50B lower transfer area, 51 robot movement Mechanism, 52a X-axis motor, 52b guide roller, 53 feeder transfer mechanism, 54 clamp, 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 control device, 60 feeder storage, 60A storage area, 61 housing, 62 board transfer device, 63A lower space, 63B opening, 64 collection container, 65A storage, 65B Stand, 80 management device, 80a CPU, 80b ROM, 80c HDD, 80d RAM, 82 display, 84 input device, 86 pre-storage monitoring sensor, 90 OHT, 100 AGV, S board.

Claims (4)

A printing machine that prints solder on a substrate, a printing inspection machine that inspects the state of the printed solder, and a tape feeder that feeds out tape that accommodates parts at a predetermined pitch are detachably set and supplied by the tape feeder. A plurality of component mounting machines for mounting components on the board are installed in the same manner as the plurality of component mounting machines in a component mounting line configured by arranging the components along the transfer direction of the board, and the tape feeder is transferred to the board. It is a tape feeder storage that stores multiple sheets side by side in the direction.
A board transfer device is provided which carries in the board from the printing inspection machine and carries it out to the component mounting machine adjacent to the tape feeder storage.
Tape feeder storage. The tape feeder storage according to claim 1.
A plurality of the tape feeders are stored at the same height position as the position set in the component mounting machine so that the tape feeder can supply the components.
Tape feeder storage. The tape feeder storage according to claim 1 or 2.
The board transfer device is configured to have the same positions in the front-rear direction and the vertical direction as the board transfer device of the printing inspection machine and the board transfer device of the adjacent component mounting machine.
Tape feeder storage. A printing machine that prints solder on a substrate, a printing inspection machine that inspects the state of the printed solder, a tape feeder storage according to any one of claims 1 to 3, and a tape feeder are detachably set. , A component mounting line composed of a plurality of component mounting machines for mounting components supplied by the tape feeder on the board, arranged side by side along the transport direction of the board.
And said tape feeder is attached to the plurality of component mounting machines, and the tape feeder that is stored in the tape feeder depot, a tape feeder switching apparatus capable exchange,
A control device that controls the tape feeder changing device and
With
Wherein the control device, the component mounting line for controlling the tape feeder switching apparatus that moves a predetermined range of movement along the transport direction to exchange the tape feeder.

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