WO2020026931A1 - Component count management system and component count management method - Google Patents
Component count management system and component count management method Download PDFInfo
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- WO2020026931A1 WO2020026931A1 PCT/JP2019/029122 JP2019029122W WO2020026931A1 WO 2020026931 A1 WO2020026931 A1 WO 2020026931A1 JP 2019029122 W JP2019029122 W JP 2019029122W WO 2020026931 A1 WO2020026931 A1 WO 2020026931A1
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- component
- unit
- accommodated
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- container
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- 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
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/043—Feeding one by one by other means than belts
- H05K13/0434—Feeding one by one by other means than belts with containers
-
- 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
- H05K13/08—Monitoring manufacture of assemblages
- H05K13/086—Supply management, e.g. supply of components or of substrates
Definitions
- the present disclosure relates to a component storage number management system and a component storage number management method for managing the number of components stored in a component container mounted on a component supply unit.
- a tray supply device that supplies a large component to a component mounting device from a tray that stores a large component such as a BGA (Ball Grid Array) mounted on a substrate and mounted on a board (for example, Patent Document 1). reference).
- the tray supply device described in Patent Literature 1 includes a sensor that moves on the tray to check for the presence or absence of components, and calculates the remaining number of components stored in the tray stored in the tray supply device. ing.
- the component storage number management system of the present disclosure includes a transfer device and a counting unit.
- the transfer device has an end effector and a detection unit.
- the end effector is movable and replaces the component container of the component supply unit.
- the detecting section detects a component accommodated in the component container.
- the counting unit counts the number of components accommodated in the component container based on the detection result of the detection unit.
- the component storage number management method of the present disclosure is a method of managing the number of components stored in the component storage in the component storage number management system.
- the system for managing the number of stored parts has a transfer device having an end effector and a detection unit.
- the end effector is movable and replaces the component container of the component supply unit.
- the detecting section detects a component accommodated in the component container.
- the method for managing the number of accommodated parts includes a transfer step, a detection step, and a count processing step.
- the component container is transferred by the end effector.
- the components contained in the component container are detected by the detection unit.
- the counting process the number of components accommodated in the component container is counted from the detection result in the detection process.
- FIG. 1 is a configuration explanatory diagram of a component mounting system according to an embodiment of the present disclosure.
- FIG. 2 is a configuration explanatory diagram of a component mounting line included in the component mounting system according to the embodiment of the present disclosure.
- FIG. 3 is a configuration explanatory diagram of a component mounting apparatus equipped with a component supply cart provided in the component mounting system according to the embodiment of the present disclosure.
- FIG. 4 is a front view of a component supply cart provided in the component mounting system according to the embodiment of the present disclosure.
- FIG. 5 is a configuration explanatory diagram of a component mounting apparatus equipped with a tray feeder included in the component mounting system according to the embodiment of the present disclosure.
- FIG. 6 is a perspective view of a tray feeder included in the component mounting system according to the embodiment of the present disclosure.
- FIG. 7 is a configuration explanatory diagram of a transfer device included in the component mounting system according to the embodiment of the present disclosure.
- FIG. 8 is a block diagram illustrating a configuration of a control system of the component mounting system (component accommodation number management system) according to the embodiment of the present disclosure.
- FIG. 9 is an explanatory diagram of an example of component information used in the component mounting system (component accommodation number management system) according to the embodiment of the present disclosure.
- FIG. 10 is an explanatory diagram of counting the number of components stored in the tray by the component mounting system (component storage number management system) according to the embodiment of the present disclosure.
- FIG. 11A is an explanatory diagram of counting of components accommodated in component reels by the component mounting system (component accommodation number management system) according to the embodiment of the present disclosure.
- FIG. 11B is an explanatory diagram of counting of components stored in the stick case by the component mounting system (component storage number management system) according to the embodiment of the present disclosure.
- FIG. 12 is a diagram illustrating a flow of the automatic exchange method according to the embodiment of the present disclosure.
- FIG. 13 is a diagram illustrating a flow of the component accommodation number management method according to the embodiment of the present disclosure.
- FIG. 14A is an explanatory diagram of a process of automatic tray replacement in the component mounting system according to the embodiment of the present disclosure.
- FIG. 14B is an explanatory diagram of a process of automatic tray replacement in the component mounting system according to the embodiment of the present disclosure.
- FIG. 14C is an explanatory diagram of a process of automatic tray replacement in the component mounting system according to the embodiment of the present disclosure.
- FIG. 15A is an explanatory diagram of a process of automatic tray replacement in the component mounting system according to the embodiment of the present disclosure.
- FIG. 15B is an explanatory diagram of a process of automatic tray replacement in the component mounting system according to the embodiment of the present disclosure.
- FIG. 15C is an explanatory diagram of a process of automatic tray replacement in the component mounting system according to the embodiment of the present disclosure.
- FIGS. 3 to 6 show an X direction in the substrate transport direction (left-right direction in FIG. 4) and a Y direction perpendicular to the substrate transport direction (left-right direction in FIG. 3) as two axial directions orthogonal to each other in the horizontal plane. .
- the Z direction (the vertical direction in FIG. 3) is shown as a height direction orthogonal to the horizontal plane.
- the component mounting system 1 has a configuration in which three component mounting lines L1 to L3 arranged on a floor F are connected by a wired or wireless communication network 2 and managed by a management computer 3.
- the component mounting lines L1 to L3 are configured by connecting a plurality of component mounting devices including a component mounting device as described later, and have a function of manufacturing a mounting board having components mounted on a board.
- the number of component mounting lines provided in the component mounting system 1 does not need to be three, but may be one, two, or four or more.
- a material storage W is installed on the floor F. It is assumed that the components to be supplied to the component mounting apparatuses constituting the component mounting lines L1 to L3 are stored in the material storage W in a form to be stored in a component reel, a tray, a stick case, or the like.
- the component reel, tray, and stick case are component containers that store a plurality of components.
- the transfer device V has a built-in wireless communication unit T, and transmits and receives signals and information to and from the management computer 3 via the wireless management communication unit 3a provided in the management computer 3.
- the transfer device V includes a work instruction transmitted from the management computer 3, a traveling path tape and a beacon installed on a floor F (not shown), various sensors (GPS (Global Positioning System)) built in the transfer device V, obstacles, and the like. Based on information collected by itself using a sensor or the like, a camera or the like, the vehicle autonomously travels on a traveling path set on the floor F.
- GPS Global Positioning System
- the component mounting lines L1 to L3 have the same configuration, and the component mounting line L1 will be described below.
- the component mounting line L1 is a printing machine M1, a component mounting device M2, a component mounting device M3, a component mounting device M4, and a reflow device M5, which are component mounting devices, in order from the upstream side (the left side in FIG. 2) in the board transport direction. It has.
- the component mounting apparatus has a substrate transport mechanism such as a belt conveyor. A mounting board is manufactured while transferring the board from upstream to downstream by the board transfer mechanism of the component mounting apparatus.
- the component mounting apparatus is connected to the management computer 3 by a wired or wireless communication network 2 and can transmit and receive data to and from the management computer 3.
- the printing machine M1 has a function of printing paste-form cream solder on a substrate via a screen mask.
- the three component mounting apparatuses M2 to M4 have a function of picking up the component supplied to the component supply unit 4 by the component suction nozzle mounted on the mounting head and transferring and mounting the component to the mounting point of the board on which the cream solder is printed.
- the component supply unit 4 of each of the component mounting apparatuses M2 and M3 is provided with a component supply cart 5 described below.
- a tray feeder 6 described below is mounted on the component supply unit 4 of the component mounting apparatus M4.
- the reflow device M5 has a function of heating the board on which the component is mounted to melt the cream solder and then solidifying the solder to solder the component to the board.
- the management computer 3 manages the production of the mounting boards manufactured in the component mounting lines L1 to L3, downloads the programs and data necessary for manufacturing the mounting board to the component mounting apparatus, and also processes the components into the component mounting apparatuses M2 to M3. The management of the number of parts stored in the parts container to be supplied to M4 is executed.
- a substrate transfer mechanism 8 provided on the upper surface of a base 7 transfers and positions and holds a substrate 9 in the X direction.
- a mounting head 10 that is moved in the horizontal direction (X direction, Y direction) by a head moving mechanism (not shown) is installed above the substrate transport mechanism 8.
- a suction nozzle 10a is provided at the lower end of the mounting head 10.
- the suction nozzle 10a holds the component D by vacuum suction.
- a component supply cart 5 is mounted on the component supply unit 4 provided on the side of the substrate transfer mechanism 8.
- a feeder mounting section 12 is provided above the component supply cart 5.
- a plurality of slots S for mounting the tape feeder 13 or the stick feeder 14 are formed on the upper surface of the feeder mounting section 12 in the substrate transport direction (X direction).
- the feeder mounting unit 12 is separated from the lower part 5 a of the component supply trolley 5 and connected to the base 7.
- a plurality of upper reel holders 5U arranged in the X direction and a plurality of lower reel holders 5B arranged in the X direction are provided vertically below the lower part 5a of the component supply cart 5.
- Each of the upper reel holding unit 5U and the lower reel holding unit 5B rotatably holds the component reel 16 around which the component storage tape 15 storing the component D is wound.
- a reel mark Mb is provided on the side surface of the component reel 16.
- the reel mark Mb includes a bar code or a two-dimensional code in which information specifying the component reel 16 or the component D stored in the component reel 16 is recorded.
- the component storage tape 15 pulled out from the component reel 16 held by the upper reel holding unit 5U or the lower reel holding unit 5B is inserted into the tape insertion slot 13a of the tape feeder 13.
- the tape feeder 13 conveys the component storage tape 15 inserted from the tape insertion slot 13a in the tape feed direction, and supplies the component D to the component supply position E. That is, the tape feeder 13 is a component supply unit that moves the component D accommodated in the component reel 16 (component container) to the component supply position E.
- the stick feeder 14 supplies a plurality of components D stored in series inside a long hollow stick case 17 to a component supply position E.
- a method of moving the component D in the stick feeder 14 to the component supply position E vibration, extrusion by a wire, or the like is used.
- the stick case 17 is stored in a stacking state in a stacking portion 14 a provided on an upper portion of the stick feeder 14. That is, the stick feeder 14 is a component supply unit that moves the component D accommodated in the stick case 17 (component container) to the component supply position E.
- the component supply cart 5 includes the component container (the component reel 16 and the stick case 17) and the component supply means (the tape feeder 13 and the stick feeder 14), and supplies the component D to the component mounting apparatuses M2 and M3. To configure a component supply unit.
- each of the component mounting apparatuses M2 and M3 includes a board transport mechanism 8, a mounting head 10, and a mounting control unit 18 that controls a head moving mechanism.
- the mounting controller 18 transmits a component D supply command to the tape feeder 13 or the stick feeder 14 to cause the component supply position E to supply the component D.
- the mounting control unit 18 controls the mounting head 10 and the head moving mechanism, takes out the component D supplied by the component supply unit to the component supply position E by the mounting head 10, and A component mounting operation to be transferred and mounted to the mounting position is executed.
- the component mounting apparatus M4 is the same as the component mounting apparatuses M2 and M3 except that the component feeder 4 is provided with a tray feeder 6 instead of the component supply cart 5, and the configuration of the tray feeder 6 will be described below.
- a rack unit 21 is installed on the front side of the tray feeder 6 mounted on the component supply unit 4, and a pallet moving unit 22 is installed on the rear side.
- a plurality of (here, two) magazine holding portions 26 for storing magazines 25 for stacking and storing pallets 24 for mounting trays 23 for storing components D are arranged in the rack 21 in the vertical direction. .
- a rack door 26a that can be freely opened forward is provided on the operation surface of the rack section 21 .
- the magazine 25 is inserted into and removed from the magazine holding unit 26 with the rack door 26a opened (the lower side in FIG. 6).
- a pallet placing portion 27 is provided above the top magazine holding portion 26.
- an openable and closable cover 27a (arrow a) is provided upward.
- the opening / closing cover 27a is formed with a handle 27b to be gripped during opening / closing. When the opening / closing cover 27a is opened, one pallet 24 having the tray 23 mounted on the pallet mounting portion 27 can be taken in and out of the tray feeder 6.
- the pallet moving unit 22 includes a pallet table 28, a lifting mechanism 29, and a take-out mechanism 28a.
- the elevating mechanism 29 raises and lowers the pallet mounting table 28 (arrow b), and takes in and out the pallets 24 stored in the magazine 25 or the pallets 24 mounted on the pallet mounting section 27, or the mounting head 10 Moves the pallet mounting table 28 to the component supply position E where the component D is taken out.
- the take-out mechanism 28a pulls out and holds the pallet 24 from the magazine 25 or the pallet placing portion 27, and stores the pallet 24 to be held in the magazine 25 or the pallet placing portion 27.
- FIG. 10 shows a pallet 24 on which two trays 23 are mounted.
- a tray mark Mp is provided on the upper surface of each tray 23.
- the tray mark Mp includes a barcode or a two-dimensional code in which information specifying the tray 23 (the component D accommodated in the tray 23) is recorded.
- the tray 23 is a component container that stores a plurality of components D.
- the pallet moving unit 22 including the pallet mounting table 28, the elevating mechanism 29, and the take-out mechanism 28a is a component supply unit that moves the component D stored in the tray 23 (component container) to the component supply position E.
- the tray feeder 6 is a component supply unit that includes a component container (tray 23) and component supply means and supplies the component D to the component mounting apparatus M4.
- the transfer device V includes a robot mechanism 31 and a storage unit 32 above the carriage unit 30.
- the bogie unit 30 includes a wheel 30a, a motor that drives the wheel 30a, a direction changing mechanism that changes the direction of the wheel 30a, and a traveling mechanism 33 that includes a sensor that detects the position and attitude of the transfer device V (see FIG. 8). I have.
- the robot mechanism 31 is a multi-joint robot having an end effector 34 disposed at the tip thereof, and moves the end effector 34 in the X, Y, and Z directions, changes the direction, and rotates the end effector 34 by an angle ⁇ .
- the control method of the robot mechanism 31 is not particularly limited, and includes, for example, an impedance control method and a compliance control method. Other control methods, a control method combining a plurality of control methods, and an AI (Artificial Intelligence) are used. Control or the like may be used.
- the end effector 34 has a function of gripping (holding) the component container (the component reel 16, the stick case 17, the tray 23) and operating the operation target of the component supply unit (the component supply cart 5, the tray feeder 6). ing.
- the end effector 34 may have a function such as holding and suction in addition to holding as long as it can hold the component supply means or the component container.
- the end effector 34 is provided with a moving camera 35 that captures an image of a component supply unit, a component container, and the like.
- the recognition processing unit 36 (see FIG. 8) of the transfer device V recognizes the image captured by the moving camera 35, whereby the position of the operation target in the component supply unit, the position of the component container, and the like are recognized.
- the robot mechanism 31 is a moving unit that moves the end effector 34 and the moving camera 35 and adjusts the imaging axis of the moving camera 35 to various marks.
- FIG. 7 a plurality (four in this case) of storage shelves 32a whose side facing the robot mechanism 31 is open are arranged in the storage part 32.
- a replacement component container (the component reel 16, the stick case 17, the tray 23) and the like can be placed on the storage shelf 32a.
- the transfer device V places the replenishment component container removed from the material storage W on the storage shelf 32a and transports it to the component mounting devices M2 to M4 to be replenished.
- the storage unit 32 is provided with a head camera 37 with the imaging axis directed downward between the storage unit 32 and the robot mechanism 31.
- the head camera 37 moves the reel mark Mb attached to the side surface of the component reel 16 held by the end effector 34, the tray mark Mp attached to the upper surface of the tray 23, the component reel 16, the stick case 17, the tray 23, and the like upward. Image from.
- the information recorded on the reel mark Mb and the tray mark Mp is recognized by the recognition processing unit 36 performing recognition processing on the reel mark Mb and the tray mark Mp captured by the head camera 37.
- the component reel 16, the stick case 17, and the tray 23 (component container) recognized by the head camera 37 are subjected to recognition processing by the recognition processing unit 36, thereby detecting the component D stored in the component container.
- the head camera 37 is a detection unit provided in the transfer device V that detects the component D stored in the component container.
- the transfer device V includes the movable end effector 34 for exchanging the component container and the detection unit (the head camera 37).
- the management computer 3 includes a wireless management communication unit 3a, a management storage unit 40, a work instruction generation unit 41, a count processing unit 42, a comparison unit 43, a preparation instruction unit 44, a management input unit 45, and a management display unit 46.
- the management input unit 45 is an input device such as a keyboard, a touch panel, and a mouse, and is used when inputting operation commands and data.
- the management display unit 46 is a display device such as a liquid crystal panel, and displays various information such as an operation screen for operation by the management input unit 45.
- the management storage unit 40 is a storage device that stores component information 40a, production information 40b, replacement work information 40c, and the like.
- the component information 40a includes, for each component number that specifies the component D, a component name (type), information (such as a size) on the component container in which the component D is stored, and a component mark such as a reel mark Mb or a tray mark Mp. Information on the attached mark is included.
- the component information 40a includes a component number 50, a component type 51, a component container type 52, and a storage number 53.
- the part number 50 is information for specifying the part D accommodated in the part container such as the production lot number, and is also recorded on the reel mark Mb and the tray mark Mp attached to the part container.
- the component type 51 is the type (component name) of the component D.
- the component container type 52 is information for specifying the type and size of the component container.
- “tray (4 * 7)” indicates the tray 23 capable of storing components D in a 4 ⁇ 7 grid
- ref (254) indicates the component reel 16 having a diameter of 254 mm
- “Stick” indicates the stick case 17.
- the storage number 53 indicates the storage number of the component D stored in each component storage device.
- the part numbers 50 are “IC32101” and “IC32102”, the part D of “PGA321” having the same part type 51 is the tray 23 of the same type having the part container type 52 of “tray (4 * 7)”. , 28 are stored.
- the component information 40a stores the storage number 53 of the component D in association with the component container identification information (the component number 50).
- the production information 40b includes information necessary for the production of the mounting board, such as the type and mounting position (XY coordinates) of the component D mounted on the board 9 and the number of mounting boards to be manufactured. That is, the production information 40b includes the number of parts used for production.
- the replacement work information 40c includes information (part number 50) for specifying a component container to be replenished or replaced, and information on the location, replacement order, and the like.
- the work instruction generating unit 41 generates a work instruction including the specific information of the destination of the transfer device V, the component container to be supplied or replaced, based on the replacement work information 40c.
- the count processing unit 42 stores the image of the component container captured by the head camera 37 (detection unit) of the transfer device V in the component container based on the detection result of the component D detected by the recognition processing unit 36 performing image processing.
- the number 53 of accommodated parts D is counted.
- the counting processing unit 42 may perform image processing on the image captured by the head camera 37 to count the number of accommodated parts D 53.
- FIG. 10 shows a captured image of the tray 23 captured by the head camera 37.
- the counting unit 42 counts the number of components D detected in each tray 23.
- the number 53 of parts D in the upper tray 23 is counted as 28, and the number 53 of parts D in the lower tray 23 is counted as 26.
- FIG. 11A shows a captured image of the component reel 16 captured by the head camera 37.
- the counting unit 42 calculates an approximate number 53 of the components D accommodated in the component reel 16 from the radius r of the component storage tape 15 wound and accommodated in the component reel 16.
- FIG. 11B shows a captured image of the stick case 17 captured by the head camera 37.
- the counting section 42 counts the number of components D detected through the stick case 17. In this example, the number 53 of components D of the stick case 17 is counted as eight.
- the counting unit 42 stores the number 53 of stored parts information 40a. To update. That is, the counting processing unit 42 updates the remaining number of components in the component container stored in the management storage unit 40 (storage unit) to the counted number 53 of the stored components D. For example, when the tray 23 on the lower side of FIG. 10 is the tray 23 whose component number 50 of the component information 40a in FIG. 9 is “IC32102”, the capacity 53 is updated from “28” to “26”.
- the comparing unit 43 calculates the number 53 of stored components D (the number 53 stored in the component information 40 a) and the number of components used for production. Compare. More specifically, the comparison unit 43 calculates the number of components obtained by multiplying the number of components mounted on the board 9 included in the production information 40b by the number of production boards, and the component mounting apparatuses M2 to M4 to be used for component mounting. The total of the number of components D already mounted on the device and the number 53 of accommodated components D to be replenished is compared for each type of component D.
- the preparation instructing unit 44 prepares the same type of component D that satisfies the number of components used for production when the number of accommodated components 53 is smaller than the number of components used for production as a result of the comparison by the comparing unit 43. Is displayed on the management display unit 46 to give an instruction. The preparation instruction may be displayed on a portable terminal carried by the worker.
- the management computer 3 stores the counted number 53 of the accommodated components D in association with the specific information (the component number 50) of the component container (the management storage unit 40), the count processing unit 42, It is a management device including a unit 43 and a preparation instruction unit 44.
- the management computer 3 does not need to be constituted by one computer, but may be constituted by a plurality of devices. For example, part or all of the management storage unit 40 may be provided in the cloud via a server.
- the transfer device V includes a traveling mechanism 33, a robot mechanism 31, an end effector 34, a moving camera 35, a recognition processing unit 36, a head camera 37, a transfer storage unit 47, a traveling control unit 48, an exchange control unit 49, A communication unit T is provided.
- the transfer storage unit 47 is a storage device and stores work instruction information 47a, recognition result information 47b, and the like.
- the work instruction information 47a stores a work instruction transmitted from the management computer 3 (management device) and received by the wireless communication unit T.
- the recognition result information 47b stores the position of the operation target in the component supply unit, the position of the component container, and the like obtained by the recognition processing unit 36 recognizing the imaging result of the mobile camera 35.
- the recognition result information 47b includes a reel mark Mb obtained by the recognition processing unit 36 recognizing the imaging result of the head camera 37, a component number 50 recorded on the tray mark Mp, and a detected component container. Information of the accommodated component D and the like are stored.
- the traveling control unit 48 controls the traveling mechanism 33 based on the destination of the transfer device V included in the work instruction, and moves the transfer device V to the designated destination.
- the exchange control unit 49 controls the robot mechanism 31 based on the work instruction, and causes the recognition destination specified by the mobile camera 35 to be imaged (see FIG. 14A). Further, the replacement control unit 49 controls the robot mechanism 31 based on the work instruction to open and close the rack door 26a and the open / close cover 27a, and replace the component container (for example, arrows c2 to c2 in FIGS. 14B to 15C). c5).
- the transfer device V has the movable end effector 34 for exchanging the component container and the detecting unit (head camera 37) for detecting the component D stored in the component container.
- the management device (management computer 3) including the transfer device V and the count processing unit 42 that counts the number 53 of the accommodated components D accommodated in the component container from the detection result by the detection unit is provided by the component accommodation number management system. Is configured.
- the management computer 3 includes the count processing unit 42, but the count processing unit 42 may include the transfer device V. In that case, the number of accommodated parts 53 is counted in the transfer device V, and the counting result is transmitted to the management computer 3.
- the automatic transfer of the component container of the component supply unit by the transfer device V including the movable end effector 34 is performed.
- the replacement method will be described.
- an example will be described in which the tray 23 (pallet 24) as a component container is taken out from the tray feeder 6 (component supply unit) mounted on the component mounting apparatus M4 and replaced.
- 14A to 14C and 15A to 15C illustration of the robot mechanism 31 of the transfer device V is omitted for convenience.
- the management computer 3 (management device) generates a work instruction in which a transfer destination is specified in front of the tray feeder 6 to which the pallet 24 to which the tray 23 to be replaced is mounted is attached, and the supply target to be refilled.
- the data is transmitted to the transfer device V equipped with the pallet 24 on which the tray 23 is mounted.
- the traveling control unit 48 moves the transfer device V to the designated transfer destination according to the work instruction (ST1: transfer device moving step).
- ST1 transfer device moving step
- the work instruction generation unit 41 removes the pallet 24 on which the tray 23 to be replaced is mounted from the component supply cart 5, and issues a work instruction for replacing the pallet 24 with the tray 23 to be refilled. It is generated (ST2: work instruction generation step).
- the management computer 3 transmits the generated work instruction to the transfer device V (ST3: work instruction transmission step).
- the transfer device V when the transfer device V receives the work instruction, the transfer device V performs a replacement operation according to the work instruction.
- the exchange control unit 49 controls the robot mechanism 31 to move the end effector 34 in front of the opening / closing cover 27a (arrow c1 in FIG. 14A).
- the handle 27b is imaged by the moving camera 35 to recognize the position, and the end effector 34 grips the handle 27b to open the open / close cover 27a (ST4: open / close cover opening step).
- the exchange control unit 49 controls the robot mechanism 31 based on the work instruction, moves the end effector 34 to the pallet placement unit 27 with the open / close cover 27a opened, and places the end effector 34 on the pallet placement unit 27.
- the pallet 24 on which the tray 23 to be replaced is mounted is gripped.
- the exchange control unit 49 moves the end effector 34 (arrow c2 in FIG. 14B), removes the pallet 24 from the pallet placing unit 27 (ST5), and moves it to the storage unit 32 (arrow c3 in FIG. 14C). (ST6).
- the exchange control unit 49 causes the end effector 34 to hold the pallet 24 on the storage shelf 32a on which the tray 23 to be supplied is mounted (ST7) (arrow c4 in FIG. 15A).
- the management of the number of accommodated parts including the counting process of the parts D, which will be described later, is executed (ST8: the number of accommodated parts management step).
- the exchange control unit 49 moves the end effector 34 holding the pallet 24 to the front of the tray feeder 6, and places the pallet 24 on which the tray 23 to be supplied is mounted on the pallet placing unit 27 (ST9) (FIG. Arrow c5 of 15B).
- the process returns to the work instruction generation step (ST2) to return to the pallet 24 on which the next tray 23 is mounted.
- a replacement operation is performed.
- the exchange control unit 49 controls the robot mechanism 31 to cause the end effector 34 to grip the handle 27b and close the open / close cover 27a (ST11: open / close cover). Closing step) (see FIG. 15C).
- ST11 open / close cover
- a component storage number management step (component storage number management method) for managing the number of components D stored in the tray 23 (component storage container) in the component storage number management system according to the flow of FIG. explain.
- the exchange control unit 49 controls the robot mechanism 31 to transfer the pallet 24 on which the tray 23 is mounted to the field of view of the head camera 37 (detection unit) by the end effector 34 (ST21: transfer step).
- the tray 23 is imaged by the head camera 37, the image is recognized by the recognition processing unit 36, and the component D stored in the tray 23 is detected (ST22: detecting step).
- the part number 50 recorded on the tray mark Mp attached to the tray 23 is also recognized.
- the detection result is transmitted to the management computer 3, and the counted number 53 of the components D accommodated in the tray 23 (component container) is counted by the counting unit 42 (ST23: counting process step).
- the counting processing unit 42 updates the accommodated number 53 of the parts D having the same part number 50 included in the part information 40a to the counted number 53 of accommodated parts D (ST24: update step). Accordingly, when the number of accommodated parts 53 does not match the part information 40a due to the part D falling from the tray 23 during transportation or the like, the actual number of accommodated parts D is stored in the part information 40a.
- the comparison unit 43 stores the number of components mounted on the board 9 included in the production information 40b, the number of components D already mounted on the component mounting apparatuses M2 to M4, and the storage of the components D to be supplied included in the component information 40a.
- the sum with the number 53 is compared (ST25: comparison step). That is, the counted number 53 of the accommodated parts D is compared with the number of parts used for production included in the production information 40b.
- the preparation instruction unit 44 instructs to prepare the same kind of parts D that satisfies the number of parts used for production (ST26). : Preparation instruction step) and the component accommodation number management step (ST8) are completed. Thus, preparation of the missing component D can be instructed at an early stage.
- the part accommodation number management step (ST8) ends as it is.
- the number 53 of components D stored in the component container can be counted before the component container (tray 23) is replaced in the component number management process (ST8).
- the part accommodation number management step (ST8) including the counting processing step (ST23) is performed during the automatic replacement of the tray 23.
- the execution of the counting processing step (ST23) is limited to this timing. It will not be done.
- the transfer device V uses the tray feeder 6 during the component mounting operation. May be taken out of the tray 23 to count the parts D.
- the component mounting system 1 (system for managing the number of accommodated components) of the present embodiment includes the transfer device V and the counting unit 42.
- the transfer device V has an end effector 34 and a detection unit (head camera 37).
- the end effector 34 is movable, and exchanges the component container of the component supply unit (the component supply cart 5, the tray feeder 6).
- the component supply unit has a component container (component reel 16, stick case 17, tray 23) and component supply means (tape feeder 13, stick feeder 14, pallet moving unit 22).
- the component container stores a plurality of components D.
- the component supply means moves the component D stored in the component container to the component supply position E.
- the detecting unit detects the component D stored in the component container.
- the counting unit 42 counts the number 53 of the components D accommodated in the component container from the detection result by the detection unit.
- the component storage number management system and component storage number management method of the present disclosure have an effect of counting the number of components stored in a component container before replacement, and are useful in the field of mounting components on a board. is there.
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Abstract
A component count management system that has a transfer device and a counting part. The transfer device has an end effector and a detection part. The end effector is mobile and replaces a component container of a component supply unit. The detection part detects components that are in the component container. The counting part uses detection results from the detection part to count how many components are in the component container.
Description
本開示は、部品供給ユニットに装着される部品収容器に収容されている部品の収容数を管理する部品収容数管理システム、および部品収容数管理方法に関する。
The present disclosure relates to a component storage number management system and a component storage number management method for managing the number of components stored in a component container mounted on a component supply unit.
部品実装装置に装着され、基板に実装されるBGA(Ball Grid Array)等の大型部品を収納したトレイから部品実装装置に大型部品を供給するトレイ供給装置が知られている(例えば、特許文献1参照)。特許文献1に記載のトレイ供給装置は、トレイ上を移動して部品の有無を検査するセンサを備えており、トレイ供給装置に格納されているトレイが収納している部品の残数を計算している。
2. Description of the Related Art There is known a tray supply device that supplies a large component to a component mounting device from a tray that stores a large component such as a BGA (Ball Grid Array) mounted on a substrate and mounted on a board (for example, Patent Document 1). reference). The tray supply device described in Patent Literature 1 includes a sensor that moves on the tray to check for the presence or absence of components, and calculates the remaining number of components stored in the tray stored in the tray supply device. ing.
本開示の部品収容数管理システムは、移送装置と、計数処理部と、を有する。
部品 The component storage number management system of the present disclosure includes a transfer device and a counting unit.
移送装置は、エンドエフェクタと、検出部と、を有する。
The transfer device has an end effector and a detection unit.
エンドエフェクタは移動自在であり、部品供給ユニットの部品収容器を交換する。
The end effector is movable and replaces the component container of the component supply unit.
検出部は、部品収容器に収容される部品を検出する。
(4) The detecting section detects a component accommodated in the component container.
計数処理部は、検出部による検出結果より、部品収容器に収容されている部品の収容数を計数する。
(4) The counting unit counts the number of components accommodated in the component container based on the detection result of the detection unit.
本開示の部品収容数管理方法は、部品収容数管理システムにおいて、部品収容器に収容される部品の数を管理する方法である。
部品 The component storage number management method of the present disclosure is a method of managing the number of components stored in the component storage in the component storage number management system.
部品収容数管理システムは、エンドエフェクタと、検出部と、を有する移送装置を有する。
The system for managing the number of stored parts has a transfer device having an end effector and a detection unit.
エンドエフェクタは移動自在であり、部品供給ユニットの部品収容器を交換する。
The end effector is movable and replaces the component container of the component supply unit.
検出部は、部品収容器に収容される部品を検出する。
(4) The detecting section detects a component accommodated in the component container.
部品収容数管理方法は、移送工程と、検出工程と、計数処理工程と、を有する。
The method for managing the number of accommodated parts includes a transfer step, a detection step, and a count processing step.
移送工程では、部品収容器をエンドエフェクタによって移送する。
In the transfer process, the component container is transferred by the end effector.
検出工程では、部品収容器に収容される部品を検出部によって検出する。
In the detection step, the components contained in the component container are detected by the detection unit.
計数処理工程では、検出工程における検出結果より、部品収容器に収容されている部品の収容数を計数する。
In the counting process, the number of components accommodated in the component container is counted from the detection result in the detection process.
部品を収納したトレイを保管庫からトレイ供給装置まで運搬する間に、部品の落下等によって部品残数が変わってしまう場合がある。このような場合、特許文献1のトレイ供給装置では、トレイをトレイ供給装置に取り付けて生産を開始する直前まで正しい部品残数が分からない。その結果、部品の残数不足で生産が停止するおそれがある。
間 に While transporting the tray containing the components from the storage to the tray supply device, the number of remaining components may change due to the drop of components. In such a case, in the tray supply device of Patent Document 1, the correct remaining number of components is not known until immediately before the tray is attached to the tray supply device and production starts. As a result, production may be stopped due to a shortage of remaining parts.
以下に図面を用いて、本開示の一実施の形態を詳細に説明する。以下で述べる構成、形状等は説明のための例示であって、部品実装システム、部品実装ライン、部品実装装置、部品供給台車、トレイフィーダの仕様に応じ、適宜変更が可能である。以下では、全ての図面において対応する要素には同一符号を付し、重複する説明を省略する。図3~図6では、水平面内で互いに直交する2軸方向として、基板搬送方向のX方向(図4における左右方向)、基板搬送方向に直交するY方向(図3における左右方向)が示される。また、水平面と直交する高さ方向としてZ方向(図3における上下方向)が示される。
Hereinafter, an embodiment of the present disclosure will be described in detail with reference to the drawings. The configurations, shapes, and the like described below are examples for explanation, and can be appropriately changed according to the specifications of the component mounting system, the component mounting line, the component mounting device, the component supply cart, and the tray feeder. In the following, corresponding elements in all the drawings are denoted by the same reference numerals, and redundant description will be omitted. FIGS. 3 to 6 show an X direction in the substrate transport direction (left-right direction in FIG. 4) and a Y direction perpendicular to the substrate transport direction (left-right direction in FIG. 3) as two axial directions orthogonal to each other in the horizontal plane. . The Z direction (the vertical direction in FIG. 3) is shown as a height direction orthogonal to the horizontal plane.
まず図1を参照して、部品実装システム1の構成を説明する。部品実装システム1は、フロアFに配置された3本の部品実装ラインL1~L3が有線または無線による通信ネットワーク2によって接続され、管理コンピュータ3によって管理される構成となっている。部品実装ラインL1~L3は、後述するように部品実装装置を含む複数の部品実装用装置を連結して構成され、基板に部品を実装した実装基板を製造する機能を有している。なお、部品実装システム1が備える部品実装ラインは3本である必要はなく、1本、2本及び4本以上でも良い。
First, the configuration of the component mounting system 1 will be described with reference to FIG. The component mounting system 1 has a configuration in which three component mounting lines L1 to L3 arranged on a floor F are connected by a wired or wireless communication network 2 and managed by a management computer 3. The component mounting lines L1 to L3 are configured by connecting a plurality of component mounting devices including a component mounting device as described later, and have a function of manufacturing a mounting board having components mounted on a board. The number of component mounting lines provided in the component mounting system 1 does not need to be three, but may be one, two, or four or more.
フロアFには、材料保管庫Wが設置されている。材料保管庫Wには、部品実装ラインL1~L3を構成する部品実装装置に補給される部品が、部品リール、トレイ、スティックケースなどに収容される形態で保管されているとする。部品リール、トレイ、スティックケースは、複数の部品を収容する部品収容器である。
材料 On the floor F, a material storage W is installed. It is assumed that the components to be supplied to the component mounting apparatuses constituting the component mounting lines L1 to L3 are stored in the material storage W in a form to be stored in a component reel, a tray, a stick case, or the like. The component reel, tray, and stick case are component containers that store a plurality of components.
図1において、フロアFには、無人搬送車である複数の移送装置Vが配備されている。移送装置Vには、無線通信部Tが内蔵されており、管理コンピュータ3が備える無線管理通信部3aを介して、管理コンピュータ3との間で信号、情報を送受信している。移送装置Vは、管理コンピュータ3から送信される作業指示と、図示省略するフロアFに設置された走行路テープやビーコン、移送装置Vが内蔵する各種センサ(GPS(Global Positioning System)端末、障害物センサ等)、カメラなどを使用して自ら収集する情報とに基づいて、自律してフロアFに設定された走行路を移動する。
In FIG. 1, on the floor F, a plurality of transfer devices V, which are automatic guided vehicles, are provided. The transfer device V has a built-in wireless communication unit T, and transmits and receives signals and information to and from the management computer 3 via the wireless management communication unit 3a provided in the management computer 3. The transfer device V includes a work instruction transmitted from the management computer 3, a traveling path tape and a beacon installed on a floor F (not shown), various sensors (GPS (Global Positioning System)) built in the transfer device V, obstacles, and the like. Based on information collected by itself using a sensor or the like, a camera or the like, the vehicle autonomously travels on a traveling path set on the floor F.
次に図2を参照して、部品実装ラインL1~L3の詳細な構成を説明する。部品実装ラインL1~L3は同様の構成をしており、以下、部品実装ラインL1について説明する。部品実装ラインL1は、基板搬送方向の上流側(図2における左側)から順番に、部品実装用装置である印刷機M1、部品実装装置M2、部品実装装置M3、部品実装装置M4、リフロー装置M5を備えている。部品実装用装置はベルトコンベア等の基板搬送機構を有している。部品実装用装置の基板搬送機構により基板を上流から下流へ搬送しながら実装基板が製造される。部品実装用装置は、有線または無線による通信ネットワーク2によって管理コンピュータ3と接続されており、管理コンピュータ3との間でデータの送受信ができる。
Next, a detailed configuration of the component mounting lines L1 to L3 will be described with reference to FIG. The component mounting lines L1 to L3 have the same configuration, and the component mounting line L1 will be described below. The component mounting line L1 is a printing machine M1, a component mounting device M2, a component mounting device M3, a component mounting device M4, and a reflow device M5, which are component mounting devices, in order from the upstream side (the left side in FIG. 2) in the board transport direction. It has. The component mounting apparatus has a substrate transport mechanism such as a belt conveyor. A mounting board is manufactured while transferring the board from upstream to downstream by the board transfer mechanism of the component mounting apparatus. The component mounting apparatus is connected to the management computer 3 by a wired or wireless communication network 2 and can transmit and receive data to and from the management computer 3.
図2において、印刷機M1は、スクリーンマスクを介してペースト状のクリームはんだを基板に印刷する機能を有する。3台の部品実装装置M2~M4は、実装ヘッドに装着された部品吸着ノズルよって部品供給部4に供給される部品をピックアップし、クリームはんだが印刷された基板の実装点に移送搭載する機能を有する。部品実装装置M2,M3の部品供給部4には、後述する部品供給台車5が装着されている。部品実装装置M4の部品供給部4には、後述するトレイフィーダ6が装着されている。
In FIG. 2, the printing machine M1 has a function of printing paste-form cream solder on a substrate via a screen mask. The three component mounting apparatuses M2 to M4 have a function of picking up the component supplied to the component supply unit 4 by the component suction nozzle mounted on the mounting head and transferring and mounting the component to the mounting point of the board on which the cream solder is printed. Have. The component supply unit 4 of each of the component mounting apparatuses M2 and M3 is provided with a component supply cart 5 described below. A tray feeder 6 described below is mounted on the component supply unit 4 of the component mounting apparatus M4.
リフロー装置M5は、部品が搭載された基板を加熱してクリームはんだを融解させた後に固化させて部品を基板にはんだ付けする機能を有する。管理コンピュータ3は、部品実装ラインL1~L3において製造される実装基板の生産管理、部品実装用装置に対する実装基板の製造に必要なプログラムやデータのダウンロード処理などの他、部品を部品実装装置M2~M4に補給する部品収容器に収容されている部品の収容数の管理を実行する。
The reflow device M5 has a function of heating the board on which the component is mounted to melt the cream solder and then solidifying the solder to solder the component to the board. The management computer 3 manages the production of the mounting boards manufactured in the component mounting lines L1 to L3, downloads the programs and data necessary for manufacturing the mounting board to the component mounting apparatus, and also processes the components into the component mounting apparatuses M2 to M3. The management of the number of parts stored in the parts container to be supplied to M4 is executed.
次に図3、図4を参照して、部品実装装置M2,M3の構成を説明する。図3において、基台7の上面に設けられた基板搬送機構8は、基板9をX方向に搬送して位置決めして保持する。基板搬送機構8の上方には、図示省略するヘッド移動機構によって水平方向(X方向、Y方向)に移動する実装ヘッド10が設置されている。実装ヘッド10の下端には吸着ノズル10aが設けられている。吸着ノズル10aは、部品Dを真空吸着して保持する。基板搬送機構8の側方に設けられた部品供給部4には、部品供給台車5が装着されている。
Next, the configuration of the component mounting apparatuses M2 and M3 will be described with reference to FIGS. In FIG. 3, a substrate transfer mechanism 8 provided on the upper surface of a base 7 transfers and positions and holds a substrate 9 in the X direction. A mounting head 10 that is moved in the horizontal direction (X direction, Y direction) by a head moving mechanism (not shown) is installed above the substrate transport mechanism 8. At the lower end of the mounting head 10, a suction nozzle 10a is provided. The suction nozzle 10a holds the component D by vacuum suction. A component supply cart 5 is mounted on the component supply unit 4 provided on the side of the substrate transfer mechanism 8.
図4において、部品供給台車5の上部には、フィーダ装着部12が設置されている。フィーダ装着部12の上面には、テープフィーダ13またはスティックフィーダ14を装着するための複数のスロットSが基板搬送方向(X方向)に形成されている。部品供給台車5が部品供給部4に装着されると、フィーダ装着部12は部品供給台車5の下部5aから分離されて基台7に結合される。部品供給台車5の下部5aには、X方向に並ぶ複数の上部リール保持部5UとX方向に並ぶ複数の下部リール保持部5Bが上下に設置されている。上部リール保持部5Uおよび下部リール保持部5Bの各々は、部品Dを収納した部品収納テープ15を巻回した部品リール16を回転可能に保持する。
に お い て In FIG. 4, a feeder mounting section 12 is provided above the component supply cart 5. A plurality of slots S for mounting the tape feeder 13 or the stick feeder 14 are formed on the upper surface of the feeder mounting section 12 in the substrate transport direction (X direction). When the component supply trolley 5 is mounted on the component supply unit 4, the feeder mounting unit 12 is separated from the lower part 5 a of the component supply trolley 5 and connected to the base 7. A plurality of upper reel holders 5U arranged in the X direction and a plurality of lower reel holders 5B arranged in the X direction are provided vertically below the lower part 5a of the component supply cart 5. Each of the upper reel holding unit 5U and the lower reel holding unit 5B rotatably holds the component reel 16 around which the component storage tape 15 storing the component D is wound.
図3において、部品リール16の側面には、リールマークMbが付されている。リールマークMbには、部品リール16、または、部品リール16に収容された部品Dを特定する情報が記録されたバーコードや2次元コードが含まれている。テープフィーダ13のテープ挿入口13aには、上部リール保持部5Uまたは下部リール保持部5Bに保持された部品リール16から引き出された部品収納テープ15が挿入される。テープフィーダ13は、テープ挿入口13aから挿入された部品収納テープ15をテープ送り方向に搬送して、部品供給位置Eに部品Dを供給する。すなわち、テープフィーダ13は、部品リール16(部品収容器)が収容する部品Dを部品供給位置Eへ移動させる部品供給手段である。図4において、スティックフィーダ14は、長尺で中空のスティックケース17の内部に直列状態で収納された複数の部品Dを部品供給位置Eに供給する。スティックフィーダ14における部品Dを部品供給位置Eへ移動させる方法として、振動やワイヤーによる押し出し等が用いられる。スティックケース17は、スティックフィーダ14の上部に設けられた積載部14aに段積み状態で収納される。すなわち、スティックフィーダ14は、スティックケース17(部品収容器)が収容する部品Dを部品供給位置Eへ移動させる部品供給手段である。このように、部品供給台車5は、部品収容器(部品リール16、スティックケース17)と部品供給手段(テープフィーダ13、スティックフィーダ14)とを備え、部品実装装置M2,M3に部品Dを供給する部品供給ユニットを構成する。
In FIG. 3, a reel mark Mb is provided on the side surface of the component reel 16. The reel mark Mb includes a bar code or a two-dimensional code in which information specifying the component reel 16 or the component D stored in the component reel 16 is recorded. The component storage tape 15 pulled out from the component reel 16 held by the upper reel holding unit 5U or the lower reel holding unit 5B is inserted into the tape insertion slot 13a of the tape feeder 13. The tape feeder 13 conveys the component storage tape 15 inserted from the tape insertion slot 13a in the tape feed direction, and supplies the component D to the component supply position E. That is, the tape feeder 13 is a component supply unit that moves the component D accommodated in the component reel 16 (component container) to the component supply position E. In FIG. 4, the stick feeder 14 supplies a plurality of components D stored in series inside a long hollow stick case 17 to a component supply position E. As a method of moving the component D in the stick feeder 14 to the component supply position E, vibration, extrusion by a wire, or the like is used. The stick case 17 is stored in a stacking state in a stacking portion 14 a provided on an upper portion of the stick feeder 14. That is, the stick feeder 14 is a component supply unit that moves the component D accommodated in the stick case 17 (component container) to the component supply position E. As described above, the component supply cart 5 includes the component container (the component reel 16 and the stick case 17) and the component supply means (the tape feeder 13 and the stick feeder 14), and supplies the component D to the component mounting apparatuses M2 and M3. To configure a component supply unit.
図3において、部品実装装置M2,M3は、基板搬送機構8、実装ヘッド10、ヘッド移動機構を制御する実装制御部18を備えている。実装制御部18は、テープフィーダ13またはスティックフィーダ14に部品Dの供給指令を送信して、部品供給位置Eに部品Dを供給させる。また実装制御部18は、実装ヘッド10、ヘッド移動機構を制御して、部品供給手段が部品供給位置Eに供給する部品Dを実装ヘッド10によって取り出し、基板搬送機構8に保持させた基板9の実装位置に移送搭載する部品実装作業を実行させる。
In FIG. 3, each of the component mounting apparatuses M2 and M3 includes a board transport mechanism 8, a mounting head 10, and a mounting control unit 18 that controls a head moving mechanism. The mounting controller 18 transmits a component D supply command to the tape feeder 13 or the stick feeder 14 to cause the component supply position E to supply the component D. Further, the mounting control unit 18 controls the mounting head 10 and the head moving mechanism, takes out the component D supplied by the component supply unit to the component supply position E by the mounting head 10, and A component mounting operation to be transferred and mounted to the mounting position is executed.
次に図5、図6を参照して、部品実装装置M4の構成を説明する。部品実装装置M4は、部品供給台車5に替わって部品供給部4にトレイフィーダ6が装着されている他は部品実装装置M2,M3と同様であり、以下、トレイフィーダ6の構成を説明する。図5において、トレイフィーダ6が備えるフィーダ載置部20の上面には、部品供給部4に装着されたトレイフィーダ6における前側にラック部21、後側にパレット移動部22が設置されている。
Next, the configuration of the component mounting apparatus M4 will be described with reference to FIGS. The component mounting apparatus M4 is the same as the component mounting apparatuses M2 and M3 except that the component feeder 4 is provided with a tray feeder 6 instead of the component supply cart 5, and the configuration of the tray feeder 6 will be described below. In FIG. 5, on the upper surface of the feeder placement unit 20 provided in the tray feeder 6, a rack unit 21 is installed on the front side of the tray feeder 6 mounted on the component supply unit 4, and a pallet moving unit 22 is installed on the rear side.
ラック部21には、部品Dを収容するトレイ23を装着するパレット24を段積みして収納するマガジン25を収納する複数(ここでは2つ)のマガジン保持部26が上下方向に配置されている。ラック部21の操作面には、前方に開放自在のラック扉26aが設けられている。マガジン25は、ラック扉26aを開けた状態(図6における下段側)で、マガジン保持部26に挿抜される。最上段のマガジン保持部26の上方には、パレット載置部27が設けられている。ラック部21の操作面には、上方に開放自在(矢印a)の開閉カバー27aが設けられている。開閉カバー27aには、開閉時に把持する取っ手27bが形成されている。開閉カバー27aを開放すると、パレット載置部27にトレイ23を装着した1枚のパレット24をトレイフィーダ6に出し入れできる。
A plurality of (here, two) magazine holding portions 26 for storing magazines 25 for stacking and storing pallets 24 for mounting trays 23 for storing components D are arranged in the rack 21 in the vertical direction. . On the operation surface of the rack section 21, a rack door 26a that can be freely opened forward is provided. The magazine 25 is inserted into and removed from the magazine holding unit 26 with the rack door 26a opened (the lower side in FIG. 6). A pallet placing portion 27 is provided above the top magazine holding portion 26. On the operation surface of the rack portion 21, an openable and closable cover 27a (arrow a) is provided upward. The opening / closing cover 27a is formed with a handle 27b to be gripped during opening / closing. When the opening / closing cover 27a is opened, one pallet 24 having the tray 23 mounted on the pallet mounting portion 27 can be taken in and out of the tray feeder 6.
パレット移動部22は、パレット載置台28、昇降機構29および取出し機構28aを備えている。昇降機構29は、パレット載置台28を昇降させて(矢印b)、マガジン25に収納されたパレット24またはパレット載置部27に載置されたパレット24を出し入れする高さ位置、あるいは実装ヘッド10が部品Dを取り出す部品供給位置Eにパレット載置台28を移動させる。取出し機構28aは、マガジン25またはパレット載置部27からパレット24を引き出して保持し、また、保持するパレット24をマガジン25またはパレット載置部27に収納させる。
The pallet moving unit 22 includes a pallet table 28, a lifting mechanism 29, and a take-out mechanism 28a. The elevating mechanism 29 raises and lowers the pallet mounting table 28 (arrow b), and takes in and out the pallets 24 stored in the magazine 25 or the pallets 24 mounted on the pallet mounting section 27, or the mounting head 10 Moves the pallet mounting table 28 to the component supply position E where the component D is taken out. The take-out mechanism 28a pulls out and holds the pallet 24 from the magazine 25 or the pallet placing portion 27, and stores the pallet 24 to be held in the magazine 25 or the pallet placing portion 27.
図10に、2枚のトレイ23が装着されたパレット24を示す。各々のトレイ23の上面には、トレイマークMpが付されている。トレイマークMpには、トレイ23(トレイ23に収容された部品D)を特定する情報が記録されたバーコードや2次元コードが含まれている。このように、トレイ23は、複数の部品Dを収容する部品収容器である。また、パレット載置台28、昇降機構29および取出し機構28aを備えるパレット移動部22は、トレイ23(部品収容器)が収容する部品Dを部品供給位置Eへ移動させる部品供給手段である。そして、トレイフィーダ6は、部品収容器(トレイ23)と部品供給手段とを備え、部品実装装置M4に部品Dを供給する部品供給ユニットである。
FIG. 10 shows a pallet 24 on which two trays 23 are mounted. A tray mark Mp is provided on the upper surface of each tray 23. The tray mark Mp includes a barcode or a two-dimensional code in which information specifying the tray 23 (the component D accommodated in the tray 23) is recorded. Thus, the tray 23 is a component container that stores a plurality of components D. In addition, the pallet moving unit 22 including the pallet mounting table 28, the elevating mechanism 29, and the take-out mechanism 28a is a component supply unit that moves the component D stored in the tray 23 (component container) to the component supply position E. The tray feeder 6 is a component supply unit that includes a component container (tray 23) and component supply means and supplies the component D to the component mounting apparatus M4.
次に図7を参照して、移送装置Vの構成を説明する。移送装置Vは、台車部30の上方にロボット機構31と保管部32を備えている。台車部30には、車輪30a、車輪30aを駆動するモータ、車輪30aの方向を変える方向変換機構、移送装置Vの位置、姿勢を検出するセンサを含む走行機構33(図8参照)を備えている。
Next, the configuration of the transfer device V will be described with reference to FIG. The transfer device V includes a robot mechanism 31 and a storage unit 32 above the carriage unit 30. The bogie unit 30 includes a wheel 30a, a motor that drives the wheel 30a, a direction changing mechanism that changes the direction of the wheel 30a, and a traveling mechanism 33 that includes a sensor that detects the position and attitude of the transfer device V (see FIG. 8). I have.
ロボット機構31は、先端にエンドエフェクタ34が配置された多関節ロボットであり、エンドエフェクタ34をX方向、Y方向、Z方向に移動させると共に、向きを変更させ、角度θだけ回転させる。ロボット機構31の制御手法は、特に限定されず、例えば、インピーダンス制御法、コンプライアンス制御法等が挙げられるが、その他の制御法や複数の制御法を組み合わせた制御法、AI(Artificial Intelligence)を利用した制御等を用いてもよい。
The robot mechanism 31 is a multi-joint robot having an end effector 34 disposed at the tip thereof, and moves the end effector 34 in the X, Y, and Z directions, changes the direction, and rotates the end effector 34 by an angle θ. The control method of the robot mechanism 31 is not particularly limited, and includes, for example, an impedance control method and a compliance control method. Other control methods, a control method combining a plurality of control methods, and an AI (Artificial Intelligence) are used. Control or the like may be used.
エンドエフェクタ34は、部品収容器(部品リール16、スティックケース17、トレイ23)を把持(保持)し、部品供給ユニット(部品供給台車5、トレイフィーダ6)の操作対象を操作する機能を有している。なお、エンドエフェクタ34は、部品供給手段または部品収容器を保持できれば、把持の他に保持、吸着等の機能を有してもよい。また、エンドエフェクタ34には、部品供給ユニット、部品収容器などを撮像する移動カメラ35が配置されている。
The end effector 34 has a function of gripping (holding) the component container (the component reel 16, the stick case 17, the tray 23) and operating the operation target of the component supply unit (the component supply cart 5, the tray feeder 6). ing. In addition, the end effector 34 may have a function such as holding and suction in addition to holding as long as it can hold the component supply means or the component container. In addition, the end effector 34 is provided with a moving camera 35 that captures an image of a component supply unit, a component container, and the like.
移動カメラ35が撮像した画像を移送装置Vが備える認識処理部36(図8参照)によって認識処理することにより、部品供給ユニットにおける操作対象の位置、部品収容器の位置などが認識される。このように、ロボット機構31は、エンドエフェクタ34と移動カメラ35を移動させ、移動カメラ35の撮像軸を各種マークに合わせる移動手段である。
(4) The recognition processing unit 36 (see FIG. 8) of the transfer device V recognizes the image captured by the moving camera 35, whereby the position of the operation target in the component supply unit, the position of the component container, and the like are recognized. As described above, the robot mechanism 31 is a moving unit that moves the end effector 34 and the moving camera 35 and adjusts the imaging axis of the moving camera 35 to various marks.
図7において、保管部32には、ロボット機構31に面する側が開放された保管棚32aが複数(ここでは4つ)配置されている。保管棚32aには、交換用の部品収容器(部品リール16、スティックケース17、トレイ23)などを載置できる。移送装置Vは、材料保管庫Wから取り出された補給用の部品収容器を保管棚32aに載置して、補給対象の部品実装装置M2~M4に運搬する。
In FIG. 7, a plurality (four in this case) of storage shelves 32a whose side facing the robot mechanism 31 is open are arranged in the storage part 32. On the storage shelf 32a, a replacement component container (the component reel 16, the stick case 17, the tray 23) and the like can be placed. The transfer device V places the replenishment component container removed from the material storage W on the storage shelf 32a and transports it to the component mounting devices M2 to M4 to be replenished.
保管部32には、ロボット機構31との間に撮像軸を下方に向けたヘッドカメラ37が設置されている。ヘッドカメラ37は、エンドエフェクタ34によって把持された部品リール16の側面に付されたリールマークMb、トレイ23の上面に付されたトレイマークMp、部品リール16、スティックケース17、トレイ23などを上方から撮像する。ヘッドカメラ37が撮像したリールマークMb、トレイマークMpを認識処理部36によって認識処理することにより、リールマークMb、トレイマークMpに記録された情報が認識される。
(4) The storage unit 32 is provided with a head camera 37 with the imaging axis directed downward between the storage unit 32 and the robot mechanism 31. The head camera 37 moves the reel mark Mb attached to the side surface of the component reel 16 held by the end effector 34, the tray mark Mp attached to the upper surface of the tray 23, the component reel 16, the stick case 17, the tray 23, and the like upward. Image from. The information recorded on the reel mark Mb and the tray mark Mp is recognized by the recognition processing unit 36 performing recognition processing on the reel mark Mb and the tray mark Mp captured by the head camera 37.
また、ヘッドカメラ37が撮像した部品リール16、スティックケース17、トレイ23(部品収容器)を認識処理部36によって認識処理することにより、部品収容器に収容されている部品Dが検出される。すなわち、ヘッドカメラ37は、部品収容器に収容される部品Dを検出する移送装置Vに設けられた検出部である。このように、移送装置Vは、部品収容器を交換する移動自在なエンドエフェクタ34と検出部(ヘッドカメラ37)を備える。
{Circle around (4)} The component reel 16, the stick case 17, and the tray 23 (component container) recognized by the head camera 37 are subjected to recognition processing by the recognition processing unit 36, thereby detecting the component D stored in the component container. That is, the head camera 37 is a detection unit provided in the transfer device V that detects the component D stored in the component container. As described above, the transfer device V includes the movable end effector 34 for exchanging the component container and the detection unit (the head camera 37).
次に図8を参照して、部品実装システム1の制御系の構成を説明する。ここでは、部品実装システム1において、部品収容器に収容されている部品Dの収容数を計数し、部品残数を管理する機能に関する構成について説明する。管理コンピュータ3は、無線管理通信部3a、管理記憶部40、作業指示生成部41、計数処理部42、比較部43、準備指示部44、管理入力部45、管理表示部46を備えている。管理入力部45は、キーボード、タッチパネル、マウスなどの入力装置であり、操作コマンドやデータ入力時などに用いられる。管理表示部46は液晶パネルなどの表示装置であり、管理入力部45による操作のための操作画面などの各種情報を表示する。
Next, the configuration of the control system of the component mounting system 1 will be described with reference to FIG. Here, in the component mounting system 1, a configuration relating to a function of counting the number of components D accommodated in the component container and managing the remaining number of components will be described. The management computer 3 includes a wireless management communication unit 3a, a management storage unit 40, a work instruction generation unit 41, a count processing unit 42, a comparison unit 43, a preparation instruction unit 44, a management input unit 45, and a management display unit 46. The management input unit 45 is an input device such as a keyboard, a touch panel, and a mouse, and is used when inputting operation commands and data. The management display unit 46 is a display device such as a liquid crystal panel, and displays various information such as an operation screen for operation by the management input unit 45.
管理記憶部40は記憶装置であり、部品情報40a、生産情報40b、交換作業情報40cなどを記憶する。部品情報40aには、部品Dを特定する部品番号毎に、部品名(種類)、部品Dが収容された部品収容器に関する情報(サイズなど)、リールマークMbやトレイマークMpなど部品収容器に付されたマークに関する情報などが含まれる。
The management storage unit 40 is a storage device that stores component information 40a, production information 40b, replacement work information 40c, and the like. The component information 40a includes, for each component number that specifies the component D, a component name (type), information (such as a size) on the component container in which the component D is stored, and a component mark such as a reel mark Mb or a tray mark Mp. Information on the attached mark is included.
ここで図9を参照して、部品情報40aの詳細について説明する。部品情報40aには、部品番号50、部品種類51、部品収容器種類52、収容数53が含まれている。部品番号50は、製造ロット番号など部品収容器に収容されている部品Dを特定する情報であり、部品収容器に付されたリールマークMb、トレイマークMpにも記録されている。部品種類51は、部品Dの種類(部品名)である。部品収容器種類52は、部品収容器の種類とサイズを特定する情報である。部品収容器種類52において、「トレイ(4*7)」は4行7列の格子状に部品Dを収容可能なトレイ23を、「リール(254)」は直径254mmの部品リール16を、「スティック」はスティックケース17を示している。収容数53は、各部品収容器に収容されている部品Dの収容数を示している。
Here, the details of the component information 40a will be described with reference to FIG. The component information 40a includes a component number 50, a component type 51, a component container type 52, and a storage number 53. The part number 50 is information for specifying the part D accommodated in the part container such as the production lot number, and is also recorded on the reel mark Mb and the tray mark Mp attached to the part container. The component type 51 is the type (component name) of the component D. The component container type 52 is information for specifying the type and size of the component container. In the component container type 52, “tray (4 * 7)” indicates the tray 23 capable of storing components D in a 4 × 7 grid, “reel (254)” indicates the component reel 16 having a diameter of 254 mm, “Stick” indicates the stick case 17. The storage number 53 indicates the storage number of the component D stored in each component storage device.
図9において、部品番号50が「IC32101」と「IC32102」は、部品種類51が同じ「PGA321」の部品Dが、部品収容器種類52が「トレイ(4*7)」の同じ種類のトレイ23に28個ずつ収容されていることを示している。このように、部品情報40aには、部品Dの収容数53が部品収容器の特定情報(部品番号50)と関連付けてられて記憶されている。
In FIG. 9, the part numbers 50 are “IC32101” and “IC32102”, the part D of “PGA321” having the same part type 51 is the tray 23 of the same type having the part container type 52 of “tray (4 * 7)”. , 28 are stored. As described above, the component information 40a stores the storage number 53 of the component D in association with the component container identification information (the component number 50).
図8において、生産情報40bには、基板9に実装される部品Dの種類と実装位置(XY座標)、生産する実装基板の枚数など、実装基板の生産に必要な情報が含まれている。すなわち、生産情報40bには、生産に使用する部品数が含まれている。交換作業情報40cには、補給対象または交換対象の部品収容器を特定する情報(部品番号50)、所在、交換順序などに関する情報が含まれている。
In FIG. 8, the production information 40b includes information necessary for the production of the mounting board, such as the type and mounting position (XY coordinates) of the component D mounted on the board 9 and the number of mounting boards to be manufactured. That is, the production information 40b includes the number of parts used for production. The replacement work information 40c includes information (part number 50) for specifying a component container to be replenished or replaced, and information on the location, replacement order, and the like.
図8において、作業指示生成部41は、交換作業情報40cに基づいて、移送装置Vの移動先、補給対象または交換対象の部品収容器の特定情報を含む作業指示を生成する。計数処理部42は、移送装置Vのヘッドカメラ37(検出部)によって撮像された部品収容器の画像を認識処理部36が画像処理して検出した部品Dの検出結果より、部品収容器に収容されている部品Dの収容数53を計数する。なお、計数処理部42は、ヘッドカメラ37による撮像画像を画像処理して部品Dの収容数53を計数するようにしてもよい。
8, in FIG. 8, the work instruction generating unit 41 generates a work instruction including the specific information of the destination of the transfer device V, the component container to be supplied or replaced, based on the replacement work information 40c. The count processing unit 42 stores the image of the component container captured by the head camera 37 (detection unit) of the transfer device V in the component container based on the detection result of the component D detected by the recognition processing unit 36 performing image processing. The number 53 of accommodated parts D is counted. The counting processing unit 42 may perform image processing on the image captured by the head camera 37 to count the number of accommodated parts D 53.
図10に、ヘッドカメラ37によって撮像されたトレイ23の撮像画像を示す。ここでは、パレット24上に2枚のトレイ23が装着されている。計数処理部42は、各々のトレイ23で検出された部品Dを計数する。この例では、上側のトレイ23の部品Dの収容数53は28個、下側のトレイ23の部品Dの収容数53は26個と計数される。
FIG. 10 shows a captured image of the tray 23 captured by the head camera 37. Here, two trays 23 are mounted on the pallet 24. The counting unit 42 counts the number of components D detected in each tray 23. In this example, the number 53 of parts D in the upper tray 23 is counted as 28, and the number 53 of parts D in the lower tray 23 is counted as 26.
図11Aに、ヘッドカメラ37によって撮像された部品リール16の撮像画像を示す。計数処理部42は、部品リール16に巻回収容されている部品収納テープ15の半径rより、部品リール16に収容されている部品Dの収容数53の概数を算出する。図11Bに、ヘッドカメラ37によって撮像されたスティックケース17の撮像画像を示す。計数処理部42は、スティックケース17を透して検出された部品Dを計数する。この例では、スティックケース17の部品Dの収容数53は8個と計数される。
FIG. 11A shows a captured image of the component reel 16 captured by the head camera 37. The counting unit 42 calculates an approximate number 53 of the components D accommodated in the component reel 16 from the radius r of the component storage tape 15 wound and accommodated in the component reel 16. FIG. 11B shows a captured image of the stick case 17 captured by the head camera 37. The counting section 42 counts the number of components D detected through the stick case 17. In this example, the number 53 of components D of the stick case 17 is counted as eight.
計数処理部42は、計数した部品Dの収容数53が部品情報40aに記憶されている部品Dの収容数53(部品収容器の部品残数)と異なる場合は、部品情報40aの収容数53を更新する。すなわち、計数処理部42は、管理記憶部40(記憶部)に記憶されている部品収容器の部品残数を計数された部品Dの収容数53に更新する。例えば、図10の下側のトレイ23が図9の部品情報40aの部品番号50が「IC32102」のトレイ23である場合、収容数53は「28」から「26」に更新される。
When the counted number 53 of stored parts D is different from the number 53 of stored parts D (the remaining number of parts in the part container) stored in the part information 40a, the counting unit 42 stores the number 53 of stored parts information 40a. To update. That is, the counting processing unit 42 updates the remaining number of components in the component container stored in the management storage unit 40 (storage unit) to the counted number 53 of the stored components D. For example, when the tray 23 on the lower side of FIG. 10 is the tray 23 whose component number 50 of the component information 40a in FIG. 9 is “IC32102”, the capacity 53 is updated from “28” to “26”.
図8において、比較部43は、部品情報40aと生産情報40bに基づいて、計数された部品Dの収容数53(部品情報40aに記憶される収容数53)と生産に使用する部品数とを比較する。より具体的には、比較部43は、生産情報40bに含まれる基板9に実装される部品数に実装基板の生産枚数を掛けた部品数と、部品実装に使用予定の部品実装装置M2~M4に装着済みの部品Dの数と補給予定の部品Dの収容数53の合計を、部品Dの種類毎に比較する。
In FIG. 8, based on the component information 40 a and the production information 40 b, the comparing unit 43 calculates the number 53 of stored components D (the number 53 stored in the component information 40 a) and the number of components used for production. Compare. More specifically, the comparison unit 43 calculates the number of components obtained by multiplying the number of components mounted on the board 9 included in the production information 40b by the number of production boards, and the component mounting apparatuses M2 to M4 to be used for component mounting. The total of the number of components D already mounted on the device and the number 53 of accommodated components D to be replenished is compared for each type of component D.
準備指示部44は、比較部43による比較の結果、部品Dの収容数53が生産に使用する部品数よりも少ない場合に、生産に使用する部品数を満たす同種の部品Dを準備するように、管理表示部46に表示させて指示する。なお、準備指示は作業者が携帯する携帯端末に表示するようにしてもよい。このように、管理コンピュータ3は、計数された部品Dの収容数53を部品収容器の特定情報(部品番号50)と関連付けて記憶する記憶部(管理記憶部40)、計数処理部42、比較部43、準備指示部44を備える管理装置である。なお、管理コンピュータ3はひとつのコンピュータで構成する必要はなく、複数のデバイスで構成してもよい。例えば、管理記憶部40の一部または全てを、サーバを介してクラウドに備えてもよい。
The preparation instructing unit 44 prepares the same type of component D that satisfies the number of components used for production when the number of accommodated components 53 is smaller than the number of components used for production as a result of the comparison by the comparing unit 43. Is displayed on the management display unit 46 to give an instruction. The preparation instruction may be displayed on a portable terminal carried by the worker. As described above, the management computer 3 stores the counted number 53 of the accommodated components D in association with the specific information (the component number 50) of the component container (the management storage unit 40), the count processing unit 42, It is a management device including a unit 43 and a preparation instruction unit 44. The management computer 3 does not need to be constituted by one computer, but may be constituted by a plurality of devices. For example, part or all of the management storage unit 40 may be provided in the cloud via a server.
図8において、移送装置Vは、走行機構33、ロボット機構31、エンドエフェクタ34、移動カメラ35、認識処理部36、ヘッドカメラ37、移送記憶部47、走行制御部48、交換制御部49、無線通信部Tを備えている。移送記憶部47は記憶装置であり、作業指示情報47a、認識結果情報47bなどを記憶する。作業指示情報47aには、管理コンピュータ3(管理装置)から送信されて無線通信部Tが受信した作業指示が記憶されている。
8, the transfer device V includes a traveling mechanism 33, a robot mechanism 31, an end effector 34, a moving camera 35, a recognition processing unit 36, a head camera 37, a transfer storage unit 47, a traveling control unit 48, an exchange control unit 49, A communication unit T is provided. The transfer storage unit 47 is a storage device and stores work instruction information 47a, recognition result information 47b, and the like. The work instruction information 47a stores a work instruction transmitted from the management computer 3 (management device) and received by the wireless communication unit T.
認識結果情報47bには、移動カメラ35の撮像結果を認識処理部36が認識処理して得られた部品供給ユニットにおける操作対象の位置、部品収容器の位置などが記憶されている。また、認識結果情報47bには、ヘッドカメラ37の撮像結果を認識処理部36が認識処理して得られたリールマークMb、トレイマークMpに記録された部品番号50、検出された部品収容器に収容されている部品Dの情報などが記憶されている。
The recognition result information 47b stores the position of the operation target in the component supply unit, the position of the component container, and the like obtained by the recognition processing unit 36 recognizing the imaging result of the mobile camera 35. The recognition result information 47b includes a reel mark Mb obtained by the recognition processing unit 36 recognizing the imaging result of the head camera 37, a component number 50 recorded on the tray mark Mp, and a detected component container. Information of the accommodated component D and the like are stored.
走行制御部48は、作業指示に含まれる移送装置Vの移動先に基づいて走行機構33を制御して、移送装置Vを指定された移送先に移動させる。交換制御部49は、作業指示に基づいてロボット機構31を制御して、移動カメラ35によって指定された認識先を撮像させる(図14A参照)。また、交換制御部49は、作業指示に基づいてロボット機構31を制御して、ラック扉26a、開閉カバー27aを開閉させ、部品収容器を交換させる(例えば、図14B~図15Cの矢印c2~c5)。
The traveling control unit 48 controls the traveling mechanism 33 based on the destination of the transfer device V included in the work instruction, and moves the transfer device V to the designated destination. The exchange control unit 49 controls the robot mechanism 31 based on the work instruction, and causes the recognition destination specified by the mobile camera 35 to be imaged (see FIG. 14A). Further, the replacement control unit 49 controls the robot mechanism 31 based on the work instruction to open and close the rack door 26a and the open / close cover 27a, and replace the component container (for example, arrows c2 to c2 in FIGS. 14B to 15C). c5).
このように、移送装置Vは、部品収容器を交換する移動自在なエンドエフェクタ34と、部品収容器に収容される部品Dを検出する検出部(ヘッドカメラ37)と、を有している。そして、移送装置Vと、検出部による検出結果より部品収容器に収容されている部品Dの収容数53を計数する計数処理部42を備える管理装置(管理コンピュータ3)は、部品収容数管理システムを構成する。なお、上記は管理コンピュータ3が計数処理部42を備える構成であったが、計数処理部42は移送装置Vが備える構成であってもよい。その場合、移送装置Vにおいて部品Dの収容数53が計数されて、計数結果が管理コンピュータ3に送信される。
As described above, the transfer device V has the movable end effector 34 for exchanging the component container and the detecting unit (head camera 37) for detecting the component D stored in the component container. Then, the management device (management computer 3) including the transfer device V and the count processing unit 42 that counts the number 53 of the accommodated components D accommodated in the component container from the detection result by the detection unit is provided by the component accommodation number management system. Is configured. In the above description, the management computer 3 includes the count processing unit 42, but the count processing unit 42 may include the transfer device V. In that case, the number of accommodated parts 53 is counted in the transfer device V, and the counting result is transmitted to the management computer 3.
次に図12のフローに沿って、図14A~図14C、図15A~図15Cを参照しながら、部品供給ユニットの部品収容器を、移動自在なエンドエフェクタ34を備える移送装置Vによって交換する自動交換方法について説明する。以下、部品実装装置M4に装着されたトレイフィーダ6(部品供給ユニット)から部品収容器であるトレイ23(パレット24)を取り出して交換する例で説明する。なお、図14A~図14C、図15A~図15Cでは、便宜上、移送装置Vのロボット機構31の描画を省略している。
Next, according to the flow of FIG. 12, referring to FIGS. 14A to 14C and FIGS. 15A to 15C, the automatic transfer of the component container of the component supply unit by the transfer device V including the movable end effector 34 is performed. The replacement method will be described. Hereinafter, an example will be described in which the tray 23 (pallet 24) as a component container is taken out from the tray feeder 6 (component supply unit) mounted on the component mounting apparatus M4 and replaced. 14A to 14C and 15A to 15C, illustration of the robot mechanism 31 of the transfer device V is omitted for convenience.
図12において、まず管理コンピュータ3(管理装置)は、交換対象のトレイ23が装着されたパレット24が取り付けられているトレイフィーダ6の前を移送先に指定した作業指示を生成し、補給対象のトレイ23が装着されたパレット24を搭載した移送装置Vに送信する。作業指示を受信した移送装置Vにおいて、走行制御部48は作業指示に従って移送装置Vを指定された移送先に移動させる(ST1:移送装置移動工程)。移動が終了すると、移送装置Vはその旨を管理コンピュータ3に送信する。
12, first, the management computer 3 (management device) generates a work instruction in which a transfer destination is specified in front of the tray feeder 6 to which the pallet 24 to which the tray 23 to be replaced is mounted is attached, and the supply target to be refilled. The data is transmitted to the transfer device V equipped with the pallet 24 on which the tray 23 is mounted. In the transfer device V that has received the work instruction, the traveling control unit 48 moves the transfer device V to the designated transfer destination according to the work instruction (ST1: transfer device moving step). When the movement is completed, the transfer device V transmits a message to that effect to the management computer 3.
次いで管理コンピュータ3において作業指示生成部41は、交換対象のトレイ23が装着されたパレット24を部品供給台車5から取り外し、補給対象のトレイ23が装着されたパレット24を交換するための作業指示を生成する(ST2:作業指示生成工程)。次いで管理コンピュータ3は、生成した作業指示を移送装置Vに向けて送信する(ST3:作業指示送信工程)。
Next, in the management computer 3, the work instruction generation unit 41 removes the pallet 24 on which the tray 23 to be replaced is mounted from the component supply cart 5, and issues a work instruction for replacing the pallet 24 with the tray 23 to be refilled. It is generated (ST2: work instruction generation step). Next, the management computer 3 transmits the generated work instruction to the transfer device V (ST3: work instruction transmission step).
図12において、移送装置Vは作業指示を受信すると、作業指示に従って交換作業を実行する。まず、交換制御部49はロボット機構31を制御して、エンドエフェクタ34を開閉カバー27aの前に移動させる(図14Aの矢印c1)。そして、移動カメラ35によって取っ手27bを撮像させて位置を認識し、エンドエフェクタ34で取っ手27bを把持させて開閉カバー27aを開放させる(ST4:開閉カバー開放工程)。
In FIG. 12, when the transfer device V receives the work instruction, the transfer device V performs a replacement operation according to the work instruction. First, the exchange control unit 49 controls the robot mechanism 31 to move the end effector 34 in front of the opening / closing cover 27a (arrow c1 in FIG. 14A). Then, the handle 27b is imaged by the moving camera 35 to recognize the position, and the end effector 34 grips the handle 27b to open the open / close cover 27a (ST4: open / close cover opening step).
次いで交換制御部49は作業指示に基づいてロボット機構31を制御して、エンドエフェクタ34を開閉カバー27aが開放されたパレット載置部27まで移動させて、パレット載置部27に載置されている交換対象のトレイ23が装着されたパレット24を把持させる。次いで交換制御部49はエンドエフェクタ34を移動させて(図14Bの矢印c2)パレット24をパレット載置部27から取り出し(ST5)、保管部32まで移動させて(図14Cの矢印c3)空いている保管棚32aに格納させる(ST6)。
Next, the exchange control unit 49 controls the robot mechanism 31 based on the work instruction, moves the end effector 34 to the pallet placement unit 27 with the open / close cover 27a opened, and places the end effector 34 on the pallet placement unit 27. The pallet 24 on which the tray 23 to be replaced is mounted is gripped. Next, the exchange control unit 49 moves the end effector 34 (arrow c2 in FIG. 14B), removes the pallet 24 from the pallet placing unit 27 (ST5), and moves it to the storage unit 32 (arrow c3 in FIG. 14C). (ST6).
図12において、次いで交換制御部49は、保管棚32aにある補給対象のトレイ23が装着されたパレット24をエンドエフェクタ34で把持させて取り出す(ST7)(図15Aの矢印c4)。次いで、後述する部品Dの計数処理などを含む部品収容数管理が実行される(ST8:部品収容数管理工程)。次いで交換制御部49はパレット24を把持するエンドエフェクタ34をトレイフィーダ6の前まで移動させ、補給対象のトレイ23が装着されたパレット24をパレット載置部27に載置させる(ST9)(図15Bの矢印c5)。
12, in FIG. 12, the exchange control unit 49 causes the end effector 34 to hold the pallet 24 on the storage shelf 32a on which the tray 23 to be supplied is mounted (ST7) (arrow c4 in FIG. 15A). Next, the management of the number of accommodated parts including the counting process of the parts D, which will be described later, is executed (ST8: the number of accommodated parts management step). Next, the exchange control unit 49 moves the end effector 34 holding the pallet 24 to the front of the tray feeder 6, and places the pallet 24 on which the tray 23 to be supplied is mounted on the pallet placing unit 27 (ST9) (FIG. Arrow c5 of 15B).
次いで交換対象のトレイ23(部品収容器)が残っていて交換作業が終了していない場合(ST10においてNo)、作業指示生成工程(ST2)に戻って次のトレイ23が装着されたパレット24の交換作業が実行される。全てのトレイ23の交換作業が終了すると(ST10においてYes)、交換制御部49はロボット機構31を制御して、エンドエフェクタ34で取っ手27bを把持させて開閉カバー27aを閉止させる(ST11:開閉カバー閉止工程)(図15C参照)。これで、一連のトレイ23の自動交換が終了する。
Next, when the tray 23 (component container) to be replaced remains and the replacement operation has not been completed (No in ST10), the process returns to the work instruction generation step (ST2) to return to the pallet 24 on which the next tray 23 is mounted. A replacement operation is performed. When the exchange work of all the trays 23 is completed (Yes in ST10), the exchange control unit 49 controls the robot mechanism 31 to cause the end effector 34 to grip the handle 27b and close the open / close cover 27a (ST11: open / close cover). Closing step) (see FIG. 15C). Thus, a series of automatic exchanges of the trays 23 is completed.
次に図13のフローに沿って、部品収容数管理システムにおいてトレイ23(部品収容器)に収容される部品Dの数を管理する部品収容数管理工程(ST8)(部品収容数管理方法)について説明する。まず、交換制御部49はロボット機構31を制御して、トレイ23が装着されたパレット24をエンドエフェクタ34によってヘッドカメラ37(検出部)の視野に移送する(ST21:移送工程)。次いでトレイ23をヘッドカメラ37によって撮像して、認識処理部36により画像認識してトレイ23に収容される部品Dを検出する(ST22:検出工程)。その際、トレイ23に付されたトレイマークMpに記録された部品番号50も認識される。
Next, a component storage number management step (ST8) (component storage number management method) for managing the number of components D stored in the tray 23 (component storage container) in the component storage number management system according to the flow of FIG. explain. First, the exchange control unit 49 controls the robot mechanism 31 to transfer the pallet 24 on which the tray 23 is mounted to the field of view of the head camera 37 (detection unit) by the end effector 34 (ST21: transfer step). Next, the tray 23 is imaged by the head camera 37, the image is recognized by the recognition processing unit 36, and the component D stored in the tray 23 is detected (ST22: detecting step). At this time, the part number 50 recorded on the tray mark Mp attached to the tray 23 is also recognized.
次いで検出結果は管理コンピュータ3に送信され、計数処理部42によってトレイ23(部品収容器)に収容されている部品Dの収容数53が計数される(ST23:計数処理工程)。次いで計数処理部42は、部品情報40aに含まれる部品番号50が同一の部品Dの収容数53を計数された部品Dの収容数53に更新する(ST24:更新工程)。これによって、搬送中などに部品Dがトレイ23から落下するなどして収容数53が部品情報40aと不一致であった場合に、実際の部品Dの収容数53が部品情報40aに記憶される。
(4) Next, the detection result is transmitted to the management computer 3, and the counted number 53 of the components D accommodated in the tray 23 (component container) is counted by the counting unit 42 (ST23: counting process step). Next, the counting processing unit 42 updates the accommodated number 53 of the parts D having the same part number 50 included in the part information 40a to the counted number 53 of accommodated parts D (ST24: update step). Accordingly, when the number of accommodated parts 53 does not match the part information 40a due to the part D falling from the tray 23 during transportation or the like, the actual number of accommodated parts D is stored in the part information 40a.
次いで比較部43は、生産情報40bに含まれる基板9に実装される部品数と、部品実装装置M2~M4に装着済みの部品Dの数と部品情報40aに含まれる補給予定の部品Dの収容数53との合算を比較する(ST25:比較工程)。すなわち、計数された部品Dの収容数53と生産情報40bに含まれる生産に使用する部品数が比較される。
Next, the comparison unit 43 stores the number of components mounted on the board 9 included in the production information 40b, the number of components D already mounted on the component mounting apparatuses M2 to M4, and the storage of the components D to be supplied included in the component information 40a. The sum with the number 53 is compared (ST25: comparison step). That is, the counted number 53 of the accommodated parts D is compared with the number of parts used for production included in the production information 40b.
部品Dの収容数53が生産に使用する部品数よりも少ない場合(ST25においてYes)、準備指示部44は生産に使用する部品数を満たす同種の部品Dを準備するように指示して(ST26:準備指示工程)、部品収容数管理工程(ST8)が終了する。これによって、不足する部品Dの準備を早期に指示できる。部品Dの収容数53が足りている場合は(ST25においてNo)、そのまま、部品収容数管理工程(ST8)が終了する。
If the number 53 of parts D accommodated is smaller than the number of parts used for production (Yes in ST25), the preparation instruction unit 44 instructs to prepare the same kind of parts D that satisfies the number of parts used for production (ST26). : Preparation instruction step) and the component accommodation number management step (ST8) are completed. Thus, preparation of the missing component D can be instructed at an early stage. When the number 53 of accommodated parts D is sufficient (No in ST25), the part accommodation number management step (ST8) ends as it is.
このように、部品収容数管理工程(ST8)によって部品収容器(トレイ23)を交換する前に、部品収容器に収納されている部品Dの収容数53を計数できる。なお、上記はトレイ23を自動交換する途中で計数処理工程(ST23)を含む部品収容数管理工程(ST8)を実行する例を説明したが、計数処理工程(ST23)の実行はこのタイミングに限定されることはない。例えば、部品実装作業中のトレイフィーダ6の中にあるトレイ23が収納する部品Dの正確な収容数53を取得して準備指示をするために、移送装置Vによって部品実装作業中のトレイフィーダ6からトレイ23を取り出して部品Dを計数してもよい。
As described above, the number 53 of components D stored in the component container can be counted before the component container (tray 23) is replaced in the component number management process (ST8). In the above description, an example is described in which the part accommodation number management step (ST8) including the counting processing step (ST23) is performed during the automatic replacement of the tray 23. However, the execution of the counting processing step (ST23) is limited to this timing. It will not be done. For example, in order to obtain the accurate number 53 of components D stored in the tray 23 in the tray feeder 6 during the component mounting operation and to issue a preparation instruction, the transfer device V uses the tray feeder 6 during the component mounting operation. May be taken out of the tray 23 to count the parts D.
上記説明したように、本実施の形態の部品実装システム1(部品収容数管理システム)は、移送装置Vと、計数処理部42とを有する。
As described above, the component mounting system 1 (system for managing the number of accommodated components) of the present embodiment includes the transfer device V and the counting unit 42.
移送装置Vは、エンドエフェクタ34と、検出部(ヘッドカメラ37)と、を有する。
The transfer device V has an end effector 34 and a detection unit (head camera 37).
エンドエフェクタ34は、移動自在であり、部品供給ユニット(部品供給台車5、トレイフィーダ6)の部品収容器を交換する。
(4) The end effector 34 is movable, and exchanges the component container of the component supply unit (the component supply cart 5, the tray feeder 6).
部品供給ユニットは、部品収容器(部品リール16、スティックケース17、トレイ23)と、部品供給手段(テープフィーダ13、スティックフィーダ14、パレット移動部22)とを有する。
The component supply unit has a component container (component reel 16, stick case 17, tray 23) and component supply means (tape feeder 13, stick feeder 14, pallet moving unit 22).
部品収容器は、複数の部品Dを収容する。
The component container stores a plurality of components D.
部品供給手段は、部品収容器が収容する部品Dを部品供給位置Eへ移動させる。
The component supply means moves the component D stored in the component container to the component supply position E.
検出部は、部品収容器に収容される部品Dを検出する。
The detecting unit detects the component D stored in the component container.
計数処理部42は、検出部による検出結果より、部品収容器に収容されている部品Dの収容数53を計数する。
The counting unit 42 counts the number 53 of the components D accommodated in the component container from the detection result by the detection unit.
これによって、部品収容器を交換する前に部品収容器に収納されている部品Dの収容数53を計数できる。
This allows counting the number 53 of components D stored in the component container before replacing the component container.
本開示によれば、交換前に部品収容器に収納されている部品の収容数を計数できる。
According to the present disclosure, it is possible to count the number of components accommodated in the component container before replacement.
本開示の部品収容数管理システムおよび部品収容数管理方法は、交換前に部品収容器に収納されている部品の収容数を計数できるという効果を有し、部品を基板に実装する分野において有用である。
INDUSTRIAL APPLICABILITY The component storage number management system and component storage number management method of the present disclosure have an effect of counting the number of components stored in a component container before replacement, and are useful in the field of mounting components on a board. is there.
1 部品実装システム(部品収容数管理システム)
2 通信ネットワーク
3 管理コンピュータ
3a 無線管理通信部
4 部品供給部
5 部品供給台車(部品供給ユニット)
5B 下部リール保持部
5U 上部リール保持部
5a 下部
6 トレイフィーダ(部品供給ユニット)
7 基台
8 基板搬送機構
9 基板
10 実装ヘッド
10a 吸着ノズル
12 フィーダ装着部
13 テープフィーダ(部品供給手段)
13a テープ挿入口
14 スティックフィーダ(部品供給手段)
14a 積載部
15 部品収納テープ
16 部品リール(部品収容器)
17 スティックケース(部品収容器)
18 実装制御部
20 フィーダ載置部
21 ラック部
22 パレット移動部(部品供給手段)
23 トレイ(部品収容器)
24 パレット
25 マガジン
26 マガジン保持部
26a ラック扉
27 パレット載置部
27a 開閉カバー
27b 取っ手
28 パレット載置台
28a 取出し機構
29 昇降機構
30 台車部
30a 車輪
31 ロボット機構
32 保管部
32a 保管棚
33 走行機構
34 エンドエフェクタ
35 移動カメラ
36 認識処理部
37 ヘッドカメラ(検出部)
40 管理記憶部
40a 部品情報
40b 生産情報
40c 交換作業情報
41 作業指示生成部
42 計数処理部
43 比較部
44 準備指示部
45 管理入力部
46 管理表示部
47 移送記憶部
47a 作業指示情報
47b 認識結果情報
48 走行制御部
49 交換制御部
50 部品番号
51 部品種類
52 部品収容器種類
53 収容数
D 部品
E 部品供給位置
F フロア
L1 部品実装ライン
M1 印刷機
M2 部品実装装置
M3 部品実装装置
M4 部品実装装置
M5 リフロー装置
Mb リールマーク
Mp トレイマーク
S スロット
T 無線通信部
V 移送装置
W 材料保管庫
a 矢印
b 矢印
r 半径
c1 矢印
c2 矢印
c3 矢印
c4 矢印
c5 矢印 1 component mounting system (component capacity management system)
2Communication Network 3 Management Computer 3a Wireless Management Communication Unit 4 Parts Supply Unit 5 Parts Supply Cart (Part Supply Unit)
5BLower reel holder 5U Upper reel holder 5a Lower 6 Tray feeder (component supply unit)
Reference Signs List 7 base 8 substrate transport mechanism 9 substrate 10 mounting head 10a suction nozzle 12 feeder mounting part 13 tape feeder (component supply means)
13aTape insertion slot 14 Stick feeder (component supply means)
14a Loading section 15 Component storage tape 16 Component reel (component container)
17 Stick case (parts container)
18Mounting control unit 20 Feeder placement unit 21 Rack unit 22 Pallet moving unit (part supply means)
23 trays (parts container)
Reference Signs List 24 Pallet 25 Magazine 26 Magazine holding part 26a Rack door 27 Pallet placement part 27a Opening / closing cover 27b Handle 28 Pallet placement table 28a Take-out mechanism 29 Elevating mechanism 30 Bogie part 30a Wheel 31 Robot mechanism 32 Storage part 32a Storage shelf 33 Travel mechanism 34 End Effector 35 Moving camera 36 Recognition processing unit 37 Head camera (detection unit)
40management storage unit 40a parts information 40b production information 40c replacement work information 41 work instruction generation unit 42 count processing unit 43 comparison unit 44 preparation instruction unit 45 management input unit 46 management display unit 47 transfer storage unit 47a work instruction information 47b recognition result information 48 travel control unit 49 exchange control unit 50 part number 51 part type 52 part container type 53 accommodation number D parts E component supply position F floor L1 component mounting line M1 printing machine M2 component mounting device M3 component mounting device M4 component mounting device M5 Reflow device Mb Reel mark Mp Tray mark S Slot T Wireless communication unit V Transfer device W Material storage a Arrow b Arrow r Radius c1 Arrow c2 Arrow c3 Arrow c4 Arrow c5 Arrow
2 通信ネットワーク
3 管理コンピュータ
3a 無線管理通信部
4 部品供給部
5 部品供給台車(部品供給ユニット)
5B 下部リール保持部
5U 上部リール保持部
5a 下部
6 トレイフィーダ(部品供給ユニット)
7 基台
8 基板搬送機構
9 基板
10 実装ヘッド
10a 吸着ノズル
12 フィーダ装着部
13 テープフィーダ(部品供給手段)
13a テープ挿入口
14 スティックフィーダ(部品供給手段)
14a 積載部
15 部品収納テープ
16 部品リール(部品収容器)
17 スティックケース(部品収容器)
18 実装制御部
20 フィーダ載置部
21 ラック部
22 パレット移動部(部品供給手段)
23 トレイ(部品収容器)
24 パレット
25 マガジン
26 マガジン保持部
26a ラック扉
27 パレット載置部
27a 開閉カバー
27b 取っ手
28 パレット載置台
28a 取出し機構
29 昇降機構
30 台車部
30a 車輪
31 ロボット機構
32 保管部
32a 保管棚
33 走行機構
34 エンドエフェクタ
35 移動カメラ
36 認識処理部
37 ヘッドカメラ(検出部)
40 管理記憶部
40a 部品情報
40b 生産情報
40c 交換作業情報
41 作業指示生成部
42 計数処理部
43 比較部
44 準備指示部
45 管理入力部
46 管理表示部
47 移送記憶部
47a 作業指示情報
47b 認識結果情報
48 走行制御部
49 交換制御部
50 部品番号
51 部品種類
52 部品収容器種類
53 収容数
D 部品
E 部品供給位置
F フロア
L1 部品実装ライン
M1 印刷機
M2 部品実装装置
M3 部品実装装置
M4 部品実装装置
M5 リフロー装置
Mb リールマーク
Mp トレイマーク
S スロット
T 無線通信部
V 移送装置
W 材料保管庫
a 矢印
b 矢印
r 半径
c1 矢印
c2 矢印
c3 矢印
c4 矢印
c5 矢印 1 component mounting system (component capacity management system)
2
5B
13a
17 Stick case (parts container)
18
23 trays (parts container)
40
Claims (6)
- 部品供給ユニットの部品収容器を交換する移動自在なエンドエフェクタと、
前記部品収容器に収容される部品を検出する検出部と、
を有する移送装置と、
前記検出部による検出結果より、前記部品収容器に収容されている前記部品の収容数を計数する計数処理部と、
を備える、
部品収容数管理システム。 A movable end effector for exchanging the component container of the component supply unit,
A detection unit that detects a component accommodated in the component container,
A transfer device having
From the detection result by the detection unit, a counting processing unit that counts the number of accommodated the components accommodated in the component container,
Comprising,
Component storage number management system. - 計数された前記部品の収容数を前記部品収容器の特定情報と関連付けて記憶する記憶部をさらに備える、
請求項1に記載の部品収容数管理システム。 Further comprising a storage unit that stores the counted number of accommodated parts in association with the specific information of the part container,
The system for managing the number of accommodated components according to claim 1. - 前記記憶部は、記憶されている前記部品収容器の部品残数を計数された前記部品の収容数に更新する、
請求項2に記載の部品収容数管理システム。 The storage unit updates the stored number of remaining components of the component container to the counted number of stored components,
The system for managing the number of accommodated components according to claim 2. - 比較部と、
準備指示部と、
をさらに備え
前記記憶部は、生産に使用する部品数を含む生産情報を記憶し、
前記比較部は、計数された前記部品の収容数と、前記記憶部に記憶されている生産に使用する前記部品数とを比較し、
前記準備指示部は、比較した結果、前記部品の収容数が生産に使用する前記部品数よりも少ない場合に、生産に使用する前記部品数を満たす同種の前記部品を準備するように指示する、
請求項2または3に記載の部品収容数管理システム。 A comparison section,
A preparation instruction section,
The storage unit further stores production information including the number of parts used for production,
The comparing unit compares the counted number of accommodated parts with the number of parts used for production stored in the storage unit,
The preparation instructing unit, as a result of the comparison, when the number of accommodated parts is less than the number of parts used for production, instructs to prepare the same kind of parts that satisfies the number of parts used for production.
The system for managing the number of accommodated components according to claim 2. - 部品供給ユニットの部品収容器を交換する移動自在なエンドエフェクタと、
前記部品収容器に収容される部品を検出する検出部と、
を有する移送装置を備える部品収容数管理システムにおいて、前記部品収容器に収容される前記部品の数を管理する部品収容数管理方法であって、
前記部品収容器を前記エンドエフェクタによって移送する移送工程と、
前記部品収容器に収容される前記部品を前記検出部によって検出する検出工程と、
前記検出工程における検出結果より、前記部品収容器に収容されている前記部品の収容数を計数する計数処理工程と、
を備える、
部品収容数管理方法。 A movable end effector for exchanging the component container of the component supply unit,
A detection unit that detects a component accommodated in the component container,
In a component storage number management system including a transfer device having a component storage number management method for managing the number of the components stored in the component storage device,
A transfer step of transferring the component container by the end effector,
A detection step of detecting the component contained in the component container by the detection unit;
From the detection result in the detection step, a counting process step of counting the number of accommodated components in the component container,
Comprising,
How to manage the number of stored parts. - 前記計数処理工程において計数された前記部品の収容数と、生産に使用する部品数とを比較する比較工程と、
前記部品の収容数が生産に使用する前記部品数よりも少ない場合に、生産に使用する前記部品数を満たす同種の前記部品を準備するように指示する準備指示工程と、
をさらに備える、
請求項5に記載の部品収容数管理方法。 A comparison step of comparing the number of accommodated parts counted in the counting processing step with the number of parts used for production,
When the number of accommodated parts is less than the number of parts used for production, a preparation instruction step of instructing to prepare the same kind of parts that satisfies the number of parts used for production,
Further comprising,
The method for managing the number of accommodated components according to claim 5.
Priority Applications (3)
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CN201980031182.XA CN112106460B (en) | 2018-07-31 | 2019-07-25 | Parts storage number management system and parts storage number management method |
JP2020533465A JP7249493B2 (en) | 2018-07-31 | 2019-07-25 | Parts storage quantity management system and parts storage quantity management method |
DE112019003859.1T DE112019003859T5 (en) | 2018-07-31 | 2019-07-25 | Component count management system and component count management apparatus |
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JP2018143145 | 2018-07-31 |
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CN (1) | CN112106460B (en) |
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WO2022137508A1 (en) * | 2020-12-25 | 2022-06-30 | ヤマハ発動機株式会社 | Component storage system, component storage room, and magazine preparation method |
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CN112106460B (en) | 2022-09-23 |
DE112019003859T5 (en) | 2021-06-02 |
CN112106460A (en) | 2020-12-18 |
JPWO2020026931A1 (en) | 2021-08-02 |
JP7249493B2 (en) | 2023-03-31 |
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