JP7333463B2 - production system - Google Patents

Description

This specification discloses a production system.

Conventionally, there are multiple component mounters that mount components aligned along the board transport direction and supplied from feeders onto the board, and feeders that move along the board transport direction and are required for each component mounter. A production system is known that includes a loader that replenishes and collects used feeders (see, for example, Patent Document 1). The loader includes a monitoring sensor that monitors the presence or absence of obstacles (workers). The loader travels toward the work position when no obstacle is detected by the monitoring sensor, and stops traveling when the obstacle is detected by the monitoring sensor. Then, the loader resumes traveling when the obstacle is no longer detected by the monitoring sensor while the loader is stopped.

WO2019/016924

By the way, some production systems include a plurality of production lines arranged in parallel with each other and a plurality of loaders (feeder exchange devices) provided in each production line. In this production system, in order to save space, it is conceivable that the intervals between the production lines are narrowed while securing intervals for the loaders to pass each other between the adjacent production lines. However, if the interval between the loader passes becomes narrower, the monitoring sensor may detect the other loader and stop abnormally, making it impossible to replace the feeder.

The present disclosure includes a first production line and a second production line that are arranged in parallel with each other, and a first feeder changer and a second feeder changer provided in each production line with a gap that allows them to pass each other. To provide a production system capable of satisfactorily detecting surrounding obstacles without detecting a feeder exchange device on the other side when both feeder exchange devices pass each other, even if the gap between the two feeder exchange devices is narrow. The main purpose is

The present disclosure has taken the following means to achieve the above-mentioned main objectives.

The production system of the present disclosure includes:
a first production line including a plurality of component mounters that are aligned in the board conveying direction and provided with an attachment/detachment section to which a feeder is attached and detached, and mounts components supplied from the feeders attached to the attachment/detachment section onto the board;
A plurality of mounting parts supplied from a feeder attached to the attachment/detachment section, which are arranged in parallel with the first production line and are provided with an attachment/detachment section so as to face the attachment/detachment section of the first production line, on a substrate. a second production line including a component mounter of
A production system comprising
A first feeder exchange that replaces a feeder by moving along the aligning direction of each component mounter of the first production line and attaching/detaching the feeder to/from an attachment/detachment portion of each component mounter of the first production line. a device;
The feeder moves along the aligning direction of the component mounters of the second production line at an interval that allows passing by the first feeder exchange device, and feeds the attachment/detachment portion of each component mounter of the second production line. a second feeder exchange device for exchanging feeders by attaching and detaching the
has
The first feeder changing device and the second feeder changing device each include a reflective optical sensor that detects the presence or absence of an obstacle in the detection area defined by a predetermined height from the floor surface, and a reflective optical sensor. Floating from the floor surface so as not to enter the detection area of the optical sensor of the feeder exchange device of the other party when passing by the feeder exchange device.
This is the gist of it.

In the production system of the present disclosure, a first production line and a second production line are arranged in parallel with each other, and a first feeder changer and a second feeder changer are respectively provided in each production line with an interval that allows them to pass each other. And prepare. Each of the first feeder exchange device and the second feeder exchange device includes a reflective optical sensor that detects the presence or absence of an obstacle within the detection area as a detection area up to a predetermined height from the floor surface. Further, each of the first feeder changing device and the second feeder changing device floats above the floor surface so as not to enter the detection area of the optical sensor of the other feeder changing device when it passes another feeder changing device. there is As a result, even if the gap between the first feeder changer and the second feeder changer is narrowed, the surrounding obstacles can be satisfactorily detected without detecting the other feeder changer when they pass each other. possible production system.

It is a schematic block diagram of the production system of this embodiment. 1 is a schematic configuration diagram of a production line; FIG. 1 is a schematic configuration diagram of a component mounter; FIG. It is a schematic block diagram of a feeder. It is an external appearance perspective view of a feeder stand. 3 is a schematic configuration diagram of a loader; FIG. It is an explanatory view showing a detection area of a monitoring sensor. FIG. 4 is an explanatory diagram showing how a monitoring sensor detects a human body; FIG. 4 is an explanatory diagram showing an irradiation angle of laser light from a monitoring sensor; FIG. 4 is an explanatory diagram showing an irradiation angle of laser light from a monitoring sensor; FIG. 5 is a schematic configuration diagram of a loader according to another embodiment;

Next, embodiments for implementing the present disclosure will be described with reference to the drawings.

FIG. 1 is a schematic configuration diagram of the production system of this embodiment. FIG. 2 is a schematic configuration diagram of a production line. FIG. 3 is a schematic configuration diagram of a component mounter. FIG. 4 is a schematic configuration diagram of a feeder. FIG. 5 is an external perspective view of the feeder table. FIG. 6 is a schematic configuration diagram of the loader. 2 and 3, the horizontal direction is the X-axis direction, the front-rear direction is the Y-axis direction, and the vertical direction is the Z-axis direction.

As illustrated, the production system 1 of the present embodiment includes a plurality of production lines 10 (first production line 10A, second production line 10B) arranged in parallel with each other, and loaders 50 ( (first loader 50A, second loader 50B) and a management device (not shown) that manages the entire system.

Each production line 10 produces products in which components are mounted on substrates S printed with solder. Each production line 10 includes a printer 12, a print inspection device 14, a plurality of component mounters 20, a mounting inspection device (not shown), and a feeder storage 60, as shown in FIG. . These are aligned in the transport direction of the substrate S to form the production line 10 . The printing device 12 is a device that prints solder on the substrate S. As shown in FIG. The print inspection device 14 is a device that inspects the state of solder printed by the printer 12 . A plurality of component mounters 20 is a device that picks up components supplied from the feeders 30 mounted on the feeder table 40 and mounts them on the board S. As shown in FIG. The mounting inspection device is a device for inspecting the mounting state of components mounted by the component mounter 20 . The feeder storage 60 is incorporated in the production line 10 and stores the feeders 30 to be used and the used feeders 30 in each mounter 20 .

The component mounter 20 includes, as shown in FIG.

The mounting machine main body 21 includes a substrate conveying device 22 that conveys the substrate S, and a mounting head 25 that picks up the components fixed (mounted) to the slider 24 and supplied to the component supply position by the feeder 30 and mounts them on the substrate S. , a head moving device 23 that moves the mounting head 25 together with the slider 24 in the front-rear direction and the left-right direction (XY directions); The substrate transfer device 22, the head moving device 23, and the mounting head 25 are arranged in a housing 21a provided on a base 21b. The mounting head 25 includes a suction nozzle 25a that sucks a component, and a lifting device (not shown) that raises and lowers the suction nozzle 25a using a ball screw mechanism, a linear motor, or the like.

In addition, the mounter body 21 also includes a mark camera 26, a parts camera 28, and the like. The mark camera 26 captures an image of a reference mark attached to the substrate S from above in order to detect the position of the substrate S. As shown in FIG. The parts camera 28 captures an image of the component sucked by the suction nozzle 25a from below in order to detect a suction error or a suction deviation.

The mounting control device is composed of a well-known CPU, ROM, RAM, and the like. The mounting control device receives image signals and the like from the mark camera 26 and the parts camera 28 . Further, the mounting control device outputs drive signals to the substrate transfer device 22, the mounting head 25, the head moving device 23, and the like.

As shown in FIG. 4, the feeder 30 is a rectangular cassette tape feeder, and is detachably held on a feeder table 40 provided on the front surface of the housing 21a of the mounting machine main body 21. As shown in FIG. The feeder 30 includes a tape reel 32, a tape feeding mechanism 33, a connector 35, a rail member 37, and a supply control device (not shown) that controls the entire feeder. The tape 31 is wound around the tape reel 32 . Cavities are formed in the tape 31 at predetermined intervals along its longitudinal direction. Each cavity contains a component. These parts are protected by a film covering the surface of tape 31 . The tape feeding mechanism 33 draws out the tape 31 from the tape reel 32 and feeds it to the component supply position. Although not shown, the tape feed mechanism 33 includes a sprocket provided on its outer periphery with engaging claws that engage with the sprockets provided at equal intervals on the tape 31, and a feed motor that rotates the sprocket. The feeder 30 drives the sprocket by a predetermined amount of rotation by a feed motor to feed the tape 31 engaged with the sprocket by a predetermined amount, thereby sequentially supplying the components accommodated on the tape 31 to the component supply position. . The components accommodated in the tape 31 are exposed at the component supply position by peeling off the film before the component supply position, and are sucked by the suction nozzle 25a. Two positioning pins 34 projecting in the mounting direction are provided on both sides of the connector 35 . The rail member 37 is provided at the lower end of the feeder 30 and extends in the mounting direction. The supply control device 39 is composed of a well-known CPU, ROM, RAM, etc., and outputs drive signals to the tape feed mechanism 33 (feed motor). Also, the supply control device can communicate with a control unit (mounting control device, management device, etc.) to which the feeder 30 is attached via the connector 35 .

A plurality of feeders 30 are attached to the feeder table 40 so as to be aligned in the X-axis direction. The feeder table 40 is an L-shaped table when viewed from the side, and includes a slot 42 , two positioning holes 44 and a connector 45 , as shown in FIG. 5 . A rail member 37 of the feeder 30 is inserted into the slot 42 . Two positioning pins 34 of the feeder 30 are inserted into the two positioning holes 44 to position the feeder 30 on the feeder table 40 . A connector 45 is provided between the two positioning holes 44 and connected to the connector 35 of the feeder 30 .

The component mounters 20 of the first production line 10A and the second production line 10B are arranged so that the feeder tables 40 of the component mounters 20 of the first production line 10A and the second production line 10B face each other. . As shown in FIG. 1, the first loader 50A arranged on the first production line 10A and the second loader 50B arranged on the second production line 10B are arranged along the line with an interval d that allows them to pass each other. Moving. By narrowing the distance d as much as possible, the production system 1 including the first production line 10A and the second production line 10B can be compactly accommodated in the factory.

Loaders 50 (first loader 50A, second loader 50B), as shown in FIG. It is supported by guide rails 16 provided in parallel. The loader 50 is supported by the guide rails 16 while floating above the floor F of the factory where the production system 1 is installed. The loader 50 moves along the corresponding production line 10 (guide rail 16) to replenish the required feeders 30 to each component mounter 20 and to remove the used feeders 30 from each component mounter 20. collect.

As shown in FIG. 6, the loader 50 includes a loader moving device 51, a feeder transfer device 53, a position sensor 57, a monitoring sensor 58, and a loader control device (not shown) that controls the entire loader. Prepare. The loader moving device 51 moves the loader 50 along the guide rails 16 . The loader moving device 51 includes a motor 52a that drives a drive belt for moving the loader 50, and guide rollers 52b that roll on the guide rails 16. As shown in FIG. The feeder transfer device 53 transfers the feeder 30 between the loader 50 and the component mounter 20 or feeder storage 60 . The feeder transfer device 53 includes a clamp mechanism 54 that clamps the feeder 30 and a clamp movement device 55 that reciprocates the clamp mechanism 54 in the Y-axis direction (front-rear direction). The position sensor 57 is an encoder that detects the movement position of the loader 50 in the horizontal direction (X-axis direction).

In this embodiment, the monitoring sensor 58 is configured as a laser scanner having a light projecting section 58a and a light receiving section 58b as a sensor section. The monitoring sensor 58 detects an obstacle by emitting a laser beam from the light projecting portion 58a and receiving reflected light from the obstacle by the light receiving portion 58b.

The loader control device is composed of a well-known CPU, ROM, RAM, etc., inputs detection signals from the position sensor 57 and the monitoring sensor 58 , and outputs drive signals to the loader moving device 51 and the feeder transfer device 53 . When replacing the feeder 30, the loader control device controls the loader moving device 51 so that the loader 50 moves to a target position facing the component mounter 20 having the feeder 30 to be replaced. When the loader 50 reaches the target position, the loader control device clamps the used feeder 30 mounted on the feeder table 40 of the component mounter 20 with the clamping mechanism 54 and pulls it forward to collect it in the loader 50. The feeder transfer device 53 is controlled. Then, the loader control device controls the feeder transfer device 53 so that the new feeder 30 in the loader 50 is clamped by the clamping mechanism 54 and fed backward to be mounted on the feeder table 40 of the component mounter 20 . When an obstacle is detected by the monitoring sensor 58 while the loader 50 is traveling, the loader control device controls the loader moving device 51 so that traveling is stopped until the obstacle is no longer detected.

In order to accommodate a plurality of feeders 30, the feeder storage 60 is provided with a feeder table 40 having the same configuration as the feeder table 40 provided in the component mounter 20 and at the same height as the feeder table 40 of the component mounter 20. ing. For this reason, the loader 50 attaches and removes the feeder 30 to and from the feeder table 40 of the feeder storage box 60 in the same manner as attaching and detaching the feeder 30 to and from the feeder table 40 of the mounter 20 at a position facing the feeder storage box 60 . 30 can be removed.

The management device is a general-purpose computer, and includes a CPU, ROM, HDD (storage device), and the like. The storage device contains various information necessary for production in addition to the production schedule. The production schedule is a schedule that defines which component is to be mounted on which board S in what order in each mounter 20, and how many boards S mounted in such a manner are to be manufactured. The management device transmits a production command to each production line 10 (first production line 10A and second production line 10B) so that products are produced according to the production schedule. The management device also manages the remaining number of components in the feeders 30 held by each component mounter 20 for each production line 10 . That is, the management device acquires the production status from each mounter 20 and updates the remaining number of components in each feeder 30. When the remaining number of components is low and it is predicted that the components will run out, the management device sends the feeder 30 to the corresponding loader 50. A replacement command is sent to instruct the replacement of the When receiving the replacement command, the loader 50 moves (travels) to a position facing the component mounter 20 holding the feeder 30 to be replaced and replaces the feeder 30 .

As described above, when the monitoring sensor 58 detects an obstacle during traveling, the loader 50 (first loader 50A, second loader 50B) stops traveling until the obstacle is no longer detected. The monitoring sensor 58 is mounted on the board S so that the detection area is a predetermined range (the range filled in gray in FIGS. 1 and 2) in front and side of the loader 50 in the traveling direction (leftward and rightward directions). are installed at both ends in the conveying direction. The monitoring sensor 58 is installed in the lower part of the loader 50 so that the optical axes of the light projecting part 58a and the light receiving part 58b are directed obliquely downward. As a result, the monitoring sensor 58 has a detection area from the floor surface F to a predetermined height, and can mainly detect the feet of people (workers) as obstacles. As described above, the loader 50 is supported by the guide rails 16 while being lifted from the floor F. For this reason, the monitoring sensor 58 detects a person (foot) around its own loader 50 where the monitoring sensor 58 is provided (see FIG. 7A). is designed not to detect the counterpart loader 50 (see FIG. 7B). That is, the monitoring sensor 58 of the first loader 50A does not detect the second loader 50B as an obstacle when the first loader 50A passes the second loader 50B. Similarly, the monitoring sensor 58 of the second loader 50B does not detect the first loader 50A as an obstacle when the second loader 50B passes the first loader 50A. Therefore, the traveling of the first loader 50A is not hindered by the second loader 50B. Similarly, the second loader 50B is not hindered by the first loader 50A.

In addition, the monitoring sensor 58 has an angle adjusting mechanism in this embodiment, and the angles of the optical axes of the light projecting part 58a and the light receiving part 58b with respect to the floor surface F can be adjusted. As a result, as shown in FIGS. 8A and 8B, the angle of the optical axis of the monitoring sensor 58 is adjusted according to the width of the gap d between the two loaders 50 (the first loader 50A and the second loader 50B) between the lines. By adjusting , it is possible to optimize the irradiation range (detection area) of the laser light. Note that the monitoring sensor 58 may not have an angle adjustment mechanism.

Here, the correspondence relationship between the main elements of this embodiment and the main elements described in the claims will be described. That is, the first production line 10A of the first embodiment corresponds to the first production line of the present disclosure, the second production line 10B corresponds to the second production line, the feeder table 40 corresponds to the attaching/detaching section, and the first The loader 50A corresponds to the first feeder changing device, the second loader 50B corresponds to the second feeder changing device, and the monitoring sensor 58 corresponds to the optical sensor.

It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be implemented in various forms as long as they fall within the technical scope of the present disclosure.

For example, in the embodiment described above, the loaders 50 (the first loader 50A and the second loader 50B) are supported by the guide rails 16 while being lifted from the floor surface F. However, as shown in FIG. 9, the loader 50 may be supported not only by the guide rails 16 but also by a support member 59 that abuts on the floor surface F. As shown in FIG. That is, the first loader 50A may be supported by the first support member 59A, and the second loader 50B may be supported by the second support member 59B. The support member 59 (first support member 59A, second support member 59B) is provided with a monitoring sensor so as not to be detected by the monitoring sensor 58 of the other loader 50 when its own loader 50 passes the other loader 50. It is composed of a non-reflecting member (for example, a transmissive member that allows laser light to pass therethrough) that does not reflect the laser light emitted from 58 (light projecting portion 58a). As a result, the support member 59 can properly support its own loader 50 and prevent its own loader 50 from being detected by the monitoring sensor 58 of the other loader 50 .

Moreover, in the embodiment described above, the monitoring sensor 58 is configured as a laser scanner. However, the monitoring sensor 58 is not limited to this, and may be any other reflective optical sensor as long as it can detect obstacles around the loader 50 up to a predetermined height from the floor surface F.

As described above, the production system of the present disclosure is provided with an attachment/detachment section to which a feeder is attached and detached while being aligned in the substrate conveying direction. a first production line including a component mounter, and a detachable section arranged in parallel with the first production line and facing the detachable section of the first production line and mounted on the detachable section. a second production line including a plurality of component mounters that mount components supplied from a feeder onto a board, the component mounters moving along the alignment direction of the component mounters of the first production line. a first feeder changing device that changes the feeder by attaching and detaching the feeder to and from the attachment/detachment portion of each component mounting machine of the first production line; A second feeder exchange device that moves along the alignment direction of each component mounter on the second production line and replaces the feeder by attaching and detaching the feeder to and from the attachment/detachment portion of each component mounter on the second production line. and, each of the first feeder exchange device and the second feeder exchange device is a reflective optical sensor that detects the presence or absence of an obstacle in the detection area defined by a predetermined height from the floor surface. and floating from the floor surface so as not to enter the detection area of the optical sensor of the feeder changing device of the other party when the feeder changing device of the other party passes each other.

The production system of the present disclosure includes a first production line and a second production line that are arranged in parallel with each other, and a first feeder changer and a second feeder changer that are provided in each production line at intervals that allow them to pass each other. And prepare. Each of the first feeder exchange device and the second feeder exchange device includes a reflective optical sensor that detects the presence or absence of an obstacle within the detection area as a detection area up to a predetermined height from the floor surface. Further, each of the first feeder changing device and the second feeder changing device floats above the floor surface so as not to enter the detection area of the optical sensor of the other feeder changing device when it passes another feeder changing device. there is As a result, even if the gap between the first feeder changer and the second feeder changer is narrowed, the surrounding obstacles can be satisfactorily detected without detecting the other feeder changer when they pass each other. possible production system.

In such a production system of the present disclosure, a first support member that abuts against the floor to support the first feeder changer, and a second support member that abuts against the floor to support the second feeder changer. and , wherein the first supporting member and the second supporting member are each formed of a non-reflecting member that does not reflect the light emitted from the light projecting section. In this way, the first feeder changer and the second feeder changer can be supported by the corresponding support members, and the optical sensor detects the support member of the other feeder changer when the two feeder changers pass each other. you can avoid it.

Further, in the production system of the present disclosure, the optical sensor may be installed so that the optical axis faces obliquely downward, and the angle of the optical axis with respect to the floor surface can be adjusted. This makes it possible to optimize the irradiation range (detection area) of light according to the width of the gap between the first feeder changer and the second feeder changer.

INDUSTRIAL APPLICABILITY The present disclosure is applicable to the manufacturing industry of production systems and the like.

1 Production System 10 Production Line 10A First Production Line 10B Second Production Line 12 Printing Device 14 Printing Inspection Device 16 Guide Rail 20 Component Mounting Machine 21 Mounting Machine Body 21a Housing 21b Base , 22 substrate transfer device, 23 head moving device, 24 slider, 25 mounting head, 25a suction nozzle, 26 mark camera, 28 parts camera, 30 feeder, 31 tape, 32 tape reel, 33 tape feeding mechanism, 34 positioning pin, 35 Connector 37 Rail member 40 Feeder base 42 Slot 44 Positioning hole 45 Connector 50 Loader 50A First loader 50B Second loader 51 Loader moving device 52a Motor 52b Guide roller 53 Feeder transfer device , 54 clamping mechanism, 55 clamp moving device, 57 position sensor, 58 monitoring sensor, 58a light projecting section, 58b light receiving section, 60 feeder storage, S substrate.

Claims (3)

a first production line including a plurality of component mounters that are aligned in the board conveying direction and provided with an attachment/detachment section to which a feeder is attached and detached, and mounts components supplied from the feeders attached to the attachment/detachment section onto the board;
A plurality of mounting parts supplied from a feeder attached to the attachment/detachment section, which are arranged in parallel with the first production line and are provided with an attachment/detachment section so as to face the attachment/detachment section of the first production line, on a substrate. a second production line including a component mounter of
A production system comprising
A first feeder exchange that replaces a feeder by moving along the aligning direction of each component mounter of the first production line and attaching/detaching the feeder to/from an attachment/detachment portion of each component mounter of the first production line. a device;
The feeder moves along the aligning direction of the component mounters of the second production line at an interval that allows passing by the first feeder exchange device, and feeds the attachment/detachment portion of each component mounter of the second production line. a second feeder exchange device for exchanging feeders by attaching and detaching the
has
The first feeder changing device and the second feeder changing device each include a reflective optical sensor that detects the presence or absence of an obstacle in the detection area defined by a predetermined height from the floor surface, and a reflective optical sensor. Floating from the floor surface so as not to enter the detection area of the optical sensor of the feeder exchange device of the other party when passing by the feeder exchange device.
production system. A production system according to claim 1,
a first support member that abuts against the floor surface and supports the first feeder exchange device;
a second support member that abuts against the floor surface and supports the second feeder exchange device;
has
The first support member and the second support member are each formed of a non-reflecting member that does not reflect light emitted from the light projecting section of the optical sensor ,
production system. The production system according to claim 1 or 2,
The optical sensor is installed so that the optical axis faces obliquely downward, and the angle of the optical axis with respect to the floor surface can be adjusted.
production system.

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