WO2019225009A1 - Component mounting system - Google Patents

Abstract

This component mounting system comprises: a unit exchange device that moves in a direction in which a plurality of component mounting machines are aligned, and that automatically exchanges component supply units between the component mounting machines and the unit exchange device; an information storage unit which stores unit information that includes position information about a plurality of mounting positions for mounting the component supply units to the component mounting machines, and identification information about the component supply unit at each mounting position; an instruction output unit which outputs, to the unit exchange device, an automatic exchange instruction including designation of an attachment/detachment position, from among the plurality of mounting positions, for a component supply unit to be automatically exchanged; and a state confirmation unit which, during the time period from when the automatic exchange instruction is output to when the unit exchange device moves and begins attachment/detachment of the component supply unit at the attachment/detachment position, performs a state confirmation process to confirm, on the basis of the unit information, whether or not there is a difference between the mounting state of the component supply unit at the attachment/detachment position and the mounting state thereof when the automatic exchange instruction was output.

Description

Component mounting system

This specification discloses a component mounting system.

2. Description of the Related Art Conventionally, in a component mounting system including a component mounter to which a cassette type feeder (component supply unit) for supplying components is detachably mounted, a component mounting system such as a robot for automatically replacing a feeder has been proposed. (For example, refer to Patent Document 1). In this system, the replacement time of each feeder is set based on the board production plan and the remaining amount of parts in each feeder, and the unit replacement device is controlled so that the feeder is attached and detached and automatically replaced at that replacement time. This eliminates the need for the operator to perform feeder replacement work.

JP 2017-130593 A

However, in the above-described component mounting system, an operator may arbitrarily attach or detach the feeder to or from the component mounter. For example, the operator removes the feeder to be removed by the unit changer first, attaches another feeder after the operator removes the feeder, or attaches another feeder to the place where the unit changer attaches the feeder. Sometimes. In addition, such an operator may attach or detach the feeder after an automatic replacement instruction is output to the unit replacement device. In that case, the unit replacement device cannot perform the removal operation because there is no feeder to be removed, or remove the feeder different from the instruction, or try to attach the feeder to the place where another feeder is already attached. become. In such a case, the unit replacement device may not be able to perform automatic replacement as instructed, but may cause damage to the equipment.

This disclosure mainly aims to prevent the automatic replacement different from the instruction in the automatic replacement of the component supply unit so that the automatic replacement can be appropriately performed.

This disclosure has taken the following measures to achieve the main purpose described above.

A component mounting system according to the present disclosure is a component mounting system including a plurality of component mounters on which a plurality of component supply units that supply components are detachably mounted, and along a direction in which the plurality of component mounters are arranged. A unit exchanging device for moving and automatically exchanging the component supply unit with the component mounter; position information of a plurality of mounting positions at which the component supply unit is mounted on the component mounter; An information storage unit that stores unit information including identification information of a component supply unit, and an automatic replacement instruction including designation of an attachment / detachment position of the component supply unit to be automatically replaced among the plurality of mounting positions, to the unit replacement device An instruction output unit for outputting, and after the automatic replacement instruction is output, the unit replacement device moves to attach the component supply unit at the attachment / detachment position. Confirmation of whether or not the mounting status of the component supply unit at the attachment / detachment position is different from the mounting status when the automatic replacement instruction is output based on the unit information. And a situation confirmation unit that performs processing.

The component mounting system according to the present disclosure outputs an automatic replacement instruction including designation of an attachment / detachment position of a component supply unit subject to automatic replacement to a unit replacement device among a plurality of mounting positions where the component supply unit is mounted. In addition, after the automatic replacement instruction is output, the mounting status of the component supply unit at the attachment / detachment position is output after the unit replacement device moves and starts the attachment / detachment of the component supply unit at the attachment / detachment position. A status confirmation process is performed to confirm whether or not there is a difference from the mounting status at the time of mounting. As a result, it is possible to grasp that the automatic replacement cannot be performed as instructed before the attachment / detachment of the component supply unit due to the fact that the operator has attached / detached the component supply unit after the automatic replacement instruction is output. Therefore, it is possible to prevent the automatic exchange different from the instruction from being performed and appropriately perform the automatic exchange.

1 is a configuration diagram showing an outline of the configuration of a component mounting system 10. FIG. FIG. 2 is a configuration diagram showing an outline of the configuration of a component mounter 20. The block diagram which shows the outline of a structure of the feeder 30. FIG. The block diagram which shows the outline of a structure of the loader 50. FIG. FIG. 3 is a configuration diagram relating to control of the component mounting system 10. Explanatory drawing which shows an example of feeder management information. The flowchart which shows an example of a feeder automatic exchange process. The flowchart which shows an example of a feeder status confirmation process. The flowchart which shows the feeder automatic exchange process of a modification. The flowchart which shows the feeder automatic exchange process of a modification.

Next, modes for carrying out the present disclosure will be described with reference to the drawings.

FIG. 1 is a configuration diagram showing an outline of the configuration of the component mounting system 10 of the present embodiment, FIG. 2 is a configuration diagram showing an overview of the configuration of the component mounting machine 20, and FIG. 3 shows an overview of the configuration of the feeder 30. FIG. FIG. 4 is a configuration diagram showing an outline of the configuration of the loader 50, and FIG. 5 is a configuration diagram relating to control of the component mounting system 10. In addition, the left-right direction of FIG. 1 is an X direction, the front-back direction is a Y direction, and the up-down direction is a Z direction.

As shown in FIG. 1, the component mounting system 10 includes a printing machine 12, a printing inspection machine 14, a plurality of component mounting machines 20, a mounting inspection machine (not shown), a loader 50, and a feeder storage 60. And a management device 80 (see FIG. 5). The printer 12 prints solder on the substrate S. The print inspection machine 14 inspects the state of the solder printed by the printing machine 12. A plurality of component mounting machines 20 are installed side by side along the transport direction (X direction) of the substrate S, and mount the components supplied from the feeder 30 on the substrate S. The mounting inspection machine inspects the mounting state of the component mounted by the component mounting machine 20. The loader 50 supplies necessary feeders 30 to the plurality of component mounting machines 20 and collects the used feeders 30 from the component mounting machines 20. The feeder storage 60 stores the feeder 30 scheduled to be used by the component mounter 20 and the used feeder 30. The management device 80 manages the entire system. The printing machine 12, the printing inspection machine 14, the plurality of component mounting machines 20, and the mounting inspection machine are arranged in this order in the transport direction of the substrate S to constitute a production line. The feeder storage 60 is incorporated in the production line of the component mounting system 10, and among the component mounting machines 20, between the component mounting machine 20 on the most upstream side in the conveyance direction of the substrate S and the printing inspection machine 14. Is installed. In the present embodiment, basically, an operator replenishes the feeder 30 with the feeder 30 or collects the feeder 30 from the feeder storage 60. In addition to these devices, the component mounting system 10 may include a reflow device that performs a reflow process on the substrate S on which components are mounted.

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 sucks the components supplied by the feeder 30, and the head 22 in the XY direction. A head moving mechanism 23 to be moved and a mounting control device 28 (see FIG. 5) for controlling the entire apparatus are provided. The mounting control device 28 is composed of 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.

As shown in FIG. 3, the feeder 30 is configured as a tape feeder that feeds out a tape that accommodates components at a predetermined pitch. The feeder 30 includes a tape reel 32 around which a tape is wound, a tape feeding mechanism 33 that feeds the tape from the tape reel 32, a connector 35 having two positioning pins 34, a rail member 37 provided at the lower end, A feeder control device 39 (see FIG. 5). The feeder control device 39 is configured by a known CPU, ROM, RAM, and the like, and outputs a drive signal to the tape feeding mechanism 33. 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 mounter 20 has two upper and lower areas to which the feeder 30 can be attached. The upper area is a supply area 20A where the feeder 30 can supply parts, and the lower area is a stock area 20B where the feeder 30 can be stocked. The supply area 20 </ b> A and the stock area 20 </ b> B are provided with feeder bases 40 that are formed in an L shape in a side view and to which a plurality of feeders 30 are attached. The feeder base 40 includes a plurality of slots 42 arranged in the X direction at intervals where the rail members 37 of the feeder 30 can be inserted, two positioning holes 44 into which two positioning pins 34 can be inserted, and two positioning holes 44. And a connector 45 to which the connector 35 is connected. The component mounter 20 is not limited to the one provided with the feeder stock area 20B, and may be one not provided with this.

As shown in FIG. 1, the loader 50 is provided along the X-axis rail 18 provided in parallel to the substrate transport direction (X direction) on the front surface of the plurality of component mounting machines 20 and the front surface of the feeder storage 60. It is movable. In FIG. 2, the illustration of the X-axis rail 18 is omitted. As shown in FIGS. 4 and 5, the loader 50 includes a loader moving mechanism 51, a feeder transfer mechanism 53, an encoder 57, left and right monitoring sensors 58 a and 58 b, and a loader control device 59.

The loader moving mechanism 51 moves the loader 50 along the X-axis rail 18, and moves the loader 50 along the X-axis rail 18 and the X-axis motor 52 a such as a servo motor that drives the driving belt. A guide roller 52b for guiding. The feeder transfer mechanism 53 transfers the feeder 30 to the component mounter 20 or the feeder storage 60. The feeder transfer mechanism 53 includes a clamp unit 54 that clamps the feeder 30 and a Y-axis slider 55 that moves the clamp unit 54 in the front-rear direction (Y direction) along the Y-axis guide rail 55b by driving the Y-axis motor 55a. With. The feeder transfer mechanism 53 also moves a slide base 56, to which the clamp portion 54 and the Y-axis slider 55 are slidably mounted, in the vertical direction (Z direction) along the Z-axis guide rail 56b. With.

The encoder 57 detects the movement position of the loader 50 in the X direction. The monitoring sensors 58a and 58b monitor the presence or absence of obstacles (including workers), and are constituted by, for example, infrared sensors. The monitoring sensor 58a is attached to the left side of the loader 50 (opposite to the transport direction of the substrate S), and mainly detects obstacles in the monitoring area Sa (see FIG. 1) on the left side of the loader 50. The monitoring sensor 58b is attached to the right side of the loader 50 (the same side as the transport direction of the substrate S), and mainly detects an obstacle in the monitoring area Sb (see FIG. 1) on the right side of the loader 50. The monitoring areas Sa and Sb are areas that can monitor the area in front of the left and right component mounting machines 20 adjacent to the component mounting machine 20 when the loader 50 is positioned in front of the component mounting machine 20. It is. The loader control device 59 is configured by a known CPU, ROM, RAM, and the like. The loader control device 59 receives detection signals from the encoder 57 and the monitoring sensors 58a and 58b, and loads the loader moving mechanism 51 (X-axis motor 52a) and feeder transfer mechanism 53 (clamp portion 54, Y-axis motor 55a, Z-axis). A drive signal is output to the motor 56a).

When performing automatic replacement of the feeder 30, the loader control device 59 first controls that the Y-axis slider 55 of the loader 50 faces the slot 42 of the component mounter 20 that performs the automatic replacement by controlling the X-axis motor 52 a. The loader 50 is moved to the position. Further, when performing automatic exchange with the supply area 20A of the component mounting machine 20, the loader control device 59 controls the Z-axis motor 56a to slide the upper base area 50A facing the supply area 20A to the upper transfer area 50A. 56 (Y-axis slider 55) is moved. On the other hand, when performing automatic exchange with the stock area 20B of the component mounting machine 20, the loader control device 59 controls the Z-axis motor 56a to slide to the lower transfer area 50B facing the stock area 20B. 56 is moved. When attaching the feeder 30 in the loader 50 to the component mounter 20, the loader control device 59 controls the Y-axis motor 55a in a state where the feeder 30 is clamped by the clamp portion 54 to move the Y-axis slider 55 backward ( To the component mounting machine 20 side). As a result, the rail member 37 of the feeder 30 is inserted into the slot 42 of the feeder base 40. Subsequently, the loader control device 59 attaches the feeder 30 to the feeder base 40 of the component mounter 20 by releasing the clamp of the feeder 30 by the clamp unit 54. When the feeder 30 is removed from the component mounter 20 and collected in the loader 50, the loader control device 59 controls the Y-axis motor 55a to move the Y-axis slider 55 rearward (on the component mounter 20 side). Move. Subsequently, the loader control device 59 clamps the feeder 30 attached to the feeder base 40 to the clamp portion 54, and then controls the Y-axis motor 55a to move the Y-axis slider 55 forward (to the loader 50 side). Let As a result, the feeder 30 is removed from the feeder base 40 and collected in the loader 50.

The feeder storage 60 is provided with a feeder base 40 having the same configuration as the feeder base 40 provided in the component mounter 20 in order to accommodate a plurality of feeders 30. Further, the feeder base 40 of the feeder storage 60 is provided at the same height (Z direction position) as the feeder base 40 of the supply area 20A of the component mounting machine 20. Therefore, the loader 50 can attach / detach the feeder 30 to / from the feeder base 40 of the feeder storage 60 by the same operation as attaching / detaching the feeder 30 to / from the feeder base 40 of the component mounting machine 20.

Also, a substrate transfer device 62 that transfers the substrate S in the X direction is provided behind the feeder storage 60. The board conveyance device 62 has the same position in the front-rear direction and the vertical direction as the board conveyance device (not shown) of the printing inspection machine 14 and the board conveyance device 21 of the adjacent component mounting machine 20. For this reason, the substrate transport device 62 can transport the substrate S received from the substrate transport device of the print inspection machine 14 and deliver it to the substrate transport device 21 of the adjacent component mounting machine 20.

As shown in FIG. 5, the management device 80 includes a 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 for the substrate S, feeder management information, and the like. The production program for the substrate S is a program that defines which components are to be mounted on which substrate S and how many substrates S are mounted in that manner. The feeder management information is information related to the feeder 30 held by each component mounter 20 and the feeder storage 60. FIG. 6 is an explanatory diagram illustrating an example of feeder management information. As shown in the figure, the feeder management information includes a slot number (position information) of the feeder base 40 in which each feeder 30 is mounted, a feeder ID (identification information) of the feeder 30 mounted in each slot 42, and each feeder 30. Includes the type of component, the remaining amount of the component, the size indicating the width W in the X direction and the length L in the Y direction of the feeder 30. Some feeders 30 occupy not only one slot 42 into which the rail member 37 is inserted but also a plurality of adjacent slots 42 because the width W is wide. As an example, FIG. 6 shows a case where the feeder 30 with the width W2 of the slot number 004 occupies the slot number 004, 005, a common feeder ID is registered in the slot number 004, 005, and other information is the slot It is registered in the number 004. Of course, the same information as each piece of information of slot number 004 may be registered in slot number 005.

Further, the management device 80 is connected to the mounting control device 28 so as to be communicable by wire and connected to the loader control device 59 so as to be able to communicate wirelessly, as well as each of the printing machine 12, the printing inspection machine 14, and the mounting inspection machine. It is communicably connected to the control device. The management device 80 receives information related to the mounting status of the component mounting machine 20 and information related to the detached feeder 30 from the mounting control device 28, and receives information related to the driving status of the loader 50 from the loader control device 59. When the management device 80 receives information about the feeder 30 attached to the feeder base 40 of the component mounting machine 20 or the feeder 30 removed from the feeder base 40 from the mounting control device 28, the management device 80 sends the feeder management information of the component mounting machine 20. Update. In addition, the management device 80 outputs a drive signal to the substrate transfer device 62 of the feeder storage 60 to cause the substrate transfer device 62 to transfer the substrate S. In addition, 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 feeder storage 60 via the connectors 35 and 45, and can acquire information on the feeder 30. Yes. When the management apparatus 80 acquires information about the feeder 30 attached to the feeder base 40 of the feeder storage 60 or the feeder 30 removed from the feeder base 40, the management apparatus 80 updates the feeder management information of the feeder storage 60.

The operation of the component mounting system 10 configured in this way, particularly the operation when the loader 50 automatically replaces the feeder 30 will be described. FIG. 7 is a flowchart showing an example of the feeder automatic exchange process. This process is executed by the loader control device 59 of the loader 50. In the feeder automatic exchange process, the loader control device 59 waits to receive an automatic exchange instruction for the feeder 30 output from the management device 80 (S100). The automatic replacement instruction includes an instruction for attaching / detaching the feeder 30 and its attaching / detaching position. The management device 80 instructs to remove the feeder 30 containing the components necessary for the next mounting process from the feeder storage 60 based on the production program for the board S, and removes the removed feeder 30 to each component mounting machine 20. An instruction to attach to the supply area 20A is transmitted. In addition, the management device 80 instructs to remove the feeder 30 containing components unnecessary for the next mounting process or the feeder 30 whose component remaining value is 0 from the supply area 20A, and removes the removed feeder 30 from the stock area 20B. An instruction to attach to the feeder storage 60 is transmitted. In addition, in the automatic exchange instruction for the wide feeder 30 that occupies a plurality of slots 42, in addition to the slot number as the attachment / detachment position for attaching / detaching the feeder 30, the adjacent slot number that the feeder 30 will occupy Is included.

When the loader control device 59 receives the automatic replacement instruction in S100, the loader control device 59 acquires feeder information to be attached / detached and position information for attaching / detaching the feeder 30 from the received automatic replacement instruction (S105). The position information in S105 includes information on whether the feeder 30 is attached / detached in the feeder storage 60, the feeder area 40A of the component mounter 20, or the feeder base 40 in the stock area 20B, and the feeder 30 in each feeder base 40. And slot number information of the attachment / detachment destination. Next, the loader control device 59 sets the target position of the loader 50 based on the position information of S105 (S110). The target position is a position at which the loader 50 can attach and detach the feeder 30 at the attachment and detachment position.

Subsequently, the loader control device 59 determines whether or not an obstacle (operator) is detected by the monitoring sensor 58a or the monitoring sensor 58b in the traveling direction based on the target position and the current position of the loader 50 (S115). ). If the loader control device 59 determines that no obstacle is detected in the traveling direction, the loader control device 59 controls the X-axis motor 52a to move the loader 50 toward the target position (S120). It is determined whether 50 has reached the target position (S125). On the other hand, when determining that an obstacle has been detected, the loader control device 59 stops the loader 50 (S130), and returns to S115. In this way, the loader control device 59 stops the loader 50 when an obstacle (operator) is detected in the traveling direction of the loader 50, and resumes the movement of the loader 50 when no obstacle is detected. When the loader control device 59 determines that the loader 50 has reached the target position in S125, the loader control device 59 stops the loader 50 (S135) and executes feeder status confirmation processing (S140). The feeder status confirmation process is a process for confirming the presence / absence of the feeder 30 and the identification information of the feeder 30 in the slot 42 corresponding to the position information acquired in S105.

FIG. 8 is a flowchart showing an example of feeder status confirmation processing. In the feeder status confirmation process, the loader control device 59 first determines whether or not the removal of the feeder 30 is included in the current automatic exchange instruction (S200). If it is determined that the removal is not included, the process proceeds to S220. When the loader control device 59 determines that the removal of the feeder 30 is included, the loader control device 59 requests the management device 80 for feeder information in the slot 42 at the current removal position (S205), and waits to receive the feeder information from the management device 80. (S210). When the management device 80 receives the request from the loader control device 59, the management device 80 reads information on the presence / absence of the feeder 30 in the requested slot 42, identification information of the feeder 30 when the feeder 30 is attached, etc. from the feeder management information, and loads the loader. It transmits to the control device 59. When the loader control device 59 receives the feeder information from the management device 80 in S210, the loader control device 59 checks whether the received feeder information matches the feeder information acquired in S105 (S215), and proceeds to S220. . For this reason, the loader control device 59 can confirm whether or not the mounting status of the feeder 30 in the slot 42 when the automatic replacement instruction for the feeder 30 is output matches the current mounting status. That is, the loader control device 59 grasps that the operator has removed the feeder 30 or attached another feeder 30 after the removal, even though the removal of the feeder 30 has been instructed as an automatic replacement instruction. can do.

Next, the loader control device 59 determines whether or not the current automatic replacement instruction includes attachment of the feeder 30 to the empty slot (S220). If it is determined that attachment is not included, the feeder status confirmation processing is performed. finish. When the loader control device 59 determines that the attachment of the feeder 30 is included, the loader control device 59 requests the management device 80 for the feeder information in the slot 42 at the current attachment position (S225) and waits to receive the feeder information from the management device 80. (S230). When the management device 80 receives the request from the loader control device 59, the management device 80 reads information on the presence / absence of the feeder 30 in the requested slot 42, identification information of the feeder 30 when the feeder 30 is attached, etc. from the feeder management information, and loads the loader. It transmits to the control device 59. As long as the feeder 30 is not attached to the empty slot, the management device 80 transmits feeder information indicating that the feeder 30 does not exist in the slot 42. When the loader control device 59 receives the feeder information from the management device 80 in S230, the loader control device 59 confirms from the received feeder information whether or not the slot 42 at the current attachment position remains empty (S235), and the feeder status confirmation processing Exit. For this reason, the loader control device 59 can confirm whether or not the empty state of the slot 42 when the automatic replacement instruction for the feeder 30 is received is maintained. That is, the loader control device 59 can grasp that the operator has installed the feeder 30 in the slot 42 in spite of being instructed to attach the feeder 30 to the empty slot as an automatic replacement instruction. When the attachment target is the wide feeder 30, the management device 80 includes information on the adjacent slot 42 that the feeder 30 will occupy in addition to the information on the slot 42 designated as the attachment / detachment position. It is transmitted to the loader control device 59. Therefore, the loader control device 59 confirms not only the slot 42 designated as the attachment / detachment position but also the vacant state of the adjacent slot 42.

When the loader control device 59 performs the feeder status confirmation processing in S140 in this way, the feeder when the automatic replacement instruction is output (received) for the current feeder status (installation status of the feeder 30) in the slot 42 at the attachment / detachment position. It is determined whether there is no difference from the situation (S145). The loader control device 59 makes the determination in S145 based on the confirmation results in S215 and S235. When the loader control device 59 determines that there is no difference in the feeder status, the loader control device 59 executes feeder attachment / detachment processing (S150), and returns to S100. On the other hand, when determining that there is a difference in the feeder status, the loader control device 59 notifies the management device 80 that the automatic replacement of the feeder 30 is stopped and waits (S155), and returns to S100. In other words, the loader 50 stands by without attaching or detaching the feeder 30 until a new instruction is received from the management device 80. Thereby, it is possible to prevent the feeder 30 from being replaced when the mounting state of the feeder 30 in the slot 42 at the attachment / detachment position is different from the mounting state at the time when the automatic replacement instruction is output. For this reason, it is possible to prevent the feeder 30 of a type different from the automatic replacement instruction from being removed or the feeder 30 from being attached even though the feeder 30 is already set in the designated empty slot. When the management apparatus 80 receives the automatic replacement instruction including the attachment of the feeder 30 and receives the notification of S155, the management apparatus 80 determines whether or not the feeder 30 to be attached is already attached. Then, if the feeder 30 to be attached is not attached, the management device 80 transmits a new automatic replacement instruction such as specifying another empty slot and attaching the feeder 30 to the loader control device 59. In addition, when the management apparatus 80 receives the notification of S155 when an automatic replacement instruction including removal of the feeder 30 is transmitted, the management apparatus 80 determines whether or not the feeder 30 to be removed has been removed. Then, if the feeder 30 to be removed has not been removed, the management device 80 designates the current slot 42 of the feeder 30 and transmits a new automatic replacement instruction for removing the feeder 30 to the loader control device 59. .

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 a component supply unit, the component mounter 20 corresponds to a component mounter, the component mounting system 10 corresponds to a component mounting system, the loader 50 corresponds to a unit exchange device, and the management device The HDD 80c of 80 corresponds to the information storage unit, the CPU 80a of the management device 80 corresponds to the instruction output unit, and the loader executes the processing of S140 and S145 of the feeder automatic replacement processing of FIG. 7 (feeder status confirmation processing of FIG. 8). The control device 59 corresponds to a status confirmation unit. The monitoring sensors 58a and 58b correspond to sensors.

In the component mounting system 10 described above, the loading status of the feeder 30 in the slot 42 at the mounting / demounting position is the automatic replacement instruction from when the loader control device 59 receives the automatic replacement instruction until the loading / unloading of the feeder 30 starts. Check whether there is a difference from the mounting status when is output. As a result, it is possible to grasp that the automatic replacement cannot be performed as instructed because the operator has attached or detached the feeder 30 after the automatic replacement instruction.

Further, in the component mounting system 10, the loader control device 59 confirms the mounting status of the feeder 30 at the timing when the movement of the loader 50 to the target position is completed. For this reason, it is possible to prevent the automatic exchange different from the instruction from being performed by detaching the feeder 30 immediately after the confirmation.

In addition, when it is confirmed that there is a difference in the mounting state of the feeder 30, the loader 50 stands by without performing automatic replacement until an automatic replacement instruction is newly output from the management device 80. For this reason, it is possible to perform an appropriate automatic exchange by a new automatic exchange instruction while reliably preventing the loader 50 from performing an automatic exchange different from the instruction.

It should be noted that the present invention is not limited to the above-described embodiment, 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 status confirmation process is performed when the loader 50 arrives at the target position. However, the present invention is not limited to this, and the feeder status confirmation is performed during movement before the loader 50 arrives at the target position. It is good also as what performs a process. FIG. 9 is a flowchart showing a feeder automatic exchange process according to a modification. In the modified example, the same processing as in the flowchart of FIG. 7 is assigned the same step number, and detailed description thereof is omitted. In the modification, the loader control device 59 determines whether or not the target position is within the monitoring area of either the monitoring sensor 58a or the monitoring sensor 58b during the movement of the loader 50 (S121), and the confirmed flag is 0. Whether or not (S122). In S121, the loader control device 59 determines whether or not the target position is within the monitoring area Sa of the monitoring sensor 58a if the traveling direction of the loader 50 is on the left side, and monitors if the traveling direction of the loader 50 is on the right side. It is determined whether or not the target position is within the monitoring area Sb of the sensor 58b. As described above, the monitoring areas Sa and Sb are areas that can monitor the area in front of the left and right component mounting machines 20 with respect to the loader 50. Therefore, the state in which the loader control device 59 determines that there is no obstacle in S115 and that the target position has entered the monitoring areas Sa and Sb in S121 is the front of the component mounter 20 including the attachment / detachment position of the feeder 30. It can be said that there is no worker and no work such as attachment / detachment of the feeder 30 is performed. If the loader control device 59 determines that the target position is not within the monitoring region, or determines that the confirmed flag is 1 even if the target position is within the monitoring region, the process proceeds to S125.

On the other hand, when the loader control device 59 determines that the target position is within the monitoring region and the confirmed flag is 0, the loader control device 59 executes a feeder status confirmation process (S140a), and the current feeder status in the slot 42 to be attached / detached. It is determined whether there is no difference from the situation when the automatic replacement instruction is output (S145a). S140a and S145a are performed in the same manner as S140 (FIG. 8) and S145 of the embodiment. If the loader control device 59 determines that there is no difference in the mounting status in S145a, it sets the confirmed flag to 1 (S123), and proceeds to S125. On the other hand, if the loader control device 59 determines that there is a difference in the mounting status in S145a, the loader control device 59 transmits a confirmation request for confirming whether automatic replacement is continued because the mounting status is different (S124) to S125. move on. The management device 80 takes measures such as confirming the status of the feeder base 40 and transmitting a new automatic replacement instruction to the loader control device 59. When the loader control device 59 receives a new automatic replacement instruction, the loader control device 59 executes the feeder status confirmation processing in S140a based on the instruction, and if it is confirmed that there is no problem, sets the confirmed flag to 1 in S123.

When the loader control device 59 determines that the loader 50 has reached the target position in S125 and S135 and stops the loader 50, the loader control device 59 determines whether or not the confirmed flag is a value 1 (S137). When the loader control device 59 determines that the confirmed flag has the value 1, it skips the processing of S140 and S145, executes the feeder attachment / detachment processing of S150, and returns the confirmed flag to the value 0 (S151). As described above, in the modified example, the feeder status confirmation process is executed in parallel while the loader 50 is moving, so that the feeder attaching / detaching process can be executed as soon as the loader 50 reaches the target position. For this reason, since the waiting time of the feeder status confirmation processing does not occur as compared with the case where the loader 50 reaches the target position and executes the feeder status confirmation processing, the automatic replacement processing of the feeder 30 can be performed quickly. It becomes possible.

Further, when the loader control device 59 determines that there is an obstacle in the traveling direction in S115 and S130 and stops the loader 50, the loader control device 59 determines whether or not the confirmed flag is 1 (S131). If is not a value 1 but a value 0, the process returns to S115. On the other hand, when the loader control device 59 determines that the confirmed flag has the value 1, the loader control device 59 sets the confirmed flag to the value 0 (S132), and returns to S115. Thereby, even if the confirmed flag is once set to the value 1 in S124, the loader control device 59 returns the confirmed flag to the value 0 when the obstacle is detected in the monitoring area. For this reason, for example, if it is detected that the operator has entered the monitoring area after confirming that the feeder status is as instructed in S140a and S145a, the confirmed flag is returned to 0. The feeder status confirmation process is executed again. This is because an operator who has entered the monitoring area may attach / detach the feeder 30 to / from the feeder base 40 without permission, and the feeder status of the slot 42 to be attached / detached may not be as instructed. As a result, if the confirmed flag is maintained at the value 1, the operator has not entered the monitoring area after executing the feeder status confirmation process, and the feeder status of the slot 42 is maintained as instructed to be automatically replaced. Will be. Therefore, as described above, if the confirmed flag is 1 when the loader 50 is stopped in S135, the feeder attaching / detaching process of S150 is immediately performed without re-executing the feeder status confirmation process.

In the embodiment and the modification described above, the feeder status confirmation process is executed at a predetermined timing such as the timing when the loader 50 reaches the target position or the timing when the target position enters the monitoring area. It is not something that can be done. For example, the feeder status confirmation process may be repeatedly performed while the loader 50 is moving. FIG. 10 is a flowchart showing a feeder automatic exchange process according to a modification. In the modification, the loader control device 59 determines whether or not a predetermined time has elapsed since the previous execution of the feeder status confirmation process during the movement of the loader 50 (S121a), and determines that the predetermined time has not elapsed. The process proceeds to S125. If the feeder status check process has not been executed even once the movement has started, the loader control device 59 determines in S121a whether or not a predetermined time has elapsed since the movement started. On the other hand, when the loader control device 59 determines that a predetermined time has elapsed since the previous execution of the feeder status confirmation processing, the loader control device 59 executes the feeder status confirmation processing (S140a), and determines whether there is a difference in the feeder status (S140a). S145a). If the loader control device 59 determines that there is no difference in the feeder status in S145a, the process proceeds to S125. If the loader control device 59 determines that there is a difference in the feeder status in S145a, the loader control device 59 transmits a confirmation request to the management device 80 in S124, and then proceeds to S125. move on.

Then, when the loader control device 59 determines that the loader 50 has reached the target position in S125 and S135 and stops the loader 50, the feeder status executed before the stop in the feeder status confirmation processing repeatedly performed during movement. Based on the confirmation processing, that is, the latest feeder status confirmation processing, after confirming that there is no difference in the feeder status in S145, the feeder attachment / detachment processing is executed in S150. As described above, in the modified example, since the loader control device 59 executes the feeder status confirmation process at predetermined time intervals, it is promptly detected that the feeder status of the slot 42 at the attachment / detachment position is different from that when the automatic replacement instruction is received. Thus, it is possible to deal with it quickly, and it is possible to perform an appropriate feeder automatic replacement work more efficiently. In this modification, the feeder status confirmation process is repeatedly performed every predetermined time while the loader 50 is moving. However, the present invention is not limited to this, and the feeder status confirmation process is repeated every predetermined distance while the loader 50 is moving. It may be done. In this case, the loader control device 59 may perform a feeder status confirmation process every time it detects that the loader 50 has moved a predetermined distance.

In the above-described embodiment, the loader control device 59 performs the feeder status confirmation processing via communication with the management device 80, but the present invention is not limited to this. For example, the loader control device 59 may execute feeder status confirmation processing via communication with the mounting control device 28 of each component mounting machine 20. In such a case, the feeder management information of each component mounter 20 is not limited to that managed by the management device 80, and may be managed by the mounting control device 28 of each component mounter 20.

In the above-described embodiment, the loader control device 59 executes the feeder status confirmation processing. However, the present invention is not limited to this, and the management device 80 and the mounting control device 28 of each component mounter 20 execute the feeder status confirmation processing. It may be a thing. In such a case, the loader control device 59 acquires the processing result of the feeder status confirmation processing from the management device 80 or the mounting control device 28 of each component mounting machine 20, and determines whether to execute the feeder attachment / detachment processing. What should be done. Further, the management device 80 and the mounting control device 28 of each component mounting machine 20 may perform a feeder status confirmation process at the timing when the loader 50 reaches the target position. Alternatively, the management device 80 and the mounting control device 28 of each component mounting machine 20 may repeatedly execute the feeder status confirmation process while the loader 50 is moving. For example, as in the above-described modification, the feeder status confirmation process may be repeatedly executed every predetermined time, or the feeder status confirmation process may be executed every time the feeder 30 is attached to and detached from the feeder base 40.

In the component mounting system according to the present disclosure, the situation confirmation unit may perform the situation confirmation process at a timing when the unit replacement device moves to a predetermined position where the component supply unit can be attached and detached at the attachment / detachment position. Good. By performing the status confirmation process at the predetermined position, it is possible to more reliably prevent automatic exchange different from the instruction.

In the component mounting system according to the present disclosure, the status confirmation unit performs the status confirmation processing at a timing when the unit replacement device is moving to a predetermined position where the component supply unit can be attached and detached at the attachment / detachment position. Also good. By so doing, it is possible to appropriately perform automatic exchange while suppressing the occurrence of a waiting time for performing the status confirmation process at a predetermined position.

In the component mounting system according to the present disclosure, the unit replacement device includes a sensor that detects the presence or absence of an obstacle within a predetermined range, and the status check unit is within the predetermined range of the sensor during movement of the unit replacement device. The situation confirmation process may be performed at a timing when the predetermined position is included and the sensor does not detect an obstacle. In this way, the situation confirmation process can be performed at a timing when there is no worker near the predetermined position. In addition, since it is possible to grasp that there is a possibility that the worker has attached or detached the component supply unit because the worker has entered the predetermined range after that timing, automatic replacement different from the instruction is performed. Can be more reliably prevented.

In the component mounting system according to the present disclosure, the situation confirmation unit may repeatedly perform the situation confirmation process at a predetermined time interval or a predetermined distance interval while the unit exchange device is moving. In this way, it is possible to quickly grasp that automatic replacement cannot be performed as instructed during movement to a predetermined position, and thus it is possible to take quick measures.

In the component mounting system according to the present disclosure, the unit replacement device may be configured to perform an automatic replacement instruction from the instruction output unit when it is confirmed that there is a difference in the mounting state of the component supply unit at the attachment / detachment position by the state confirmation process. It is also possible to stop the attachment / detachment of the component supply unit until a new signal is output. In this way, it is possible to perform appropriate automatic exchange with a new automatic exchange instruction while reliably preventing automatic exchange different from the instruction.

The present invention can be used in the manufacturing industry of component mounting systems.

10 component mounting system, 12 printing machine, 14 printing inspection machine, 18 X-axis rail, 20 component mounting machine, 20A supply area, 20B stock area, 21 board transport device, 22 head, 23 head moving mechanism, 28 mounting control device, 30 feeder, 32 tape reel, 33 tape feeding mechanism, 34 positioning pin, 35 connector, 37 rail member, 39 feeder control device, 40 feeder stand, 42 slot, 44 positioning hole, 45 connector, 50 loader, 50A upper transfer area , 50B lower transfer area, 51 loader moving mechanism, 52a X-axis motor, 52b guide roller, 53 feeder transfer mechanism, 54 clamp part, 55 Y-axis slider, 55a Y-axis motor, 55b Y-axis guide rail, 56 slides 56a Z-axis motor, 56b Z-axis guide rail, 57 encoder, 58a, 58b monitoring sensor, 59 loader control device, 60 feeder storage, 62 substrate transport device, 80 management device, 80a CPU, 80b ROM, 80c HDD , 80d RAM, 82 display, 84 input device, S substrate, Sa, Sb monitoring area.

Claims (6)

A component mounting system comprising a plurality of component mounters on which a plurality of component supply units for supplying components are detachably mounted,
A unit exchanging device that moves along an arrangement direction of a plurality of the component mounters and automatically replaces the component supply unit with the component mounters;
An information storage unit for storing unit information including position information of a plurality of mounting positions where the component supply unit is mounted on the component mounter, and identification information of the component supply unit at each mounting position;
An instruction output unit that outputs an automatic replacement instruction including designation of an attachment / detachment position of the component supply unit to be automatically replaced among the plurality of mounting positions to the unit replacement device;
The component supply unit at the attachment / detachment position based on the unit information between the output of the automatic replacement instruction and the start of attachment / detachment of the component supply unit at the attachment / detachment position after the unit replacement device moves. A status confirmation unit that performs status confirmation processing for confirming whether or not there is a difference between the mounting status of the automatic replacement instruction and the mounting status when the automatic replacement instruction is output;
A component mounting system comprising: The component mounting system according to claim 1,
The said status confirmation part performs the said status confirmation process at the timing which the said unit replacement | exchange apparatus moved to the predetermined position which can attach or detach the said component supply unit in the said attachment / detachment position. The component mounting system according to claim 1,
The said status confirmation part performs the said status confirmation process at the timing in which the said unit replacement | exchange apparatus is moving to the predetermined position which can attach or detach the said component supply unit in the said attachment / detachment position. The component mounting system according to claim 3,
The unit exchange device has a sensor for detecting the presence or absence of an obstacle within a predetermined range,
The status confirmation unit performs the status confirmation processing at a timing when the predetermined position is included in a predetermined range of the sensor and the sensor does not detect an obstacle while the unit replacement device is moving. . The component mounting system according to claim 3,
The status check unit repeatedly performs the status check processing at a predetermined time interval or a predetermined distance interval while the unit exchange device is moving. The component mounting system according to any one of claims 1 to 5,
When it is confirmed that there is a difference in the mounting status of the component supply unit at the attachment / detachment position, the unit replacement device until the automatic replacement instruction is newly output from the instruction output unit. A component mounting system that suspends attachment / detachment of a component supply unit.

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