WO2017130345A1 - Unit replacement carriage - Google Patents

Unit replacement carriage Download PDF

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Publication number
WO2017130345A1
WO2017130345A1 PCT/JP2016/052467 JP2016052467W WO2017130345A1 WO 2017130345 A1 WO2017130345 A1 WO 2017130345A1 JP 2016052467 W JP2016052467 W JP 2016052467W WO 2017130345 A1 WO2017130345 A1 WO 2017130345A1
Authority
WO
WIPO (PCT)
Prior art keywords
unit
mounting
unit replacement
vehicle body
carriage
Prior art date
Application number
PCT/JP2016/052467
Other languages
French (fr)
Japanese (ja)
Inventor
博史 大池
一也 小谷
Original Assignee
富士機械製造株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 富士機械製造株式会社 filed Critical 富士機械製造株式会社
Priority to JP2017563467A priority Critical patent/JP6979879B2/en
Priority to PCT/JP2016/052467 priority patent/WO2017130345A1/en
Publication of WO2017130345A1 publication Critical patent/WO2017130345A1/en
Priority to JP2021080392A priority patent/JP7073560B2/en
Priority to JP2021136506A priority patent/JP7174121B2/en
Priority to JP2021212138A priority patent/JP7257491B2/en
Priority to JP2022063750A priority patent/JP7249451B2/en
Priority to JP2022070560A priority patent/JP7350933B2/en
Priority to JP2023148007A priority patent/JP2023165007A/en

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Classifications

    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/02—Feeding of components

Definitions

  • the present invention relates to a unit replacement carriage set in a mounting apparatus.
  • the unit replacement cart for replacing a component supply unit with respect to a mounting apparatus that mounts a component supplied from a component supply unit on a substrate (see, for example, Patent Document 1). ).
  • the unit replacement cart is configured to be capable of mounting a plurality of component supply units. When an operator replaces the unit replacement cart for each cart, the plurality of component supply units are integrated. To be exchanged.
  • the unit replacement carriage described above when the production type of the substrate is switched, the unit replacement can be efficiently performed and the setup change time can be shortened. Shortening the setup change time is considered as an important issue for improving the production efficiency of the mounting apparatus, and further improvement is required.
  • the main object of the unit replacement cart of the present invention is to perform unit replacement more efficiently.
  • the unit replacement cart of the present invention has taken the following means in order to achieve the above-mentioned main purpose.
  • the first unit replacement carriage of the present invention is: A unit replacement carriage set in a mounting device for mounting a component supplied from a component supply unit on a board, A mounting unit for mounting the unit for supplying the component and a unit for production used for mounting other than for supplying the component in a manner that can be used in the mounting device; A vehicle body portion provided with the mounting portion; It is a summary to provide.
  • the first unit replacement cart of the present invention mounts a component supply unit and a production unit that is used for mounting other than for component supply in a mounting apparatus. For this reason, if the unit replacement cart is replaced with the entire cart, not only the component supply unit but also the production unit can be replaced, so that the units can be replaced efficiently. Therefore, the setup change time can be further shortened and the production efficiency can be improved.
  • the vehicle body portion may be configured to be capable of automatic traveling along a traveling route.
  • the unit replacement cart equipped with the parts supply unit and production unit necessary for the setup change is automatically run to the mounting device where the setup change is performed, and the unit is automatically changed. Can do. Therefore, since it is not necessary for the operator to replace the unit replacement carriage, the units can be replaced more efficiently. In particular, when a plurality of mounting apparatuses need to be replaced at the same time, the effect of shortening the replacement time is significant.
  • the second unit replacement carriage of the present invention is A unit replacement carriage set in a mounting device for mounting a component supplied from a component supply unit on a board, A mounting unit for mounting the component supply unit so as to be usable in the mounting device; A vehicle body portion provided with the mounting portion and configured to be capable of automatic traveling along a travel route; It is a summary to provide.
  • the second unit replacement cart of the present invention is provided with a mounting portion on which a component supply unit is mounted so as to be usable by a mounting apparatus, and includes a vehicle body portion configured to be automatically driven along a travel route. For this reason, it is possible to automatically replace the unit by causing the unit replacement carriage loaded with the component supply unit necessary for the setup change to automatically travel to the mounting apparatus where the setup change is performed. Therefore, since it is not necessary for the operator to replace the unit replacement carriage, the units can be replaced efficiently. In particular, when a plurality of mounting apparatuses need to be replaced at the same time, the effect of shortening the replacement time is significant.
  • the device side A trolley side connection portion connected to the connection portion is provided, and power from the operating source is supplied to each unit mounted on the mounting portion through connection between the device side connection portion and the trolley side connection portion. It is good also as what is done. In this way, when replacing the unit replacement cart, the operator does not need to connect the apparatus side connection portion and the cart side connection portion, so the units can be replaced more efficiently.
  • the mounting portion is located between the vehicle body portion and the vehicle body portion.
  • a lock mechanism that is provided so as to be separable from the vehicle body part with a gap through which the support part of the mounting apparatus can enter, and that locks the mounting part and the vehicle body part relative to each other and that can be released. It may be provided. In this way, when the unit replacement carriage is set in the mounting apparatus, the mounting portion can be supported by the support portion that has entered the gap between the mounting portion and the vehicle body portion, and the lock mechanism can lock the mounting portion and the vehicle body portion.
  • FIG. 1 is a configuration diagram showing an outline of the overall configuration of a mounting system 10.
  • FIG. The perspective view of the mounting apparatus 20 and the trolley
  • FIG. 1 is a configuration diagram showing an outline of the overall configuration of the mounting system 10
  • FIG. 2 is a perspective view of the mounting apparatus 20 and a unit replacement carriage 40.
  • 3 and 4 are top views of the mounting apparatus 20 and the unit replacement carriage 40
  • FIG. 5 is a side view of the mounting apparatus 20 and the unit replacement carriage 40
  • FIG. 2 is the X direction
  • the front-rear direction is the Y direction
  • the vertical direction is the Z direction.
  • the mounting system 10 includes a plurality of mounting devices 20 for mounting electronic components (hereinafter referred to as components) on a circuit board (hereinafter referred to as a substrate), and various units used in each mounting device 20. And a management device 80 (see FIG. 6) for managing the entire mounting system 10.
  • This mounting system 10 has three rows of component mounting lines in which a plurality of mounting apparatuses 20 are arranged in the board conveyance direction (X-axis direction).
  • the mounting system 10 includes a plurality of unit replacement carriages 40 for exchanging various units stored in the storage 70 and various units set in the mounting apparatus 20.
  • the unit replacement carriage 40 of this embodiment is configured as an unmanned traveling vehicle that can automatically travel.
  • the mounting system 10 is set to have a travel line L for exiting from the storage 70 and passing through the front of each component mounting line to reach each mounting apparatus 20 and returning from each mounting apparatus 20 to the storage 70. ing.
  • a magnetic tape is laid along the traveling line L.
  • the unit replacement carriage 40 is guided to a target position by a magnetic guidance system that automatically moves while adjusting the traveling direction by detecting the magnetism of the magnetic tape with a sensor.
  • the unit replacement carriage 40 may be guided by another guidance method such as an optical guidance method, or the coordinate position of the travel line L is stored in advance and the travel distance is automatically measured to determine the current position and travel.
  • the unit replacement carriage 40 can enter a carriage receiving space 20a formed in front of the mounting apparatus 20 in a state where various units (52, 53, 54, 55, etc.) are mounted. It has become.
  • 3 is a diagram in the middle of the unit replacement cart 40 entering the cart receiving space 20a
  • FIG. 4 is a diagram in which the unit replacement cart 40 has entered the cart receiving space 20a.
  • the mounting apparatus 20 includes a base 21 with a leveling bolt (not shown) attached to the bottom surface and a housing 22 supported by the base 21.
  • the mounting device 20 includes a substrate transport device 24 that transports a substrate, a head 25 that mounts a component sucked by the suction nozzle 26 on the substrate, and an XY that moves the head 25 in the XY direction.
  • the robot 30 includes a mounting control device 28 (see FIG. 6) that controls the entire mounting machine.
  • the substrate transfer device 24 is configured as a dual lane transfer device in which two substrate transfer paths for transferring a substrate from the left to the right (X-axis direction) in FIG. 3 are provided in the front and rear (Y-axis direction) in FIG. ing.
  • a plurality of suction nozzles 26 are detachably attached to the head 25, and the type (shape or size) of the component to be mounted among the plurality of types of suction nozzles 26 having different shapes and sizes. It is exchanged for the one that meets it.
  • the head 25 is provided with a mark camera 27 for imaging a substrate positioning reference mark attached to the substrate. As shown in FIGS.
  • the XY robot 30 includes a pair of left and right Y-axis guide rails 31 provided on the upper portion of the housing 22 along the front-rear direction (Y-axis direction), and a Y-axis guide rail 31.
  • a Y-axis slider 32 that can move along the X-axis, an X-axis guide rail 33 that is provided on the side surface of the Y-axis slider 32 along the left-right direction (X-axis direction), and a movement along the X-axis guide rail 33.
  • Possible X-axis slider 34 Possible X-axis slider 34.
  • a head 25 is attached to the X-axis slider 34, and the mounting control device 28 can move the head 25 to an arbitrary position on the XY plane by driving and controlling the XY robot 30.
  • the mounting device 20 is provided with a connector 39 on the wall surface on the rear side (the back side of the space, the entry end) of the carriage receiving space 20a.
  • the connector 39 is connected to an air source 37 (see FIG. 6) and an electric power source 38 (see FIG. 6), which are operating sources of various units mounted on the unit replacement carriage 40, and to the mounting control device 28. Yes.
  • the mounting device 20 is provided with a guide member 35 for guiding the entry of the unit replacement carriage 40 at the center in the left-right direction (X-axis direction) at the lower rear side of the carriage receiving space 20 a. It has been.
  • the mounting device 20 is provided with a buffer member 36 for reducing the collision force when the unit replacement carriage 40 stops at the left and right ends at the lower rear side of the carriage receiving space 20a.
  • the guide member 35 is a substantially rectangular flat plate member as viewed from above, and is formed so that the front side plate width is narrowed by cutting off two corners on the front side of the carriage receiving space 20a.
  • the buffer member 36 is a member having a substantially right triangle shape in a top view, and is arranged so that a portion which becomes a hypotenuse faces the inside of the carriage receiving space 20a.
  • the unit replacement carriage 40 includes a vehicle body portion 41 to which traveling wheels 42 are attached, and a mounting portion 51 that is fixed on the vehicle body portion 41 and mounts various units.
  • the vehicle body portion 41 is indicated by a solid line
  • the mounting portion 51 and various units are indicated by dotted lines.
  • the side facing the front side of the mounting device 20 (the cart receiving space 20a) is the front side of the unit replacement cart 40.
  • the vehicle body portion 41 automatically travels to the destination along the travel line L, a travel motor 45 that rotates the wheels 42, a battery 46 that supplies power to the travel motor 45, and the travel motor L.
  • a cart control device 47 that controls traveling and a steering device (not shown) are provided.
  • the cart controller 47 is communicably connected to the management device 80 by radio.
  • the vehicle body portion 41 includes two roller attachment portions 43 that are formed in a substantially right triangle shape in a top view and are provided so as to protrude forward of the vehicle body.
  • Two guide rollers 44 are mounted on the side surfaces of the roller mounting portion 43 facing each other.
  • the guide roller 44 rotates by contacting the left and right (X-axis direction) side surfaces of the guide member 35 of the mounting apparatus 20. Further, each roller mounting portion 43 can come into contact with a portion where the oblique side becomes the oblique side of the buffer member 36 of the mounting apparatus 20.
  • the unit replacement carriage 40 (vehicle body 41) is guided by the guide member 35 and the guide roller 44 of the mounting apparatus 20, enters the entry end (predetermined position) of the carriage receiving space 20a, and automatically stops. When the unit replacement cart 40 exceeds the entry end, the oblique side portion of the roller mounting portion 43 and the oblique side portion of the buffer member 36 come into contact with each other, thereby mitigating the collision between the unit replacement cart 40 and the mounting device 20. .
  • the mounting portion 51 stocks a plurality of tape feeder units 52 that feed out a tape containing the components and supply the components to the mounting device 20, and a plurality of suction nozzles 26 in a plurality of stock holes 53a.
  • a parts camera unit 54 for imaging the suction posture of the parts sucked by the suction nozzle 26 of the mounting apparatus 20 from below.
  • the mounting portion 51 is cut by a parts dust box 55 that collects defective parts such as a suction failure caused by the suction nozzle 26 and a cutting mechanism (not shown) after the parts are supplied from the tape feeder unit 52 and supplied.
  • a tape dust box 56 for collecting the waste tape is mounted.
  • the mounting portion 51 is provided with a connector 59 connected to the connector 39 of the mounting apparatus 20 on the front side of the vehicle body.
  • the connector 59 is connected to the tape feeder unit 52 and the parts camera unit 54 via electric wiring and is connected to the nozzle stock unit 53 via an air pipe.
  • the connector 59 is automatically connected to the connector 39 of the mounting apparatus 20 when the unit replacement carriage 40 is set in the mounting apparatus 20. That is, the connectors 39 and 59 are configured as so-called auto connectors (auto couplers).
  • the tape feeder unit 52 includes a feed motor 52 b that feeds a predetermined amount of tape that accommodates components at a predetermined pitch, and controls the drive of the feed motor 52 b and the type and number of components accommodated. And a feeder control unit 52a for managing the information.
  • the tape feeder unit 52 is mounted on the mounting portion 51 in a state where a plurality of tape feeder units 52 are aligned in the left-right direction (X-axis direction), and the suction nozzle 26 of the head 25 is mounted in a state where the unit replacement carriage 40 is set in the mounting apparatus 20.
  • the parts can be supplied to the position where can be adsorbed.
  • the feed motor 52b can be driven by receiving power supplied from the power source 38 through connection of the connectors 39 and 59.
  • the feeder control unit 52a can communicate with the mounting control device 28 through the connection of the connectors 39 and 59.
  • the feeder control unit 52 a transmits component information such as the type and number of components to the mounting control device 28. Further, when receiving the component supply instruction transmitted from the mounting control device 28, the feeder control unit 52a controls the drive of the feed motor 52b to supply the component.
  • the nozzle stock unit 53 operates a shutter (not shown) that switches between an open state in which the suction nozzles 26 can be inserted into and removed from the plurality of stock holes 53a and a closed state in which the suction nozzles 26 cannot be inserted and removed by driving the open / close cylinder 53b. Configured to let The open / close cylinder 53b can be driven by receiving supply of air from the air source 37 through connection of the connectors 39 and 59.
  • the nozzle stock unit 53 is mounted at a position where the head 25 can replace the suction nozzle 26 in a state where the unit replacement carriage 40 is set in the mounting apparatus 20.
  • the parts camera unit 54 includes an imaging unit 54a configured by an imaging element such as a CCD or a CMOS and a lens, and a light emitting unit 54b such as an LED that emits light toward an imaging target component at the imaging timing of the imaging unit 54a. .
  • the imaging unit 54 a and the light emitting unit 54 b are operable by receiving power supplied from the power source 38 through the connection of the connectors 39 and 59. Further, the imaging unit 54a can communicate with the mounting control device 28 through the connection of the connectors 39 and 59.
  • the imaging unit 54 a Upon receiving the component imaging instruction transmitted from the mounting control device 28, the imaging unit 54 a captures an image of the component and transmits the captured image to the mounting control device 28.
  • the characteristic part to be subjected to image processing may differ depending on the type (shape or size) of the part. For this reason, depending on the type of component, an imaging unit 54a having different characteristics may be required, or a light emitting unit 54b having a different light emission mode may be required. That is, the parts camera unit 54 may need to be replaced depending on the type of parts.
  • the parts dust box 55 and the tape dust box 56 are detachably mounted on the mounting portion 51.
  • the parts dust box 55 and the tape dust box 56 are collectively referred to as a dust unit.
  • the unit replacement carriage 40 may be provided with a tape storage box for storing the waste tape at the lower portion of the mounting portion 51 and mounted with a tape duct for guiding the waste tape to the tape storage box instead of the tape dust box 56. Good.
  • the mounting control device 28 includes a CPU 28a, ROM 28b, HDD 28c, RAM 28d, and the like.
  • the mounting control device 28 outputs drive signals to the substrate transfer device 24, the head 25, and the XY robot 30, and outputs an imaging instruction to the mark camera 27. Further, the mounting control device 28 inputs a captured image from the mark camera 27. Further, the mounting control device 28 outputs a drive signal to the tape feeder unit 52 and the nozzle stock unit 53 through the connection of the connectors 39 and 59 in a state where the unit replacement carriage 40 is set in the mounting device 20. Or an imaging instruction is output to the parts camera unit 54.
  • the mounting control device 28 inputs part information from the tape feeder unit 52 and inputs camera information and a captured image from the parts camera unit 54 through the connection of the connectors 39 and 59.
  • the mounting control device 28 displays information that associates the position of each tape feeder unit 52 with the type and number of components accommodated in each tape feeder unit 52. Store in the HDD 28c.
  • the mounting control device 28 processes the captured image to calculate the amount of suction displacement of the component, and the mounting processing so as to mount the component at the mounting position corrected based on the suction displacement amount. I do.
  • the mounting control device 28 is communicably connected to the management device 80 by wire, and exchanges data and control signals with each other.
  • the management device 80 is a general-purpose computer including, for example, a CPU 80a, a ROM 80b, an HDD 80c, and a RAM 80d, 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 board production plan, route information of the unit replacement carriage 40, and the like in the HDD 80c.
  • the board production plan is a plan that determines which parts are to be mounted on the board in which order in each mounting apparatus 20, and how many boards on which such parts are mounted are produced.
  • the production plan is a parts camera unit that captures feeder information related to the type of tape feeder unit 52 for supplying components to be mounted on each substrate and an image for determining the suction state of the component sucked by the suction nozzle 26. Also included are camera information relating to 54 types, nozzle information relating to the type and number of suction nozzles 26 to be accommodated in the nozzle stock unit 53 in order to mount components on the substrate.
  • the route information is information indicating a route from the storage 70 to each mounting device 20 along the travel line L.
  • FIG. 7 is a flowchart illustrating an example of the unit replacement process. This processing is executed by the CPU 80a of the management device 80 at a timing when preparation for production of the next substrate type is required based on the production status.
  • the CPU 80a of the management device 80 first obtains the next production part type necessary for the production of the next board type from the production plan (S100), and the part of the next production type. Is acquired (S110), and information on other units necessary for the next production is acquired (S120). In S120, the CPU 80a, in S120, information on the nozzle stock unit 53 including the type and required number of the suction nozzles 26 necessary for sucking the parts of the next production part type, and the parts necessary for imaging the parts of the next production part type. Information about the camera unit 54 is acquired.
  • the CPU 80a works on the worker to set various units necessary for the next production on the unit replacement cart 40 waiting in the storage 70 based on the information on the various units acquired in S110 and S120.
  • An instruction is given (S130). This work instruction is displayed on, for example, the display 82, and the worker sets various necessary units on the mounting portion 51 of the unit replacement carriage 40 while viewing the work instruction.
  • the operator operates the input device 84. Then, the fact that the set operation has been completed and the identification information of the unit replacement carriage 40 are input to the management device 80. In addition, the worker places the unit replacement carriage 40 that has been set at the start position where automatic traveling starts.
  • the CPU 80a of the management device 80 waits for the unit replacement timing when the work instruction is given in S130 (S140).
  • the unit replacement timing is a notification that the setting work by the operator is completed, and that the production of the current board type is completed in the mounting apparatus 20 and the unit replacement carriage 40 that is currently set is ready to exit. May be the timing at which is received from the mounting apparatus 20.
  • the CPU 80a causes the unit replacement carriage 40 currently set in the mounting apparatus 20 to leave the carriage receiving space 20a of the mounting apparatus 20 and automatically travel to the storage 70 (S150).
  • the CPU 80a automatically travels the unit replacement carriage 40 loaded with various units for next production from the storage 70 (travel start position) to the mounting apparatus 20 to be replaced, and enters the carriage receiving space 20a of the mounting apparatus 20. Enter (S160).
  • the unit exchanging carriage 40 can be automatically run and exchanged together, the various units can be automatically exchanged collectively. For this reason, it is possible to efficiently perform the setup change work when the substrate type is switched.
  • various units necessary for the next production are mounted in advance on the unit exchange carriage 40 waiting in the storage 70, thereby making the setup change work more efficient. It can be carried out.
  • the CPU 80a automatically causes the unit replacement carriage 40, which has been set for the next production unit, to automatically travel to the mounting apparatus 20 to be replaced in advance before determining that the production of the current board type is completed in S140. It is also possible to wait near the mounting apparatus 20 to be replaced. Then, when the unit replacement carriage 40 leaves the carriage receiving space 20a in S150, the unit replacement carriage 40 loaded with various units for the next production may be immediately entered into the carriage receiving space 20a. In this way, the setup change time can be further shortened.
  • the unit replacement cart 40 of this embodiment corresponds to a unit replacement cart
  • the mounting device 20 corresponds to a mounting device
  • the tape feeder unit 52 corresponds to a component supply unit
  • 54 and a dust unit correspond to a production unit
  • the mounting portion 51 corresponds to a mounting portion
  • the vehicle body portion 41 corresponds to a vehicle body portion.
  • the air source 37 and the power source 38 correspond to a power source
  • the connector 39 corresponds to a device side connection portion
  • the connector 59 corresponds to a carriage side connection portion.
  • the unit replacement carriage 40 described above can use the component feeder tape feeder unit 52, the nozzle stock unit 53, the part camera unit 54, and the dust unit that are used for mounting other than the component supply in the mounting apparatus 20. Mount. For this reason, when the unit exchanging carriage 40 is exchanged for each carriage, not only the tape feeder unit 52 but also the nozzle stock unit 53, the parts camera unit 54, and the dust unit can be exchanged, so that various units can be exchanged efficiently. be able to. Therefore, the setup change time can be further shortened and the production efficiency can be improved.
  • the unit replacement cart 40 is configured such that the vehicle body portion 41 can automatically travel along the travel line. Therefore, the unit replacement cart 40 on which various units necessary for the next production are mounted is changed. Various units can be automatically replaced by automatically running to the device 40. Therefore, since it is not necessary for the operator to replace the unit replacement carriage 40, various units can be replaced more efficiently.
  • the unit replacement carriage 40 is set in the mounting apparatus 20 provided with the connector 39 connected to the air source 37 and the power source 38, and includes a connector 59 connected to the connector 39. Then, the air from the air source 37 is supplied to the nozzle stock unit 53 via the connection of the connectors 39 and 59, and the power from the power source 38 is supplied to the tape feeder unit 52 and the parts camera unit 54. For this reason, when replacing the unit exchanging carriage 40, it is not necessary for the operator to connect the connectors 39 and 59, so that various units can be exchanged more efficiently.
  • the mounting unit 51 of the unit replacement carriage 40 is mounted with a plurality of units used for production other than component supply in addition to the tape feeder unit 52 for component supply. It is not a thing.
  • the mounting unit 51 may mount one or more units among the nozzle stock unit 53, the parts camera unit 54, and the dust unit (parts dust box 55 and tape dust box 56), and production is performed in addition to these units. You may mount the unit used for. Or it is good also as what does not mount the unit used for production other than components supply other than the tape feeder unit 52 for components supply.
  • the vehicle body portion 41 is configured to be capable of automatic traveling, but may be configured to travel by pushing a work vehicle. Even in this case, various units can be efficiently exchanged collectively by exchanging the unit exchange carriage 40 together with the carriage.
  • the unit replacement carriage 40 is equipped with a tape feeder unit as a component supply unit, but is not limited thereto, and is equipped with a tray feeder unit that supplies components from a flat tray containing components. May be. Further, the unit replacement carriage 40 may be mounted with a tape feeder unit and a tray feeder unit.
  • the unit replacement cart 40 is positioned in the left-right direction by entering the cart receiving space 20a while being guided by the guide member 35.
  • the present invention is not limited to this.
  • a reference mark that can be imaged from the front is provided in the mounting apparatus 20 (trolley receiving space 20a), and a camera unit that can image the reference mark is provided in the unit replacement cart 40.
  • the unit replacement carriage 40 may obtain the position of the reference mark from the image captured by the camera unit, and may enter the carriage receiving space 20a while correcting the positional deviation of the own vehicle with respect to the position of the reference mark. .
  • FIG. 8 is a configuration diagram of a unit replacement cart 140 according to a modified example
  • FIG. 9 is an explanatory diagram of a state in which the unit replacement cart 140 is set on the mounting apparatus 120.
  • 8A is an internal configuration diagram of the unit replacement carriage 140 viewed from the rear
  • FIG. 8B is an internal configuration diagram of the unit replacement cart 140 viewed from the side.
  • the vehicle body portion 141 of the unit replacement carriage 140 supports the mounting portion 151 at the left and right edges of the upper surface when viewed from the rear, and the mounting portion is located at the center of the upper surface.
  • the mounting portion 151 is not supported because there is a gap 140a between the mounting portion 151 and the mounting portion 151.
  • the vehicle body unit 141 includes an electric actuator 148 (lock mechanism) that is operated by electric power from the battery 46 to raise and lower the rod 148a.
  • the mounting portion 151 includes a plurality of rollers 158 that rotate by contacting the upper surface of the vehicle body portion 141 on the lower surface that faces the vehicle body portion 141, and the tip of the rod 148 a of the vehicle body portion 141 is fitted.
  • the recess 151a is formed.
  • the mounting apparatus 120 of a modification is provided with the support part 129 which can support the mounting part 151, as shown in FIG.
  • the gap 140a of the unit replacement carriage 140 described above is formed in a size that allows the support portion 129 to enter (see FIG. 8A).
  • the cart controller 47 of the unit exchanging cart 140 controls the electric actuator 148 so that the tip of the rod 148a fits into the recess 151a during traveling. Thereby, the vehicle body part 141 and the mounting part 151 can be automatically and integrally driven to set the mounting part 151 in the mounting apparatus 120 (FIG. 9A). Note that when the unit replacement cart 140 enters the mounting device 120, the support portion 129 of the mounting device 120 enters the gap 140 a of the unit replacement cart 140. When the unit replacement carriage 140 is set, the carriage control device 47 controls the electric actuator 148 so that the tip of the rod 148a comes out of the recess 151a (FIG. 9B).
  • the mounting device 120 of the modified example transmits information indicating that the vehicle body portion 141 can be withdrawn to the management device 80 when the unit replacement cart 140 is set, and the management device 80 that has received the information transmits the information.
  • the exit instruction may be transmitted to the control device 47, and the bogie control device 47 that receives the exit instruction may control the electric actuator 148.
  • rock of the vehicle body part 141 and the mounting part 151 is cancelled
  • the rod 148a of the electric actuator 148 is lowered and the vehicle body portion 141 is slightly lowered, the mounting portion 151 is supported by the support portion 129 of the mounting apparatus 120 instead of being supported by the vehicle body portion 141.
  • the unit exchanging carriage 140 can leave only the vehicle body portion 141 while leaving the mounting portion 151 (FIG. 9C).
  • a mechanism that engages the mounting portion 151 may be provided on the support portion 129 so that the supporting portion 129 can reliably support the mounting portion 151.
  • the vehicle body portion 141 and the mounting portion 151 are locked again. It becomes impossible to move relative. For this reason, the vehicle body portion 141 and the mounting portion 151 can be withdrawn together.
  • the vehicle body part 141 can be shared by a plurality of mounting apparatuses 120, it is possible to efficiently exchange various units without preparing the same number of vehicle body parts 141 as the number of mounting apparatuses 120. Become.
  • the electric actuator 148 is provided in the vehicle body part 141, but is not limited thereto, and may be provided in the mounting part 151. Further, the vehicle body portion 141 and the mounting portion 151 are not limited to being locked and unlocked by the mechanism of the modified example, but the vehicle body portion 141 and the mounting portion 151 are locked during traveling and the unit replacement carriage 140 is mounted. Any mechanism may be used as long as it can unlock and re-lock the vehicle body portion 141 and the mounting portion 151 when entering the apparatus.
  • the present invention can be used in the manufacturing industry of a unit replacement carriage set in a mounting apparatus.

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Supply And Installment Of Electrical Components (AREA)

Abstract

A unit replacement carriage 40 carries a component-supplying tape feeder unit 52, a nozzle stock unit 53 used for mounting other than for component supplying purposes, and a part camera unit 54 in such a way as to be usable in a mounting device 20. Accordingly, by wholly replacing the unit replacement carriage 40, not only the tape feeder unit 52 but also the nozzle stock unit 53 and the part camera unit 54 can be replaced, thus facilitating efficient replacement of various units.

Description

ユニット交換用台車Unit replacement cart
　本発明は、実装装置にセットされるユニット交換用台車に関する。 The present invention relates to a unit replacement carriage set in a mounting apparatus.
　従来より、部品供給用のユニットから供給される部品を基板に実装する実装装置に対して、部品供給用のユニットを交換するためのユニット交換用台車が知られている（例えば、特許文献１参照）。特許文献１では、ユニット交換用台車が複数の部品供給用のユニットを搭載可能に構成されており、作業者がユニット交換用台車を台車ごと入れ替えることにより、複数の部品供給用のユニットを一括して交換するものとしている。 2. Description of the Related Art Conventionally, there is known a unit replacement cart for replacing a component supply unit with respect to a mounting apparatus that mounts a component supplied from a component supply unit on a substrate (see, for example, Patent Document 1). ). In Patent Document 1, the unit replacement cart is configured to be capable of mounting a plurality of component supply units. When an operator replaces the unit replacement cart for each cart, the plurality of component supply units are integrated. To be exchanged.
特開２００１－２３０５８９号公報Japanese Patent Laid-Open No. 2001-230589
　上述したユニット交換用台車では、基板の生産種が切り替わる際に、ユニットの交換を効率よく行って段取り替え時間を短縮することができる。段取り替え時間の短縮は、実装装置の生産効率を向上させるために重要な課題として考えられており、更なる改善が求められている。 In the unit replacement carriage described above, when the production type of the substrate is switched, the unit replacement can be efficiently performed and the setup change time can be shortened. Shortening the setup change time is considered as an important issue for improving the production efficiency of the mounting apparatus, and further improvement is required.
　本発明のユニット交換用台車は、ユニットの交換をより効率よく行うことを主目的とする。 The main object of the unit replacement cart of the present invention is to perform unit replacement more efficiently.
　本発明のユニット交換用台車は、上述の主目的を達成するために以下の手段を採った。 The unit replacement cart of the present invention has taken the following means in order to achieve the above-mentioned main purpose.
　本発明の第１のユニット交換用台車は、
　部品供給用のユニットから供給される部品を基板に実装する実装装置にセットされるユニット交換用台車であって、
　前記部品供給用のユニットと、部品供給用以外で実装に用いられる生産用のユニットとを前記実装装置で使用可能に搭載する搭載部と、
　前記搭載部が設けられる車体部と、
　を備えることを要旨とする。 The first unit replacement carriage of the present invention is:
A unit replacement carriage set in a mounting device for mounting a component supplied from a component supply unit on a board,
A mounting unit for mounting the unit for supplying the component and a unit for production used for mounting other than for supplying the component in a manner that can be used in the mounting device;
A vehicle body portion provided with the mounting portion;
It is a summary to provide.
　本発明の第１のユニット交換用台車は、部品供給用のユニットと、部品供給用以外で実装に用いられる生産用のユニットとを実装装置で使用可能に搭載する。このため、ユニット交換用台車を台車ごと交換すると、部品供給用のユニットだけでなく、生産用のユニットも交換することができるから、ユニットの交換を効率よく行うことができる。したがって、段取り替え時間をより短縮化して、生産効率を向上させることができる。 The first unit replacement cart of the present invention mounts a component supply unit and a production unit that is used for mounting other than for component supply in a mounting apparatus. For this reason, if the unit replacement cart is replaced with the entire cart, not only the component supply unit but also the production unit can be replaced, so that the units can be replaced efficiently. Therefore, the setup change time can be further shortened and the production efficiency can be improved.
　本発明の第１のユニット交換用台車において、前記車体部は、走行経路に沿って自動走行可能に構成されるものとしてもよい。こうすれば、段取り替えに必要な部品供給用のユニットと生産用のユニットとを搭載したユニット交換用台車を、段取り替えが行われる実装装置まで自動で走行させてユニットの交換を自動で行うことができる。したがって、作業者がユニット交換用台車を入れ替える必要がないから、ユニットの交換を一層効率よく行うことができる。特に、複数台の実装装置で同時期にユニットの交換が必要となる場合には、交換時間の短縮効果が大きなものとなる。 In the first unit replacement carriage of the present invention, the vehicle body portion may be configured to be capable of automatic traveling along a traveling route. In this way, the unit replacement cart equipped with the parts supply unit and production unit necessary for the setup change is automatically run to the mounting device where the setup change is performed, and the unit is automatically changed. Can do. Therefore, since it is not necessary for the operator to replace the unit replacement carriage, the units can be replaced more efficiently. In particular, when a plurality of mounting apparatuses need to be replaced at the same time, the effect of shortening the replacement time is significant.
　本発明の第２のユニット交換用台車は、
　部品供給用のユニットから供給される部品を基板に実装する実装装置にセットされるユニット交換用台車であって、
　前記部品供給用のユニットを前記実装装置で使用可能に搭載する搭載部と、
　前記搭載部が設けられ、走行経路に沿って自動走行可能に構成される車体部と、
　を備えることを要旨とする。 The second unit replacement carriage of the present invention is
A unit replacement carriage set in a mounting device for mounting a component supplied from a component supply unit on a board,
A mounting unit for mounting the component supply unit so as to be usable in the mounting device;
A vehicle body portion provided with the mounting portion and configured to be capable of automatic traveling along a travel route;
It is a summary to provide.
　本発明の第２のユニット交換用台車は、部品供給用のユニットを実装装置で使用可能に搭載する搭載部が設けられ、走行経路に沿って自動走行可能に構成される車体部を備える。このため、段取り替えに必要な部品供給用のユニットを搭載したユニット交換用台車を、段取り替えが行われる実装装置まで自動で走行させてユニットの交換を自動で行うことができる。したがって、作業者がユニット交換用台車を入れ替える必要がないから、ユニットの交換を効率よく行うことができる。特に、複数台の実装装置で同時期にユニットの交換が必要となる場合には、交換時間の短縮効果が大きなものとなる。 The second unit replacement cart of the present invention is provided with a mounting portion on which a component supply unit is mounted so as to be usable by a mounting apparatus, and includes a vehicle body portion configured to be automatically driven along a travel route. For this reason, it is possible to automatically replace the unit by causing the unit replacement carriage loaded with the component supply unit necessary for the setup change to automatically travel to the mounting apparatus where the setup change is performed. Therefore, since it is not necessary for the operator to replace the unit replacement carriage, the units can be replaced efficiently. In particular, when a plurality of mounting apparatuses need to be replaced at the same time, the effect of shortening the replacement time is significant.
　作動源に繋がる装置側接続部が設けられた実装装置にセットされる本発明の第１のユニット交換用台車または第２のユニット交換用台車において、前記実装装置にセットされると、前記装置側接続部に接続される台車側接続部を備え、前記装置側接続部と前記台車側接続部との接続を介して、前記作動源からの動力が前記搭載部に搭載されている各ユニットに供給されるものとしてもよい。こうすれば、ユニット交換用台車を入れ替える際に、作業者が装置側接続部と台車側接続部とを接続する必要がないから、ユニットの交換をさらに効率よく行うことができる。 In the first unit replacement cart or the second unit replacement cart of the present invention set in the mounting device provided with the device-side connection portion connected to the operating source, when set in the mounting device, the device side A trolley side connection portion connected to the connection portion is provided, and power from the operating source is supplied to each unit mounted on the mounting portion through connection between the device side connection portion and the trolley side connection portion. It is good also as what is done. In this way, when replacing the unit replacement cart, the operator does not need to connect the apparatus side connection portion and the cart side connection portion, so the units can be replaced more efficiently.
　搭載部を支持可能な支持部が設けられた実装装置にセットされる本発明の第１のユニット交換用台車または第２のユニット交換用台車において、前記搭載部は、前記車体部との間に前記実装装置の支持部が進入可能な隙間をもって前記車体部から分離可能に設けられ、前記搭載部と前記車体部とを相対移動不能とするロックと、該ロックの解除とが可能なロック機構を備えるものとしてもよい。こうすれば、ユニット交換用台車が実装装置にセットされると、搭載部と車体部との隙間に進入した支持部により搭載部を支持可能となり、ロック機構による搭載部と車体部とのロックを解除すれば、実装装置の支持部に支持させた搭載部を実装装置に残したまま車体部だけを実装装置から退出させることが可能となる。このため、複数台の実装装置で、ユニット交換用台車の車体部を共用することができるから、ユニット交換用台車の車体部を実装装置の数と同じ数だけ用意することなくユニットの交換を効率よく行うことが可能となる。これにより、ユニット交換用台車の導入費用を抑えることができる。特にユニット交換用台車の車体部を自動走行可能に構成する場合には、導入費用を抑える効果が大きいものとなる。 In the first unit replacement cart or the second unit replacement cart of the present invention set in a mounting apparatus provided with a support portion capable of supporting the mounting portion, the mounting portion is located between the vehicle body portion and the vehicle body portion. A lock mechanism that is provided so as to be separable from the vehicle body part with a gap through which the support part of the mounting apparatus can enter, and that locks the mounting part and the vehicle body part relative to each other and that can be released. It may be provided. In this way, when the unit replacement carriage is set in the mounting apparatus, the mounting portion can be supported by the support portion that has entered the gap between the mounting portion and the vehicle body portion, and the lock mechanism can lock the mounting portion and the vehicle body portion. If released, only the vehicle body part can be withdrawn from the mounting apparatus while the mounting part supported by the support part of the mounting apparatus remains in the mounting apparatus. For this reason, a plurality of mounting devices can share the body part of the unit replacement carriage. Therefore, it is efficient to replace the units without preparing the same number of body parts of the unit replacement carriage as the number of mounting devices. It can be done well. Thereby, the introduction cost of the unit replacement cart can be suppressed. In particular, when the vehicle body portion of the unit replacement cart is configured to be able to run automatically, the effect of reducing the introduction cost is great.
実装システム１０の全体構成の概略を示す構成図。1 is a configuration diagram showing an outline of the overall configuration of a mounting system 10. FIG. 実装装置２０とユニット交換用台車４０の斜視図。The perspective view of the mounting apparatus 20 and the trolley | bogie 40 for unit replacement | exchange. 実装装置２０とユニット交換用台車４０の上面図。The top view of the mounting apparatus 20 and the trolley | bogie 40 for unit replacement | exchange. 実装装置２０とユニット交換用台車４０の上面図。The top view of the mounting apparatus 20 and the trolley | bogie 40 for unit replacement | exchange. 実装装置２０とユニット交換用台車４０の側面図。The side view of the mounting apparatus 20 and the trolley | bogie 40 for unit replacement | exchange. 実装システム１０の制御に関する構成図。The block diagram regarding control of the mounting system. ユニット交換処理の一例を示すフローチャート。The flowchart which shows an example of a unit exchange process. 変形例のユニット交換用台車１４０の構成図。The block diagram of the unit replacement trolley | bogie 140 of a modification. ユニット交換用台車１４０が実装装置１２０にセットされる様子の説明図。Explanatory drawing of a mode that the unit exchange trolley | bogie 140 is set to the mounting apparatus 120. FIG.
　本発明を実施するための形態を実施例を用いて説明する。 A mode for carrying out the present invention will be described using an embodiment.
　図１は、実装システム１０の全体構成の概略を示す構成図であり、図２は、実装装置２０とユニット交換用台車４０の斜視図である。また、図３，図４は、実装装置２０とユニット交換用台車４０の上面図であり、図５は、実装装置２０とユニット交換用台車４０の側面図であり、図６は、実装システム１０の制御に関する構成図である。なお、図２の左右方向がＸ方向であり、前後方向がＹ方向であり、上下方向がＺ方向である。 FIG. 1 is a configuration diagram showing an outline of the overall configuration of the mounting system 10, and FIG. 2 is a perspective view of the mounting apparatus 20 and a unit replacement carriage 40. 3 and 4 are top views of the mounting apparatus 20 and the unit replacement carriage 40, FIG. 5 is a side view of the mounting apparatus 20 and the unit replacement carriage 40, and FIG. It is a block diagram regarding the control. 2 is the X direction, the front-rear direction is the Y direction, and the vertical direction is the Z direction.
　実装システム１０は、図１に示すように、回路基板（以下、基板という）に電子部品（以下、部品という）を実装する複数台の実装装置２０と、各実装装置２０で使用される各種ユニットを保管する保管庫７０と、実装システム１０の全体を管理する管理装置８０（図６参照）とを備える。この実装システム１０は、基板搬送方向（Ｘ軸方向）に複数台の実装装置２０が並んだ部品実装ラインを３列有するものとなっている。また、実装システム１０は、保管庫７０に保管されている各種ユニットと、実装装置２０にセットされている各種ユニットとを交換するための複数台のユニット交換用台車４０を備える。 As shown in FIG. 1, the mounting system 10 includes a plurality of mounting devices 20 for mounting electronic components (hereinafter referred to as components) on a circuit board (hereinafter referred to as a substrate), and various units used in each mounting device 20. And a management device 80 (see FIG. 6) for managing the entire mounting system 10. This mounting system 10 has three rows of component mounting lines in which a plurality of mounting apparatuses 20 are arranged in the board conveyance direction (X-axis direction). The mounting system 10 includes a plurality of unit replacement carriages 40 for exchanging various units stored in the storage 70 and various units set in the mounting apparatus 20.
　本実施例のユニット交換用台車４０は、自動走行可能な無人走行車として構成されている。また、実装システム１０は、保管庫７０から出て各部品実装ラインの前方を通って各実装装置２０に到達可能になると共に各実装装置２０から保管庫７０に戻るための走行ラインＬが設定されている。実装システム１０では、走行ラインＬに沿って磁気テープが敷設されている。ユニット交換用台車４０は、磁気テープの磁気をセンサで検出して走行方向を調整しながら自動走行する磁気誘導方式により目的位置まで誘導される。なお、ユニット交換用台車４０は、光学誘導方式などの他の誘導方式によって誘導されてもよいし、走行ラインＬの座標位置を予め記憶しておき走行距離などを自動計測して現在位置や走行方向を調整しながら自動走行するものとしてもよい。ユニット交換用台車４０は、図２に示すように、各種ユニット（５２，５３，５４，５５など）を搭載した状態で、実装装置２０の前方に形成された台車受入スペース２０ａ内に進入可能となっている。なお、図３は、ユニット交換用台車４０が台車受入スペース２０ａ内に進入している途中の図であり、図４は、ユニット交換用台車４０が台車受入スペース２０ａ内に進入した図である。 The unit replacement carriage 40 of this embodiment is configured as an unmanned traveling vehicle that can automatically travel. In addition, the mounting system 10 is set to have a travel line L for exiting from the storage 70 and passing through the front of each component mounting line to reach each mounting apparatus 20 and returning from each mounting apparatus 20 to the storage 70. ing. In the mounting system 10, a magnetic tape is laid along the traveling line L. The unit replacement carriage 40 is guided to a target position by a magnetic guidance system that automatically moves while adjusting the traveling direction by detecting the magnetism of the magnetic tape with a sensor. The unit replacement carriage 40 may be guided by another guidance method such as an optical guidance method, or the coordinate position of the travel line L is stored in advance and the travel distance is automatically measured to determine the current position and travel. It is good also as what runs automatically, adjusting a direction. As shown in FIG. 2, the unit replacement carriage 40 can enter a carriage receiving space 20a formed in front of the mounting apparatus 20 in a state where various units (52, 53, 54, 55, etc.) are mounted. It has become. 3 is a diagram in the middle of the unit replacement cart 40 entering the cart receiving space 20a, and FIG. 4 is a diagram in which the unit replacement cart 40 has entered the cart receiving space 20a.
　実装装置２０は、図５に示すように、底面に図示しないレベリングボルトが取り付けられた基台２１と、基台２１に支持された筐体２２とにより構成されている。実装装置２０は、図３～図５に示すように、基板を搬送する基板搬送装置２４と、吸着ノズル２６により吸着した部品を基板に実装するヘッド２５と、ヘッド２５をＸＹ方向へ移動させるＸＹロボット３０と、実装機全体を制御する実装制御装置２８（図６参照）とを備える。 As shown in FIG. 5, the mounting apparatus 20 includes a base 21 with a leveling bolt (not shown) attached to the bottom surface and a housing 22 supported by the base 21. As shown in FIGS. 3 to 5, the mounting device 20 includes a substrate transport device 24 that transports a substrate, a head 25 that mounts a component sucked by the suction nozzle 26 on the substrate, and an XY that moves the head 25 in the XY direction. The robot 30 includes a mounting control device 28 (see FIG. 6) that controls the entire mounting machine.
　基板搬送装置２４は、図３の左から右（Ｘ軸方向）に基板を搬送する基板搬送路が図３の前後（Ｙ軸方向）に２つ設けられたデュアルレーン方式の搬送装置として構成されている。ヘッド２５は、図５に示すように、複数の吸着ノズル２６が着脱可能に取り付けられており、形状やサイズが異なる複数種類の吸着ノズル２６のうち実装対象の部品の種類（形状やサイズ）に応じたものに交換される。また、ヘッド２５には、基板に付された基板位置決め基準マークを撮像するためのマークカメラ２７が設けられている。ＸＹロボット３０は、図３～図５に示すように、筐体２２の上段部に前後方向（Ｙ軸方向）に沿って設けられた左右一対のＹ軸ガイドレール３１と、Ｙ軸ガイドレール３１に沿って移動が可能なＹ軸スライダ３２と、Ｙ軸スライダ３２の側面に左右方向（Ｘ軸方向）に沿って設けられたＸ軸ガイドレール３３と、Ｘ軸ガイドレール３３に沿って移動が可能なＸ軸スライダ３４とを備える。Ｘ軸スライダ３４にはヘッド２５が取り付けられており、実装制御装置２８は、ＸＹロボット３０を駆動制御することにより、ＸＹ平面上の任意の位置にヘッド２５を移動可能である。 The substrate transfer device 24 is configured as a dual lane transfer device in which two substrate transfer paths for transferring a substrate from the left to the right (X-axis direction) in FIG. 3 are provided in the front and rear (Y-axis direction) in FIG. ing. As shown in FIG. 5, a plurality of suction nozzles 26 are detachably attached to the head 25, and the type (shape or size) of the component to be mounted among the plurality of types of suction nozzles 26 having different shapes and sizes. It is exchanged for the one that meets it. The head 25 is provided with a mark camera 27 for imaging a substrate positioning reference mark attached to the substrate. As shown in FIGS. 3 to 5, the XY robot 30 includes a pair of left and right Y-axis guide rails 31 provided on the upper portion of the housing 22 along the front-rear direction (Y-axis direction), and a Y-axis guide rail 31. A Y-axis slider 32 that can move along the X-axis, an X-axis guide rail 33 that is provided on the side surface of the Y-axis slider 32 along the left-right direction (X-axis direction), and a movement along the X-axis guide rail 33. Possible X-axis slider 34. A head 25 is attached to the X-axis slider 34, and the mounting control device 28 can move the head 25 to an arbitrary position on the XY plane by driving and controlling the XY robot 30.
　また、実装装置２０は、台車受入スペース２０ａの後方側（スペースの奥側，進入端）の壁面にコネクタ３９が設けられている。このコネクタ３９は、ユニット交換用台車４０に搭載される各種ユニットの作動源であるエア源３７（図６参照）や電力源３８（図６参照）に繋げられると共に実装制御装置２８に繋げられている。また、実装装置２０は、図３に示すように、台車受入スペース２０ａの後方側下部の左右方向（Ｘ軸方向）の中央にユニット交換用台車４０の進入をガイドするためのガイド部材３５が設けられている。実装装置２０は、台車受入スペース２０ａの後方側下部の左右方向の端にユニット交換用台車４０が停止する際の衝突力を低減させるための緩衝部材３６が設けられている。ガイド部材３５は、上面視で略長方形状の平板状の部材であり、台車受入スペース２０ａの前方側の二箇所の角を切り落として前方側の板幅が狭くなるよう形成されている。また、緩衝部材３６は、上面視で略直角三角形状の部材であり、斜辺となる部分が台車受入スペース２０ａの内側を向くよう配置されている。 In addition, the mounting device 20 is provided with a connector 39 on the wall surface on the rear side (the back side of the space, the entry end) of the carriage receiving space 20a. The connector 39 is connected to an air source 37 (see FIG. 6) and an electric power source 38 (see FIG. 6), which are operating sources of various units mounted on the unit replacement carriage 40, and to the mounting control device 28. Yes. Further, as shown in FIG. 3, the mounting device 20 is provided with a guide member 35 for guiding the entry of the unit replacement carriage 40 at the center in the left-right direction (X-axis direction) at the lower rear side of the carriage receiving space 20 a. It has been. The mounting device 20 is provided with a buffer member 36 for reducing the collision force when the unit replacement carriage 40 stops at the left and right ends at the lower rear side of the carriage receiving space 20a. The guide member 35 is a substantially rectangular flat plate member as viewed from above, and is formed so that the front side plate width is narrowed by cutting off two corners on the front side of the carriage receiving space 20a. Further, the buffer member 36 is a member having a substantially right triangle shape in a top view, and is arranged so that a portion which becomes a hypotenuse faces the inside of the carriage receiving space 20a.
　ユニット交換用台車４０は、図２に示すように、走行用の車輪４２が取り付けられた車体部４１と、車体部４１上に固定され各種ユニットを搭載する搭載部５１とにより構成されている。なお、説明の便宜上、図３の上面図では、車体部４１を実線で示すと共に搭載部５１および各種ユニットを点線で示す。なお、実装装置２０の前方側（台車受入スペース２０ａ）に向き合う側をユニット交換用台車４０の前方側とする。 As shown in FIG. 2, the unit replacement carriage 40 includes a vehicle body portion 41 to which traveling wheels 42 are attached, and a mounting portion 51 that is fixed on the vehicle body portion 41 and mounts various units. For convenience of explanation, in the top view of FIG. 3, the vehicle body portion 41 is indicated by a solid line, and the mounting portion 51 and various units are indicated by dotted lines. The side facing the front side of the mounting device 20 (the cart receiving space 20a) is the front side of the unit replacement cart 40.
　車体部４１は、図６に示すように、車輪４２を回転駆動させる走行モータ４５と、走行モータ４５に電力を供給するためのバッテリ４６と、走行ラインＬに沿って目的地まで自動走行するよう走行制御する台車制御装置４７と、図示しないステアリング装置などを備える。台車制御装置４７は、無線により管理装置８０と通信可能に接続される。また、車体部４１は、図３に示すように、上面視で略直角三角形状に形成されて、車体前方に突出するように設けられた２つのローラ取付部４３を備える。このローラ取付部４３の互いに対向する側面には、ガイドローラ４４が２つずつ取り付けられている。ガイドローラ４４は、実装装置２０のガイド部材３５の左右（Ｘ軸方向）の側面に接することにより回転する。また、各ローラ取付部４３は、斜辺となる部分が実装装置２０の緩衝部材３６の斜辺となる部分と当接可能となっている。ユニット交換用台車４０（車体部４１）は、実装装置２０のガイド部材３５とガイドローラ４４とによりガイドされ、台車受入スペース２０ａの進入端（所定位置）まで進入して自動停止する。なお、ユニット交換用台車４０が進入端を超えると、ローラ取付部４３の斜辺部分と緩衝部材３６の斜辺部分とが当接することで、ユニット交換用台車４０と実装装置２０との衝突を緩和する。 As shown in FIG. 6, the vehicle body portion 41 automatically travels to the destination along the travel line L, a travel motor 45 that rotates the wheels 42, a battery 46 that supplies power to the travel motor 45, and the travel motor L. A cart control device 47 that controls traveling and a steering device (not shown) are provided. The cart controller 47 is communicably connected to the management device 80 by radio. Further, as shown in FIG. 3, the vehicle body portion 41 includes two roller attachment portions 43 that are formed in a substantially right triangle shape in a top view and are provided so as to protrude forward of the vehicle body. Two guide rollers 44 are mounted on the side surfaces of the roller mounting portion 43 facing each other. The guide roller 44 rotates by contacting the left and right (X-axis direction) side surfaces of the guide member 35 of the mounting apparatus 20. Further, each roller mounting portion 43 can come into contact with a portion where the oblique side becomes the oblique side of the buffer member 36 of the mounting apparatus 20. The unit replacement carriage 40 (vehicle body 41) is guided by the guide member 35 and the guide roller 44 of the mounting apparatus 20, enters the entry end (predetermined position) of the carriage receiving space 20a, and automatically stops. When the unit replacement cart 40 exceeds the entry end, the oblique side portion of the roller mounting portion 43 and the oblique side portion of the buffer member 36 come into contact with each other, thereby mitigating the collision between the unit replacement cart 40 and the mounting device 20. .
　搭載部５１は、図４に示すように、部品が収容されたテープを送り出して実装装置２０に部品を供給する複数のテープフィーダユニット５２と、複数の吸着ノズル２６を複数のストック孔５３ａにストックするノズルストックユニット５３と、実装装置２０の吸着ノズル２６に吸着されている部品の吸着姿勢を下方から撮像するパーツカメラユニット５４とを搭載している。また、搭載部５１は、吸着ノズル２６による吸着不良が生じているなどの不良部品を回収するパーツダストボックス５５と、テープフィーダユニット５２から送り出されて部品を供給した後に図示しない切断機構により切断された廃テープを回収するテープダストボックス５６とを搭載している。 As shown in FIG. 4, the mounting portion 51 stocks a plurality of tape feeder units 52 that feed out a tape containing the components and supply the components to the mounting device 20, and a plurality of suction nozzles 26 in a plurality of stock holes 53a. And a parts camera unit 54 for imaging the suction posture of the parts sucked by the suction nozzle 26 of the mounting apparatus 20 from below. The mounting portion 51 is cut by a parts dust box 55 that collects defective parts such as a suction failure caused by the suction nozzle 26 and a cutting mechanism (not shown) after the parts are supplied from the tape feeder unit 52 and supplied. A tape dust box 56 for collecting the waste tape is mounted.
　また、搭載部５１は、車体前方側に、実装装置２０のコネクタ３９に接続されるコネクタ５９が設けられている。このコネクタ５９は、テープフィーダユニット５２やパーツカメラユニット５４と電気配線を介して繋げられると共にノズルストックユニット５３にエア配管を介して繋げられている。コネクタ５９は、ユニット交換用台車４０が実装装置２０にセットされる際に、実装装置２０のコネクタ３９と自動接続される。即ち、コネクタ３９，５９は、いわゆるオートコネクタ（オートカプラ）として構成されている。 In addition, the mounting portion 51 is provided with a connector 59 connected to the connector 39 of the mounting apparatus 20 on the front side of the vehicle body. The connector 59 is connected to the tape feeder unit 52 and the parts camera unit 54 via electric wiring and is connected to the nozzle stock unit 53 via an air pipe. The connector 59 is automatically connected to the connector 39 of the mounting apparatus 20 when the unit replacement carriage 40 is set in the mounting apparatus 20. That is, the connectors 39 and 59 are configured as so-called auto connectors (auto couplers).
　テープフィーダユニット５２は、図６に示すように、部品を所定ピッチで収容するテープを所定量ずつ送り出す送りモータ５２ｂと、送りモータ５２ｂの駆動を制御したり収容されている部品の種類や数などの情報を管理したりするフィーダ制御部５２ａとを備える。テープフィーダユニット５２は、左右方向（Ｘ軸方向）に複数整列した状態で搭載部５１に搭載されており、実装装置２０にユニット交換用台車４０がセットされた状態で、ヘッド２５の吸着ノズル２６が吸着可能な位置に部品を供給可能となっている。送りモータ５２ｂは、コネクタ３９，５９の接続を介して電力源３８からの電力の供給を受けて駆動可能となる。フィーダ制御部５２ａは、コネクタ３９，５９の接続を介して実装制御装置２８と通信可能となる。フィーダ制御部５２ａは、部品の種類や数などの部品情報を実装制御装置２８に送信する。また、フィーダ制御部５２ａは、実装制御装置２８から送信される部品の供給指示を受信すると、送りモータ５２ｂの駆動を制御して部品を供給する。 As shown in FIG. 6, the tape feeder unit 52 includes a feed motor 52 b that feeds a predetermined amount of tape that accommodates components at a predetermined pitch, and controls the drive of the feed motor 52 b and the type and number of components accommodated. And a feeder control unit 52a for managing the information. The tape feeder unit 52 is mounted on the mounting portion 51 in a state where a plurality of tape feeder units 52 are aligned in the left-right direction (X-axis direction), and the suction nozzle 26 of the head 25 is mounted in a state where the unit replacement carriage 40 is set in the mounting apparatus 20. The parts can be supplied to the position where can be adsorbed. The feed motor 52b can be driven by receiving power supplied from the power source 38 through connection of the connectors 39 and 59. The feeder control unit 52a can communicate with the mounting control device 28 through the connection of the connectors 39 and 59. The feeder control unit 52 a transmits component information such as the type and number of components to the mounting control device 28. Further, when receiving the component supply instruction transmitted from the mounting control device 28, the feeder control unit 52a controls the drive of the feed motor 52b to supply the component.
　ノズルストックユニット５３は、複数のストック孔５３ａに対する吸着ノズル２６の出し入れを可能とする開状態と吸着ノズル２６の出し入れを不能とする閉状態とを切り替える図示しないシャッタを、開閉シリンダ５３ｂの駆動により作動させるよう構成される。開閉シリンダ５３ｂは、コネクタ３９，５９の接続を介してエア源３７からのエアの供給を受けて駆動可能となる。ノズルストックユニット５３は、実装装置２０にユニット交換用台車４０がセットされた状態で、ヘッド２５が吸着ノズル２６を交換可能な位置に搭載される。 The nozzle stock unit 53 operates a shutter (not shown) that switches between an open state in which the suction nozzles 26 can be inserted into and removed from the plurality of stock holes 53a and a closed state in which the suction nozzles 26 cannot be inserted and removed by driving the open / close cylinder 53b. Configured to let The open / close cylinder 53b can be driven by receiving supply of air from the air source 37 through connection of the connectors 39 and 59. The nozzle stock unit 53 is mounted at a position where the head 25 can replace the suction nozzle 26 in a state where the unit replacement carriage 40 is set in the mounting apparatus 20.
　パーツカメラユニット５４は、ＣＣＤやＣＭＯＳなどの撮像素子とレンズなどにより構成された撮像部５４ａと、撮像部５４ａの撮像タイミングで撮像対象の部品に向かって発光するＬＥＤなどの発光部５４ｂとを備える。撮像部５４ａと発光部５４ｂとは、コネクタ３９，５９の接続を介して電力源３８からの電力の供給を受けて作動可能となる。また、撮像部５４ａは、コネクタ３９，５９の接続を介して実装制御装置２８と通信可能となる。撮像部５４ａは、実装制御装置２８から送信される部品の撮像指示を受信すると、部品の画像を撮像し、撮像した画像を実装制御装置２８に送信する。ここで、部品の種類（形状やサイズ）によって、画像処理の対象となる特徴部分が異なることがある。このため、部品の種類によって、異なる特性の撮像部５４ａが必要になったり、異なる発光態様の発光部５４ｂが必要になったりすることがある。即ち、パーツカメラユニット５４は、部品の種類によって入れ替えが必要となる場合がある。 The parts camera unit 54 includes an imaging unit 54a configured by an imaging element such as a CCD or a CMOS and a lens, and a light emitting unit 54b such as an LED that emits light toward an imaging target component at the imaging timing of the imaging unit 54a. . The imaging unit 54 a and the light emitting unit 54 b are operable by receiving power supplied from the power source 38 through the connection of the connectors 39 and 59. Further, the imaging unit 54a can communicate with the mounting control device 28 through the connection of the connectors 39 and 59. Upon receiving the component imaging instruction transmitted from the mounting control device 28, the imaging unit 54 a captures an image of the component and transmits the captured image to the mounting control device 28. Here, the characteristic part to be subjected to image processing may differ depending on the type (shape or size) of the part. For this reason, depending on the type of component, an imaging unit 54a having different characteristics may be required, or a light emitting unit 54b having a different light emission mode may be required. That is, the parts camera unit 54 may need to be replaced depending on the type of parts.
　パーツダストボックス５５とテープダストボックス５６とは、搭載部５１に着脱可能に搭載されている。これらのパーツダストボックス５５とテープダストボックス５６とをまとめてダストユニットともいう。また、ユニット交換用台車４０が廃テープを収容するためのテープ収容ボックスを搭載部５１の下部に設け、テープダストボックス５６に代えて、テープ収容ボックスに廃テープを導くテープダクトを搭載するものとしてもよい。 The parts dust box 55 and the tape dust box 56 are detachably mounted on the mounting portion 51. The parts dust box 55 and the tape dust box 56 are collectively referred to as a dust unit. Further, the unit replacement carriage 40 may be provided with a tape storage box for storing the waste tape at the lower portion of the mounting portion 51 and mounted with a tape duct for guiding the waste tape to the tape storage box instead of the tape dust box 56. Good.
　実装制御装置２８は、図６に示すように、ＣＰＵ２８ａとＲＯＭ２８ｂとＨＤＤ２８ｃとＲＡＭ２８ｄなどで構成されている。この実装制御装置２８は、基板搬送装置２４とヘッド２５とＸＹロボット３０に駆動信号を出力したり、マークカメラ２７に撮像指示を出力したりする。また、実装制御装置２８は、マークカメラ２７から撮像画像を入力したりする。また、実装制御装置２８は、実装装置２０にユニット交換用台車４０がセットされた状態で、コネクタ３９，５９の接続を介して、テープフィーダユニット５２とノズルストックユニット５３とに駆動信号を出力したり、パーツカメラユニット５４に撮像指示を出力したりする。また、実装制御装置２８は、コネクタ３９，５９の接続を介して、テープフィーダユニット５２から部品情報を入力したり、パーツカメラユニット５４からカメラ情報や撮像画像を入力したりする。実装制御装置２８は、各テープフィーダユニット５２から部品情報を入力すると、各テープフィーダユニット５２の位置と、各テープフィーダユニット５２が収容している部品の種類や数などとを対応付けた情報をＨＤＤ２８ｃに記憶する。実装制御装置２８は、パーツカメラユニット５４から撮像画像を入力すると、撮像画像を処理して部品の吸着ずれ量を算出し、吸着ずれ量に基づいて補正した実装位置に部品を実装するよう実装処理を行う。また、実装制御装置２８は、管理装置８０と有線により通信可能に接続されており、互いにデータや制御信号のやり取りを行っている。 As shown in FIG. 6, the mounting control device 28 includes a CPU 28a, ROM 28b, HDD 28c, RAM 28d, and the like. The mounting control device 28 outputs drive signals to the substrate transfer device 24, the head 25, and the XY robot 30, and outputs an imaging instruction to the mark camera 27. Further, the mounting control device 28 inputs a captured image from the mark camera 27. Further, the mounting control device 28 outputs a drive signal to the tape feeder unit 52 and the nozzle stock unit 53 through the connection of the connectors 39 and 59 in a state where the unit replacement carriage 40 is set in the mounting device 20. Or an imaging instruction is output to the parts camera unit 54. Further, the mounting control device 28 inputs part information from the tape feeder unit 52 and inputs camera information and a captured image from the parts camera unit 54 through the connection of the connectors 39 and 59. When the component information is input from each tape feeder unit 52, the mounting control device 28 displays information that associates the position of each tape feeder unit 52 with the type and number of components accommodated in each tape feeder unit 52. Store in the HDD 28c. When the captured image is input from the parts camera unit 54, the mounting control device 28 processes the captured image to calculate the amount of suction displacement of the component, and the mounting processing so as to mount the component at the mounting position corrected based on the suction displacement amount. I do. The mounting control device 28 is communicably connected to the management device 80 by wire, and exchanges data and control signals with each other.
　管理装置８０は、図６に示すように、例えば、ＣＰＵ８０ａとＲＯＭ８０ｂとＨＤＤ８０ｃとＲＡＭ８０ｄなどを備える汎用のコンピュータであり、ＬＣＤなどのディスプレイ８２と、キーボードやマウスなどの入力デバイス８４とを備える。管理装置８０は、基板の生産計画やユニット交換用台車４０の経路情報などをＨＤＤ８０ｃに記憶している。基板の生産計画は、各実装装置２０においてどの部品をどの順番で基板へ実装するか、また、そのように部品を実装した基板を何枚作製するかなどを定めた計画をいう。また、生産計画は、各基板に実装する部品を供給するためのテープフィーダユニット５２の種類に関するフィーダ情報や、吸着ノズル２６で吸着した部品の吸着状態を判定するための画像を撮像するパーツカメラユニット５４の種類に関するカメラ情報、部品を基板に実装するためにノズルストックユニット５３に収容すべき吸着ノズル２６の種類や数に関するノズル情報なども含まれている。また、経路情報は、走行ラインＬに沿って保管庫７０から各実装装置２０への経路を示す情報である。 As shown in FIG. 6, the management device 80 is a general-purpose computer including, for example, a CPU 80a, a ROM 80b, an HDD 80c, and a RAM 80d, 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 board production plan, route information of the unit replacement carriage 40, and the like in the HDD 80c. The board production plan is a plan that determines which parts are to be mounted on the board in which order in each mounting apparatus 20, and how many boards on which such parts are mounted are produced. The production plan is a parts camera unit that captures feeder information related to the type of tape feeder unit 52 for supplying components to be mounted on each substrate and an image for determining the suction state of the component sucked by the suction nozzle 26. Also included are camera information relating to 54 types, nozzle information relating to the type and number of suction nozzles 26 to be accommodated in the nozzle stock unit 53 in order to mount components on the substrate. The route information is information indicating a route from the storage 70 to each mounting device 20 along the travel line L.
　次に、こうして構成された実装システム１０において、ユニット交換用台車４０を用いて各種ユニットを交換する際の動作を説明する。図７は、ユニット交換処理の一例を示すフローチャートである。この処理は、生産状況に基づいて次の基板種の生産準備が必要となったタイミングで管理装置８０のＣＰＵ８０ａにより実行される。 Next, in the mounting system 10 configured as described above, operations when various units are replaced using the unit replacement cart 40 will be described. FIG. 7 is a flowchart illustrating an example of the unit replacement process. This processing is executed by the CPU 80a of the management device 80 at a timing when preparation for production of the next substrate type is required based on the production status.
　ユニット交換処理が実行されると、管理装置８０のＣＰＵ８０ａは、まず、次の基板種の生産に必要となる次生産の部品種を生産計画から取得し（Ｓ１００）、次生産の部品種の部品を収容しているテープフィーダユニット５２に関する情報を取得すると共に（Ｓ１１０）、次生産に必要な他のユニットの情報を取得する（Ｓ１２０）。ＣＰＵ８０ａは、Ｓ１２０では、次生産の部品種の部品の吸着に必要な吸着ノズル２６の種類やその必要数を含むノズルストックユニット５３に関する情報と、次生産の部品種の部品の撮像に必要なパーツカメラユニット５４に関する情報などを取得する。そして、ＣＰＵ８０ａは、Ｓ１１０，Ｓ１２０で取得した各種ユニットの情報に基づいて、保管庫７０で待機しているユニット交換用台車４０に次生産で必要な各種ユニットをセットするよう作業者に対して作業指示を行う（Ｓ１３０）。この作業指示は、例えばディスプレイ８２に表示され、作業者は作業指示を見ながら必要な各種ユニットをユニット交換用台車４０の搭載部５１にセットし、セット作業が終わると、入力デバイス８４を操作して、セット作業が完了した旨とユニット交換用台車４０の識別情報とを管理装置８０に入力する。また、作業者は、セットが完了したユニット交換用台車４０を、自動走行を開始する開始位置に配置する。 When the unit replacement process is executed, the CPU 80a of the management device 80 first obtains the next production part type necessary for the production of the next board type from the production plan (S100), and the part of the next production type. Is acquired (S110), and information on other units necessary for the next production is acquired (S120). In S120, the CPU 80a, in S120, information on the nozzle stock unit 53 including the type and required number of the suction nozzles 26 necessary for sucking the parts of the next production part type, and the parts necessary for imaging the parts of the next production part type. Information about the camera unit 54 is acquired. Then, the CPU 80a works on the worker to set various units necessary for the next production on the unit replacement cart 40 waiting in the storage 70 based on the information on the various units acquired in S110 and S120. An instruction is given (S130). This work instruction is displayed on, for example, the display 82, and the worker sets various necessary units on the mounting portion 51 of the unit replacement carriage 40 while viewing the work instruction. When the set work is completed, the operator operates the input device 84. Then, the fact that the set operation has been completed and the identification information of the unit replacement carriage 40 are input to the management device 80. In addition, the worker places the unit replacement carriage 40 that has been set at the start position where automatic traveling starts.
　管理装置８０のＣＰＵ８０ａは、Ｓ１３０で作業指示を行うと、ユニット交換タイミングになるのを待つ（Ｓ１４０）。ユニット交換タイミングは、作業者によるセット作業が完了し、且つ、実装装置２０で現在の基板種の生産が完了して現在セットされているユニット交換用台車４０を退出させる準備が整った旨の通知を実装装置２０から受信したタイミングなどとすることができる。ＣＰＵ８０ａは、ユニット交換タイミングになったと判定すると、実装装置２０に現在セットされているユニット交換用台車４０を実装装置２０の台車受入スペース２０ａから退出させて保管庫７０まで自動走行させる（Ｓ１５０）。また、ＣＰＵ８０ａは、次生産用の各種ユニットを搭載したユニット交換用台車４０を保管庫７０（走行開始位置）から交換対象の実装装置２０まで自動走行させて実装装置２０の台車受入スペース２０ａ内に進入させる（Ｓ１６０）。これにより、ユニット交換用台車４０を自動で走行させて台車ごと交換することができるから、各種ユニットを一括して自動交換することができる。このため、基板種の切り替わり時の段取り替え作業を効率よく行うことができる。また、生産状況に応じて段取り替え情報を確認しながら、保管庫７０で待機しているユニット交換用台車４０に次生産で必要な各種ユニットを予め搭載することにより、段取り替え作業をさらに効率よく行うことができる。なお、ＣＰＵ８０ａは、次生産用の各種ユニットのセットが完了したユニット交換用台車４０を、Ｓ１４０で現在の基板種の生産が完了すると判定する前に、予め交換対象の実装装置２０まで自動走行させて交換対象の実装装置２０の近くで待機させるものとしてもよい。そして、Ｓ１５０で台車受入スペース２０ａからユニット交換用台車４０が退出すると、次生産用の各種ユニットを搭載したユニット交換用台車４０を台車受入スペース２０ａに直ちに進入させるものとしてもよい。こうすれば、段取り替え時間をより短縮することができる。 The CPU 80a of the management device 80 waits for the unit replacement timing when the work instruction is given in S130 (S140). The unit replacement timing is a notification that the setting work by the operator is completed, and that the production of the current board type is completed in the mounting apparatus 20 and the unit replacement carriage 40 that is currently set is ready to exit. May be the timing at which is received from the mounting apparatus 20. When determining that the unit replacement timing has come, the CPU 80a causes the unit replacement carriage 40 currently set in the mounting apparatus 20 to leave the carriage receiving space 20a of the mounting apparatus 20 and automatically travel to the storage 70 (S150). Further, the CPU 80a automatically travels the unit replacement carriage 40 loaded with various units for next production from the storage 70 (travel start position) to the mounting apparatus 20 to be replaced, and enters the carriage receiving space 20a of the mounting apparatus 20. Enter (S160). Thereby, since the unit exchanging carriage 40 can be automatically run and exchanged together, the various units can be automatically exchanged collectively. For this reason, it is possible to efficiently perform the setup change work when the substrate type is switched. In addition, while confirming the setup change information according to the production status, various units necessary for the next production are mounted in advance on the unit exchange carriage 40 waiting in the storage 70, thereby making the setup change work more efficient. It can be carried out. Note that the CPU 80a automatically causes the unit replacement carriage 40, which has been set for the next production unit, to automatically travel to the mounting apparatus 20 to be replaced in advance before determining that the production of the current board type is completed in S140. It is also possible to wait near the mounting apparatus 20 to be replaced. Then, when the unit replacement carriage 40 leaves the carriage receiving space 20a in S150, the unit replacement carriage 40 loaded with various units for the next production may be immediately entered into the carriage receiving space 20a. In this way, the setup change time can be further shortened.
　ここで、本実施形態の構成要素と本発明の構成要素との対応関係を明らかにする。本実施形態のユニット交換用台車４０がユニット交換用台車に相当し、実装装置２０が実装装置に相当し、テープフィーダユニット５２が部品供給用のユニットに相当し、ノズルストックユニット５３とパーツカメラユニット５４とダストユニット（パーツダストボックス５５やテープダストボックス５６）が生産用のユニットに相当し、搭載部５１が搭載部に相当し、車体部４１が車体部に相当する。また、エア源３７や電力源３８が動力源に相当し、コネクタ３９が装置側接続部に相当し、コネクタ５９が台車側接続部に相当する。 Here, the correspondence between the components of the present embodiment and the components of the present invention will be clarified. The unit replacement cart 40 of this embodiment corresponds to a unit replacement cart, the mounting device 20 corresponds to a mounting device, the tape feeder unit 52 corresponds to a component supply unit, the nozzle stock unit 53 and the part camera unit. 54 and a dust unit (parts dust box 55 and tape dust box 56) correspond to a production unit, the mounting portion 51 corresponds to a mounting portion, and the vehicle body portion 41 corresponds to a vehicle body portion. Further, the air source 37 and the power source 38 correspond to a power source, the connector 39 corresponds to a device side connection portion, and the connector 59 corresponds to a carriage side connection portion.
　以上説明したユニット交換用台車４０は、部品供給用のテープフィーダユニット５２と、部品供給用以外で実装に用いられるノズルストックユニット５３とパーツカメラユニット５４とダストユニットとを実装装置２０で使用可能に搭載する。このため、ユニット交換用台車４０を台車ごと交換すると、テープフィーダユニット５２だけでなくノズルストックユニット５３とパーツカメラユニット５４とダストユニットとを交換することができるから、各種ユニットの交換を効率よく行うことができる。したがって、段取り替え時間をより短縮化して、生産効率を向上させることができる。 The unit replacement carriage 40 described above can use the component feeder tape feeder unit 52, the nozzle stock unit 53, the part camera unit 54, and the dust unit that are used for mounting other than the component supply in the mounting apparatus 20. Mount. For this reason, when the unit exchanging carriage 40 is exchanged for each carriage, not only the tape feeder unit 52 but also the nozzle stock unit 53, the parts camera unit 54, and the dust unit can be exchanged, so that various units can be exchanged efficiently. be able to. Therefore, the setup change time can be further shortened and the production efficiency can be improved.
　また、ユニット交換用台車４０は、車体部４１が走行ラインに沿って自動走行可能に構成されるから、次生産に必要な各種ユニットを搭載したユニット交換用台車４０を、段取り替えが行われる実装装置４０まで自動で走行させて各種ユニットの交換を自動で行うことができる。したがって、作業者がユニット交換用台車４０を入れ替える必要がないから、各種ユニットの交換を一層効率よく行うことができる。 Further, the unit replacement cart 40 is configured such that the vehicle body portion 41 can automatically travel along the travel line. Therefore, the unit replacement cart 40 on which various units necessary for the next production are mounted is changed. Various units can be automatically replaced by automatically running to the device 40. Therefore, since it is not necessary for the operator to replace the unit replacement carriage 40, various units can be replaced more efficiently.
　また、ユニット交換用台車４０は、エア源３７や電力源３８に繋がるコネクタ３９が設けられた実装装置２０にセットされるものであり、コネクタ３９に接続されるコネクタ５９を備える。そして、コネクタ３９，５９の接続を介してエア源３７からのエアをノズルストックユニット５３に供給したり、電力源３８からの電力をテープフィーダユニット５２やパーツカメラユニット５４に供給したりする。このため、ユニット交換用台車４０を入れ替える際に、作業者がコネクタ３９，５９の接続を行う必要がないから、各種ユニットの交換をさらに効率よく行うことができる。 Further, the unit replacement carriage 40 is set in the mounting apparatus 20 provided with the connector 39 connected to the air source 37 and the power source 38, and includes a connector 59 connected to the connector 39. Then, the air from the air source 37 is supplied to the nozzle stock unit 53 via the connection of the connectors 39 and 59, and the power from the power source 38 is supplied to the tape feeder unit 52 and the parts camera unit 54. For this reason, when replacing the unit exchanging carriage 40, it is not necessary for the operator to connect the connectors 39 and 59, so that various units can be exchanged more efficiently.
　なお、本発明は上述した実施形態に何ら限定されることはなく、本発明の技術的範囲に属する限り種々の態様で実施し得ることはいうまでもない。 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.
　例えば、上述した実施形態では、ユニット交換用台車４０の搭載部５１が、部品供給用のテープフィーダユニット５２以外に、部品供給以外で生産に用いられる複数のユニットを搭載したが、これに限られるものではない。例えば、搭載部５１が、ノズルストックユニット５３とパーツカメラユニット５４とダストユニット（パーツダストボックス５５やテープダストボックス５６）とのうち、いずれか１以上のユニットを搭載してもよいし、これら以外に生産に用いられるユニットを搭載してもよい。あるいは、部品供給用のテープフィーダユニット５２以外に、部品供給以外で生産に用いられるユニットを搭載しないものとしてもよい。 For example, in the embodiment described above, the mounting unit 51 of the unit replacement carriage 40 is mounted with a plurality of units used for production other than component supply in addition to the tape feeder unit 52 for component supply. It is not a thing. For example, the mounting unit 51 may mount one or more units among the nozzle stock unit 53, the parts camera unit 54, and the dust unit (parts dust box 55 and tape dust box 56), and production is performed in addition to these units. You may mount the unit used for. Or it is good also as what does not mount the unit used for production other than components supply other than the tape feeder unit 52 for components supply.
　上述した実施形態では、車体部４１が自動走行可能に構成されるものとしたが、作業車の手押しにより走行するものとしてもよい。このようにしても、ユニット交換用台車４０を台車ごと交換することにより各種ユニットを一括して効率よく交換することができる。 In the above-described embodiment, the vehicle body portion 41 is configured to be capable of automatic traveling, but may be configured to travel by pushing a work vehicle. Even in this case, various units can be efficiently exchanged collectively by exchanging the unit exchange carriage 40 together with the carriage.
　上述した実施形態では、ユニット交換用台車４０が、部品供給用のユニットとしてテープフィーダユニットを搭載したが、これに限られず、部品を収容した平板状のトレイから部品を供給するトレイフィーダユニットを搭載してもよい。また、ユニット交換用台車４０が、テープフィーダユニットとトレイフィーダユニットとを搭載してもよい。 In the embodiment described above, the unit replacement carriage 40 is equipped with a tape feeder unit as a component supply unit, but is not limited thereto, and is equipped with a tray feeder unit that supplies components from a flat tray containing components. May be. Further, the unit replacement carriage 40 may be mounted with a tape feeder unit and a tray feeder unit.
　上述した実施形態では、ユニット交換用台車４０がガイド部材３５によりガイドされながら台車受入スペース２０ａ内に進入することで、左右方向の位置決めを行うものとしたが、これに限られるものではない。例えば、実装装置２０（台車受入スペース２０ａ）に前方から撮像可能な基準マークを設け、その基準マークを撮像可能なカメラユニットをユニット交換用台車４０に設けるものとする。そして、ユニット交換用台車４０がカメラユニットで撮像した画像から基準マークの位置を求め、基準マークの位置に対する自車の位置ずれを修正しながら、台車受入スペース２０ａ内に進入するものなどとしてもよい。 In the embodiment described above, the unit replacement cart 40 is positioned in the left-right direction by entering the cart receiving space 20a while being guided by the guide member 35. However, the present invention is not limited to this. For example, it is assumed that a reference mark that can be imaged from the front is provided in the mounting apparatus 20 (trolley receiving space 20a), and a camera unit that can image the reference mark is provided in the unit replacement cart 40. The unit replacement carriage 40 may obtain the position of the reference mark from the image captured by the camera unit, and may enter the carriage receiving space 20a while correcting the positional deviation of the own vehicle with respect to the position of the reference mark. .
　上述した実施形態では、搭載部５１が車体部４１に固定されたユニット交換用台車４０を例示したが、これに限られず、搭載部と車体部とが分離可能なものなどとしてもよい。図８は、変形例のユニット交換用台車１４０の構成図であり、図９は、ユニット交換用台車１４０が実装装置１２０にセットされる様子の説明図である。なお、図８（ａ）がユニット交換用台車１４０を後方から見た内部の構成図であり、図８（ｂ）が側方から見た内部の構成図である。 In the above-described embodiment, the unit replacement carriage 40 in which the mounting portion 51 is fixed to the vehicle body portion 41 is illustrated, but the present invention is not limited thereto, and the mounting portion and the vehicle body portion may be separable. FIG. 8 is a configuration diagram of a unit replacement cart 140 according to a modified example, and FIG. 9 is an explanatory diagram of a state in which the unit replacement cart 140 is set on the mounting apparatus 120. 8A is an internal configuration diagram of the unit replacement carriage 140 viewed from the rear, and FIG. 8B is an internal configuration diagram of the unit replacement cart 140 viewed from the side.
　変形例のユニット交換用台車１４０の車体部１４１は、図８（ａ）に示すように、後方から見て上面の左右の縁で搭載部１５１を支持しており、上面の中央には搭載部１５１との間に隙間１４０ａがあるために搭載部１５１を支持しないものとなっている。また、車体部１４１は、バッテリ４６からの電力により作動してロッド１４８ａを昇降させる電動アクチュエータ１４８（ロック機構）を備える。この電動アクチュエータ１４８は、ロッド１４８ａを上昇させると、ロッド１４８ａの先端が車体部１４１の上面から突出し、ロッド１４８ａを下降させると、ロッド１４８ａの先端が車体部１４１内に引き込まれる。一方、搭載部１５１は、車体部１４１と対向する下面に、車体部１４１の上面に接することにより回転する複数のローラ１５８を備え、また、車体部１４１のロッド１４８ａの先端が嵌まり込む大きさの凹部１５１ａが形成されている。このため、電動アクチュエータ１４８のロッド１４８ａが上昇してロッド１４８ａの先端が凹部１５１ａに嵌まり込んでいる状態では、車体部１４１と搭載部１５１との水平方向の相対移動が不能にロックされる。また、電動アクチュエータ１４８のロッド１４８ａが下降してロッド１４８ａの先端が凹部１５１ａから抜け出ている状態では、車体部１４１と搭載部１５１とのロックが解除される。電動アクチュエータ１４８のロッド１４８ａが下降してロックが解除された状態では、搭載部１５１は複数のローラ１５８により車体部１４１と接するから、車体部１４１に対して相対移動が可能となる。また、変形例の実装装置１２０は、図９に示すように、搭載部１５１を支持可能な支持部１２９を備える。上述したユニット交換用台車１４０の隙間１４０ａは、支持部１２９が入る大きさに形成されている（図８（ａ）参照）。 As shown in FIG. 8A, the vehicle body portion 141 of the unit replacement carriage 140 according to the modified example supports the mounting portion 151 at the left and right edges of the upper surface when viewed from the rear, and the mounting portion is located at the center of the upper surface. The mounting portion 151 is not supported because there is a gap 140a between the mounting portion 151 and the mounting portion 151. In addition, the vehicle body unit 141 includes an electric actuator 148 (lock mechanism) that is operated by electric power from the battery 46 to raise and lower the rod 148a. In the electric actuator 148, when the rod 148a is raised, the tip of the rod 148a protrudes from the upper surface of the vehicle body 141, and when the rod 148a is lowered, the tip of the rod 148a is drawn into the vehicle body 141. On the other hand, the mounting portion 151 includes a plurality of rollers 158 that rotate by contacting the upper surface of the vehicle body portion 141 on the lower surface that faces the vehicle body portion 141, and the tip of the rod 148 a of the vehicle body portion 141 is fitted. The recess 151a is formed. For this reason, in the state where the rod 148a of the electric actuator 148 is raised and the tip of the rod 148a is fitted in the recess 151a, the relative movement in the horizontal direction between the vehicle body portion 141 and the mounting portion 151 is locked. Further, when the rod 148a of the electric actuator 148 is lowered and the tip of the rod 148a is pulled out from the recess 151a, the lock between the vehicle body portion 141 and the mounting portion 151 is released. In a state where the rod 148a of the electric actuator 148 is lowered and unlocked, the mounting portion 151 is in contact with the vehicle body portion 141 by the plurality of rollers 158, and thus can be moved relative to the vehicle body portion 141. Moreover, the mounting apparatus 120 of a modification is provided with the support part 129 which can support the mounting part 151, as shown in FIG. The gap 140a of the unit replacement carriage 140 described above is formed in a size that allows the support portion 129 to enter (see FIG. 8A).
　ユニット交換用台車１４０の台車制御装置４７は、走行中は、ロッド１４８ａの先端が凹部１５１ａに嵌まり込むよう電動アクチュエータ１４８を制御する。これにより、車体部１４１と搭載部１５１とを一体的に自動走行して、実装装置１２０に搭載部１５１をセットすることができる（図９（ａ））。なお、ユニット交換用台車１４０が実装装置１２０内に進入する際に、実装装置１２０の支持部１２９がユニット交換用台車１４０の隙間１４０ａに入り込むことになる。ユニット交換用台車１４０がセットされると、台車制御装置４７は、ロッド１４８ａの先端が凹部１５１ａから抜け出るよう電動アクチュエータ１４８を制御する（図９（ｂ））。なお、変形例の実装装置１２０は、ユニット交換用台車１４０がセットされると車体部１４１の退出が可能である旨の情報を管理装置８０に送信し、その情報を受信した管理装置８０が台車制御装置４７に退出指示を送信し、退出指示を受けた台車制御装置４７が電動アクチュエータ１４８を制御するものとしてもよい。これにより、車体部１４１と搭載部１５１とのロックが解除されて相対移動が可能となる。また、電動アクチュエータ１４８のロッド１４８ａが下降して車体部１４１が僅かに下方に下がると、車体部１４１による支持に代えて、実装装置１２０の支持部１２９により搭載部１５１が支持される。このため、ユニット交換用台車１４０は、搭載部１５１を残したまま、車体部１４１だけを退出させることが可能となる（図９（ｃ））。なお、支持部１２９が搭載部１５１を確実に支持できるよう支持部１２９に搭載部１５１と係合する機構などを設けてもよい。また、図９（ｃ）の状態で、再度車体部１４１が進入して、ロッド１４８ａの先端が凹部１５１ａに嵌まり込むよう電動アクチュエータ１４８を制御すると、車体部１４１と搭載部１５１とが再度ロックされて相対移動不能となる。このため、車体部１４１と搭載部１５１とは一体となって退出することができる。 The cart controller 47 of the unit exchanging cart 140 controls the electric actuator 148 so that the tip of the rod 148a fits into the recess 151a during traveling. Thereby, the vehicle body part 141 and the mounting part 151 can be automatically and integrally driven to set the mounting part 151 in the mounting apparatus 120 (FIG. 9A). Note that when the unit replacement cart 140 enters the mounting device 120, the support portion 129 of the mounting device 120 enters the gap 140 a of the unit replacement cart 140. When the unit replacement carriage 140 is set, the carriage control device 47 controls the electric actuator 148 so that the tip of the rod 148a comes out of the recess 151a (FIG. 9B). The mounting device 120 of the modified example transmits information indicating that the vehicle body portion 141 can be withdrawn to the management device 80 when the unit replacement cart 140 is set, and the management device 80 that has received the information transmits the information. The exit instruction may be transmitted to the control device 47, and the bogie control device 47 that receives the exit instruction may control the electric actuator 148. Thereby, the lock | rock of the vehicle body part 141 and the mounting part 151 is cancelled | released, and a relative movement is attained. Further, when the rod 148a of the electric actuator 148 is lowered and the vehicle body portion 141 is slightly lowered, the mounting portion 151 is supported by the support portion 129 of the mounting apparatus 120 instead of being supported by the vehicle body portion 141. For this reason, the unit exchanging carriage 140 can leave only the vehicle body portion 141 while leaving the mounting portion 151 (FIG. 9C). Note that a mechanism that engages the mounting portion 151 may be provided on the support portion 129 so that the supporting portion 129 can reliably support the mounting portion 151. Further, in the state of FIG. 9C, when the vehicle body portion 141 enters again and the electric actuator 148 is controlled so that the tip of the rod 148a fits into the recess 151a, the vehicle body portion 141 and the mounting portion 151 are locked again. It becomes impossible to move relative. For this reason, the vehicle body portion 141 and the mounting portion 151 can be withdrawn together.
　このように、変形例では、実装装置１２０に搭載部１５１を残したまま車体部１４１だけを退出させることが可能となる。このため、複数台の実装装置１２０で車体部１４１を共用することができるから、車体部１４１を実装装置１２０の数と同じ数だけ用意することなく各種ユニットの交換を効率よく行うことが可能となる。 Thus, in the modified example, it is possible to leave only the vehicle body portion 141 while leaving the mounting portion 151 in the mounting apparatus 120. For this reason, since the vehicle body part 141 can be shared by a plurality of mounting apparatuses 120, it is possible to efficiently exchange various units without preparing the same number of vehicle body parts 141 as the number of mounting apparatuses 120. Become.
　変形例のユニット交換用台車１４０では、電動アクチュエータ１４８を車体部１４１に備えるものとしたが、これに限られず、搭載部１５１に備えるものとしてもよい。また、変形例の機構により車体部１４１と搭載部１５１とのロックおよびロックの解除を行うものに限られず、走行中は車体部１４１と搭載部１５１とをロックし、ユニット交換用台車１４０が実装装置内に進入すると車体部１４１と搭載部１５１とのロックの解除と再ロックとが可能であれば、如何なる機構としてもよい。 In the modified unit exchanging carriage 140, the electric actuator 148 is provided in the vehicle body part 141, but is not limited thereto, and may be provided in the mounting part 151. Further, the vehicle body portion 141 and the mounting portion 151 are not limited to being locked and unlocked by the mechanism of the modified example, but the vehicle body portion 141 and the mounting portion 151 are locked during traveling and the unit replacement carriage 140 is mounted. Any mechanism may be used as long as it can unlock and re-lock the vehicle body portion 141 and the mounting portion 151 when entering the apparatus.
　本発明は、実装装置にセットされるユニット交換用台車の製造産業に利用可能である。 The present invention can be used in the manufacturing industry of a unit replacement carriage set in a mounting apparatus.
　１０　実装システム、２０，１２０　実装装置、２０ａ　台車受入スペース、２１　基台、２２　筐体、２４　基板搬送装置、２５　ヘッド、２６　吸着ノズル、２７　マークカメラ、２８　実装制御装置、２８ａ　ＣＰＵ、２８ｂ　ＲＯＭ、２８ｃ　ＨＤＤ、２８ｄ　ＲＡＭ、３０　ＸＹロボット、３１　Ｙ軸ガイドレール、３２　Ｙ軸スライダ、３３　Ｘ軸ガイドレール、３４　Ｘ軸スライダ、３５　ガイド部材、３６　緩衝部材、３７　エア源、３８　電力源、３９　コネクタ、４０，１４０　ユニット交換用台車、４１，１４１　車体部、４２　車輪、４３　ローラ取付部、４４　ガイドローラ、４５　走行モータ、４６　バッテリ、４７　台車制御装置、５１，１５１　搭載部、５２　テープフィーダユニット、５２ａ　フィーダ制御部、５２ｂ　送りモータ、５３　ノズルストックユニット、５３ａ　ストック孔、５３ｂ　開閉シリンダ、５４　パーツカメラユニット、５４ａ　撮像部、５４ｂ　発光部、５５　パーツダストボックス、５６　テープダストボックス、５９　コネクタ、７０　保管庫、８０　管理装置、８０ａ　ＣＰＵ、８０ｂ　ＲＯＭ、８０ｃ　ＨＤＤ、８０ｄ　ＲＡＭ、８２　ディスプレイ、８４　入力デバイス、１２９　支持部、１４０ａ　隙間、１４８　電動アクチュエータ、１４８ａ　ロッド、１５１ａ　凹部、１５８　ローラ、Ｌ　走行ライン。 10 mounting system, 20, 120 mounting device, 20a bogie receiving space, 21 base, 22 housing, 24 substrate transport device, 25 head, 26 suction nozzle, 27 mark camera, 28 mounting control device, 28a CPU, 28b ROM, 28c HDD, 28d RAM, 30 XY robot, 31 Y axis guide rail, 32 Y axis slider, 33 X axis guide rail, 34 X axis slider, 35 guide member, 36 buffer member, 37 air source, 38 power source, 39 connector , 40, 140 unit replacement carriage, 41, 141 body part, 42 wheels, 43 roller mounting part, 44 guide roller, 45 travel motor, 46 battery, 47 truck control device, 51, 151 mounting part, 52 tape feeder unit, 52a fee Control unit, 52b feed motor, 53 nozzle stock unit, 53a stock hole, 53b open / close cylinder, 54 parts camera unit, 54a imaging unit, 54b light emitting unit, 55 parts dust box, 56 tape dust box, 59 connector, 70 storage, 80 management Device, 80a CPU, 80b ROM, 80c HDD, 80d RAM, 82 display, 84 input device, 129 support, 140a gap, 148 electric actuator, 148a rod, 151a recess, 158 roller, L travel line.

Claims (5)

  1. 　部品供給用のユニットから供給される部品を基板に実装する実装装置にセットされるユニット交換用台車であって、
    　前記部品供給用のユニットと、部品供給用以外で実装に用いられる生産用のユニットとを前記実装装置で使用可能に搭載する搭載部と、
    　前記搭載部が設けられる車体部と、
    　を備えるユニット交換用台車。     A unit replacement carriage set in a mounting device for mounting a component supplied from a component supply unit on a board,
    A mounting unit for mounting the unit for supplying the component and a unit for production used for mounting other than for supplying the component in a manner that can be used in the mounting device;
    A vehicle body portion provided with the mounting portion;
    A unit replacement trolley comprising:
  2. 　請求項１に記載のユニット交換用台車であって、
    　前記車体部は、走行経路に沿って自動走行可能に構成される
    　ユニット交換用台車。     The unit replacement carriage according to claim 1,
    The vehicle body portion is configured to be capable of automatic travel along a travel route.
  3. 　部品供給用のユニットから供給される部品を基板に実装する実装装置にセットされるユニット交換用台車であって、
    　前記部品供給用のユニットを前記実装装置で使用可能に搭載する搭載部と、
    　前記搭載部が設けられ、走行経路に沿って自動走行可能に構成される車体部と、
    　を備えるユニット交換用台車。     A unit replacement carriage set in a mounting device for mounting a component supplied from a component supply unit on a board,
    A mounting unit for mounting the component supply unit so as to be usable in the mounting device;
    A vehicle body portion provided with the mounting portion and configured to be capable of automatic traveling along a travel route;
    A unit replacement trolley comprising:
  4. 　作動源に繋がる装置側接続部が設けられた実装装置にセットされる請求項１ないし３いずれか１項に記載のユニット交換用台車であって、
    　前記実装装置にセットされると、前記装置側接続部に接続される台車側接続部を備え、
    　前記装置側接続部と前記台車側接続部との接続を介して、前記作動源からの動力が前記搭載部に搭載されている各ユニットに供給される
    　ユニット交換用台車。     The unit replacement carriage according to any one of claims 1 to 3, wherein the unit replacement carriage is set in a mounting device provided with a device-side connection portion connected to an operating source.
    When set on the mounting device, the vehicle side connection portion connected to the device side connection portion,
    A unit replacement cart in which power from the operating source is supplied to each unit mounted on the mounting portion through connection between the device-side connection portion and the cart-side connection portion.
  5. 　前記搭載部を支持可能な支持部が設けられた実装装置にセットされる請求項１ないし４いずれか１項に記載のユニット交換用台車であって、
    　前記搭載部は、前記車体部との間に前記実装装置の支持部が進入可能な隙間をもって前記車体部から分離可能に設けられ、
    　前記搭載部と前記車体部とを相対移動不能とするロックと、該ロックの解除とが可能なロック機構を備える
    　ユニット交換用台車。     The unit replacement carriage according to any one of claims 1 to 4, wherein the unit replacement carriage is set in a mounting device provided with a support portion capable of supporting the mounting portion.
    The mounting portion is provided so as to be separable from the vehicle body portion with a clearance through which the support portion of the mounting apparatus can enter between the vehicle body portion,
    A unit replacement carriage comprising a lock that makes the mounting portion and the vehicle body portion relatively unmovable and a lock mechanism that can release the lock.
PCT/JP2016/052467 2016-01-28 2016-01-28 Unit replacement carriage WO2017130345A1 (en)

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JP2017563467A JP6979879B2 (en) 2016-01-28 2016-01-28 Unit replacement trolley
PCT/JP2016/052467 WO2017130345A1 (en) 2016-01-28 2016-01-28 Unit replacement carriage
JP2021080392A JP7073560B2 (en) 2016-01-28 2021-05-11 Unit replacement trolley and its setting method
JP2021136506A JP7174121B2 (en) 2016-01-28 2021-08-24 Unit exchange trolley and mounting system
JP2021212138A JP7257491B2 (en) 2016-01-28 2021-12-27 How to set or withdraw the parts supply unit
JP2022063750A JP7249451B2 (en) 2016-01-28 2022-04-07 Unit replacement trolley
JP2022070560A JP7350933B2 (en) 2016-01-28 2022-04-22 implementation system
JP2023148007A JP2023165007A (en) 2016-01-28 2023-09-13 Unit changing dolly

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WO2020157889A1 (en) * 2019-01-31 2020-08-06 ヤマハ発動機株式会社 Component-mounting device, component-mounting system, and component-mounting device management method
JP2021057609A (en) * 2018-06-29 2021-04-08 パナソニックＩｐマネジメント株式会社 Working system, transport method of items to be transported, and coupling method of items to be transported
WO2021153031A1 (en) * 2020-01-31 2021-08-05 パナソニックＩｐマネジメント株式会社 Conveyance device, conveyance device control method, program, component mounting system, and operation system
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