JP7611510B2 - Component mounting system, component mounting device, and determination method - Google Patents

Description

The present invention relates to a component mounting system and a component mounting device that mounts components stored in a tray onto a board, and a method for determining the storage state of components stored in a tray.

Tray feeders that supply components stored in trays are widely used as component supplying devices that supply components to component mounting devices that mount components on boards. In addition, as an effort to reduce manpower and automate floors on which manufacturing equipment such as component mounting devices are installed, technology has been developed to automatically transport and supply materials (transported objects) used in manufacturing equipment (see, for example, Patent Document 1). Patent Document 1 discloses a system in which a cart that holds and holds multiple trays containing parts is connected to an automated guided vehicle, the cart is moved by the automated guided vehicle to the front of the manufacturing equipment, and the trays held by the cart are supplied to the manufacturing equipment.

JP 2019-91770 A

However, in the conventional technology including Patent Document 1, although the transported objects can be supplied to the manufacturing equipment by the automated guided vehicle, there are problems due to the condition of the floor, such as the following. That is, when the transport path on which the automated guided vehicle travels passes a point that is wavy up and down, or when it goes over fallen objects such as screws or debris, or over a seam in the floor, the automated guided vehicle or cart may bounce, causing parts to fall off the tray. If parts are mounted using a tray from which parts may have fallen in this way, there is a possibility that the mounting work by the component mounting device will be stopped due to mounting errors, or the mounting quality may deteriorate, and there is room for further improvement to prevent such problems from occurring.

The present invention aims to provide a component mounting system, a component mounting device, and a method for determining the storage state of components stored in a transported tray.

The component mounting system of the present invention is a component mounting system for mounting components on a board, and includes a component mounting device for mounting components on the board, a component supplying device for supplying components stored in a tray to the component mounting device, a storage device having a pallet storage unit for storing a pallet that holds the tray and supplying the pallet to the component supplying device, and a transporting device for transporting the pallet to the storage device. The component mounting device, the component supplying device, or the storage device includes a first information acquiring unit that acquires warning information indicating that an abnormality may have occurred in the storage state of the components in the tray when the transporting device transports the pallet, an imaging unit that captures an image of the components in the tray, and an abnormality determining unit that, when the warning information is acquired, determines whether there is an abnormality in the storage state based on the image of the components in the tray captured by the imaging unit.

The component mounting device of the present invention is a component mounting device that mounts components stored in a tray supplied from a component supply device onto a board, and has a first information acquisition unit that acquires warning information indicating that an abnormality may have occurred in the storage state of the components in the tray when a conveying device conveys a pallet holding the tray to a storage device, an imaging unit that images the components in the tray, and an abnormality determination unit that, when the warning information is acquired, determines whether there is an abnormality in the storage state of the components in the tray based on the imaging results of the components in the tray captured by the imaging unit.

The determination method of the present invention is a method for determining whether there is an abnormality in the storage state of parts stored in a tray held by a pallet transported by a transport device, and obtains warning information indicating that an abnormality may have occurred in the storage state of parts in the tray when the pallet is transported by the transport device, and when the warning information is obtained, determines whether there is an abnormality in the storage state of parts in the tray.

According to the present invention, it is possible to appropriately determine the storage condition of the parts stored in the transported tray.

FIG. 1 is a configuration explanatory diagram of a floor including a component mounting system according to an embodiment of the present invention; FIG. 1 is a configuration explanatory diagram of a floor including a component mounting line provided in a component mounting system according to an embodiment of the present invention. FIG. 1 is a configuration diagram of a component mounting device and a conveying device to which a component supply device and a storage device are attached according to an embodiment of the present invention; FIG. 1A is a diagram illustrating the configuration of a tray magazine according to an embodiment of the present invention; FIG. 1 is a side view showing the configuration of a component supply device and a storage device according to an embodiment of the present invention; FIG. 1 is a front view showing a configuration of a storage device according to an embodiment of the present invention; 1A, 1B, and 1C are explanatory diagrams of a process for moving a pallet from a second holding section to a first holding section in a storage device according to an embodiment of the present invention; 1A and 1B are explanatory diagrams of a process of replacing a tray magazine of a storage device according to an embodiment of the present invention with a tray magazine transported by a transport device; FIG. 1 is a block diagram showing a configuration of a management computer provided in a transportation system according to an embodiment of the present invention. FIG. 1 is a block diagram showing a configuration of a transport device included in a transport system according to an embodiment of the present invention. FIG. 1 is a diagram showing an example of transported object information used in a transport system according to an embodiment of the present invention; FIG. 1 is a diagram showing an example of a transport path set on a floor on which a component mounting line according to an embodiment of the present invention is installed. FIG. 1 is a diagram showing an example of a conveyance route on which a warning point is detected on a floor on which a component mounting line according to an embodiment of the present invention is installed. 1A and 1B are diagrams showing an example of route information used in a transportation system according to an embodiment of the present invention; 1 is a flow diagram of a conveying method according to an embodiment of the present invention; 1 is a flow diagram of a refilling method according to an embodiment of the present invention; FIG. 1 is a block diagram showing the configuration of a component mounting device to which a component supply device and a storage device are attached according to an embodiment of the present invention. 1 is a flow diagram of a determination method according to an embodiment of the present invention; 1A and 1B are diagrams illustrating the configuration of another embodiment of a component supply device and a storage device according to an embodiment of the present invention;

An embodiment of the present invention will be described in detail below with reference to the drawings. The configurations, shapes, etc. described below are examples for explanatory purposes and can be modified as appropriate depending on the specifications of the component mounting system, management computer, component mounting line, component mounting device, component supply device, storage device, and transport device. In the following, the same reference numerals are used for corresponding elements in all drawings, and duplicated explanations will be omitted. In FIG. 2 and in some parts described later, the X-axis (left-right direction in FIG. 1) in the board transport direction and the Y-axis (left-right direction in FIG. 1) perpendicular to the board transport direction are shown as two axial directions perpendicular to each other in the horizontal plane. In addition, in FIG. 2 and in some parts described later, the Z-axis (up-down direction in FIG. 2) is shown as the height direction perpendicular to the horizontal plane.

First, the configuration of component mounting system 1 will be described with reference to FIG. 1. Component mounting system 1 is configured such that three component mounting lines L1-L3 installed on floor F are connected by a wired or wireless communication network 2 and managed by a management computer 3. Each component mounting line L1-L3 is configured by connecting multiple manufacturing devices including component mounting devices as described below, and has the function of producing mounted boards with components mounted on the board. Note that component mounting system 1 does not need to have three component mounting lines L1-L3, and may have one, two, four or more.

On floor F, storage shelves 4 are installed to store components to be supplied to the component mounting devices of component mounting lines L1 to L3, and materials such as cream solder to be supplied to the printing devices. The components are stored in a designated storage shelf of storage shelves 4, either placed on a tray or held on a carrier tape and wound and stored on a reel. The positions of the components stored in storage shelves 4 are managed by management computer 3, linked to the name of the stored component, tray number, reel number, etc.

In Figures 1 and 2, multiple (eight in this example) imaging devices S1 to S8 are installed on the ceiling Fa of floor F. The imaging devices S1 to S8 are each connected to a management computer 3 via a communication network 2. The imaging devices S1 to S8 are equipped with an imaging unit having a camera, which captures images of workers W and transport devices Q working on floor F and transmits the captured image data to the management computer 3. The number and installation positions of the imaging devices S1 to S8 are set so that any of the imaging devices S1 to S8 can capture an image of the workers W and transport devices Q working on floor F.

In FIG. 1, a worker W working on floor F carries an information terminal 5. The information terminal 5 is a smartphone, tablet PC, or the like, and is equipped with a terminal-side communication unit 6 that wirelessly communicates with a management-side communication unit 3a provided in the management computer 3 to send and receive information, and a touch panel 7 with display and input functions. The information terminal 5 displays various information received from the management computer 3 and processes it to display it on the touch panel 7. The information terminal 5 also transmits various information input from the touch panel 7 to the management computer 3.

In FIG. 1, a transport device Q (transport robot) is in operation on floor F, transporting transported objects such as parts (trays, reels) and components, and replenishing them to manufacturing equipment. The transport device Q shown in FIG. 1 and FIG. 3 is configured with a towed vehicle C that carries the transported objects, and an automatic transport vehicle V that tows the towed vehicle C. Different types of towed vehicles C are available depending on the transported objects to be transported. The automatic transport vehicle V moves around floor F, towing the towed vehicle C according to information sent from the management computer 3.

The towed vehicle C is equipped with an accelerometer A equipped with an acceleration sensor that measures acceleration in three axial directions (X, Y and Z axes) and a gyro sensor that measures acceleration in six axial directions. The accelerometer A may also be installed on the transported object mounted on the towed vehicle C. The measurement results from the accelerometer A are wirelessly transmitted to the management computer 3. Alternatively, the measurement results from the accelerometer A may be temporarily stored in a storage device (logger) provided in the transport device Q in association with the measurement time, and the measurement results may be transferred to the management computer 3 after the measurement.

The transport device Q shown in Figures 1 and 3 is a trailer type in which an automatic transport vehicle V tows a towed vehicle C, but the transport device Q may be a truck type in which the automatic transport vehicle V and the towed vehicle C are integrated. In this way, an accelerometer A that measures acceleration is installed on the transport device Q that transports the transported object used on the floor F where the manufacturing equipment is installed.

Next, the detailed configuration of component mounting lines L1 to L3 will be described with reference to Figure 2. Component mounting lines L1 to L3 have the same configuration, and below, component mounting line L3 will be described. Figure 2 is a schematic diagram of floor F on which component mounting line L3 is installed, viewed from the front side (lower side in Figure 1). On component mounting line L3, manufacturing devices such as board supply device M1, printing device M2, printing inspection device M3, component mounting devices M4 and M5, mounting inspection device M6, reflow device M7, and board recovery device M8 are connected in series from upstream (left side of the page) to downstream (right side of the page) in the board transport direction (X axis).

Board supply device M1 supplies multiple boards to be stored in the storage area to downstream devices. Printing device M2 prints cream solder on the boards through a screen mask. Printing inspection device M3 inspects the printing condition of the cream solder printed on the boards. Component mounting devices M4 and M5 mount components on the boards. Mounting inspection device M6 inspects the mounting condition of the components mounted on the boards. Reflow device M7 heats the boards to solder the electrodes of the board to the terminals of the components. Board recovery device M8 recovers the boards after reflow into the storage area. In this way, floor F is equipped with one or more manufacturing devices that perform specified operations on boards.

Next, the details of the component mounting device M5 will be described with reference to FIG. 3. FIG. 3 is a schematic diagram of the component mounting device M5 as viewed from the rear side (the upper side in FIG. 1). A component supply unit 11 is installed on both the front and rear sides (front-rear direction of the Y axis) of the component mounting device M5. A dolly 13 on which multiple tape feeders 12 are mounted in parallel along the X axis is attached to the rear component supply unit 11. The dolly 13 holds a reel 15 that stores a carrier tape 14 containing components in a wound state. The carrier tape 14 is configured such that components are stored in multiple pockets formed in a base tape, and the pockets are sealed with cover tape.

The carrier tape 14 pulled out from the reel 15 is attached to the tape feeder 12. The tape feeder 12 feeds the attached carrier tape 14 by pitches internally, peeling off the cover tape and supplying the components stored in the pockets to the component mounting device M5. When replenishing components, a new carrier tape 14 is attached to the tape feeder 12, or a new carrier tape 14 is joined to the rear end of the carrier tape 14 being supplied with components. The carrier tape 14 (carried object) containing the components to be replenished is transported by the transport device Q while stored in the reel 15. Hereinafter, the components stored in the carrier tape 14 stored in the reel 15 and supplied to the component mounting devices M4 and M5 by the tape feeder 12 are referred to as "tape components".

In FIG. 3, the rear component supply section 11 is fitted with a component supply device 21 that supplies components stored in trays 17 held on the top surface of a pallet 16 to the component mounting device M5. Also, a storage device 22 that supplies pallets 16 to the component supply device 21 is fitted to the rear side of the component supply device 21. The storage device 22 stores a plurality of pallets 16 that hold trays 17 containing components to be supplied to the component mounting device M5. The pallets 16 stored in the storage device 22 are supplied to and retrieved from the storage device 22 while being stored (kept) in a tray magazine 20 having a plurality of pallet storage sections 19 (see FIG. 4(a)). A magazine exchange window 23 for exchanging the tray magazine 20 is provided on the rear side of the storage device 22.

The tray magazine 20 (hereinafter referred to as the "recovery magazine") that contains the pallets 16 holding the trays 17 that have been emptied after supplying components to the component mounting device M5 is removed from the magazine replacement window 23. Then, the tray magazine 20 (hereinafter referred to as the "supply magazine") that contains the pallets 16 holding the trays 17 that contain components is replenished to the storage device 22 from the magazine replacement window 23. The supply magazine is an object to be transported by the transport device Q. The tray magazine 20 is replaced by the operator W or by the transport device Q equipped with an automatic supply device 38 (see FIG. 8). Hereinafter, the components stored in the trays 17 held by the pallets 16 and supplied to the component mounting devices M4 and M5 by the component supply device 21 are referred to as "tray components".

In FIG. 3, a docking section 24 is disposed on the rear side of the storage device 22. The transport device Q, which has an automatic supply device 38 that automatically supplies the storage device 22 with the pallets 16 that are transported in a supply magazine, retrieves the recovery magazine through the magazine exchange window 23 while connected to the docking section 24, and supplies the supply magazine to the storage device 22. In this way, the pallets 16 are transported to the storage device 22 by the transport device Q while stored in the tray magazine 20. The storage device 22 stores the tray magazine 20 that stores the pallets 16. The storage device 22 has a pallet storage section 19 that stores the pallets 16 that hold the trays 17, and supplies the pallets 16 to the component supply device 21.

In FIG. 4, the top surface of the tray 17 is formed with multiple storage sections 18 for storing tray components. A number of types of trays 17 are available, with storage sections 18 formed to correspond to the size and shape of the components to be stored. For example, as shown in FIG. 4(b), tray 17A for storing large component P1 is formed with a large, deep storage section 18A. Also, as shown in FIG. 4(c), tray 17B for storing small component P2 is formed with a small, shallow storage section 18B.

Next, the details of the component supply device 21 and the storage device 22 will be described with reference to Figures 5 and 6. The storage device 22 is composed of a pallet supply section 22A and a pallet stock section 22B. The pallet supply section 22A is disposed on the rear side of the component supply device 21. The pallet stock section 22B is disposed on the rear side of the pallet supply section 22A. The pallet supply section 22A is disposed with a first holding section 25 having a plurality of pallet storage sections 19 at the top and bottom for holding a plurality of pallets 16. The component supply device 21 is disposed with a first pallet moving section 26 that pulls out the pallet 16 from the front side of the pallet storage section 19 of the first holding section 25 and moves it to a component removal position where the components stored in the tray 17 are supplied to the component mounting device M5.

In the pallet stock section 22B, a second holding section 27 is arranged, which has a plurality of pallet storage sections 19 above and below that hold a plurality of pallets 16. The portion of the second holding section 27 where the magazine exchange window 23 is formed is a magazine holding section 28 that can insert and remove the tray magazine 20. A magazine moving section 29 is arranged below the magazine holding section 28, which holds the tray magazine 20 and transfers the tray magazine 20 to and from the coupled transport device Q.

In the pallet stock section 22B, the second pallet moving section 30 is disposed on the rear side of the first holding section 25, next to the second holding section 27. The second pallet moving section 30 pulls out the pallet 16 from the pallet storage section 19 of the second holding section 27 and stores it in the pallet storage section 19 of the first holding section 25 from the rear side. Conversely, the second pallet moving section 30 pulls out the pallet 16 from the rear side of the pallet storage section 19 of the first holding section 25 and stores it in the pallet storage section 19 of the second holding section 27.

Now, referring to FIG. 7, the process in which the second pallet moving unit 30 moves the pallet 16 held in the second holding unit 27 to the first holding unit 25 will be described. In FIG. 7(a), first, the second pallet moving unit 30 pulls out the pallet 16 held in the specified pallet storage unit 19 of the first holding unit 25 (arrow a). In FIG. 5(b), the second pallet moving unit 30 then rotates the pulled-out pallet 16 90 degrees (arrow b). In FIG. 5(c), the second pallet moving unit 30 then moves the pallet 16 to the rear side and moves it to the specified pallet storage unit 19 of the first holding unit 25 (arrow c). Note that in the process in which the second pallet moving unit 30 moves the pallet 16 held in the first holding unit 25 to the second holding unit 27, the control is reversed from the above-mentioned process.

In FIG. 5, a first camera 31 is disposed above the pallet supply section 22A to capture an image of the state of parts stored in the tray 17 held by the pallet 16 moved to the part removal position by the first pallet movement section 26. In FIG. 6, a second camera 32 is disposed above the second pallet movement section 30 of the pallet stock section 22B to capture an image of the state of parts stored in the tray 17 held by the pallet 16 pulled out from the second holding section 27 by the second pallet movement section 30.

A touch panel 33 operated by the worker W is provided at the rear of the pallet supply unit 22A at the position where the worker W works. The touch panel 33 displays various information on its display, and the worker W uses operation buttons and the like displayed on the display to input data and operate the part supply device 21 and storage device 22. When the worker W replaces the tray magazine 20 held in the magazine holding unit 28 with a replenishment tray magazine 20, he or she performs the work while operating the touch panel 33.

In FIG. 5, component mounting device M5 has a mounting head 36 that moves horizontally (X-axis direction, Y-axis direction) by a head movement mechanism 34 (see FIG. 17) to pick up components from a tray 17 at the component removal position and mount them on a board 35. Component mounting device M5 also has a head camera 37 that is provided integrally with mounting head 36 and moves horizontally by head movement mechanism 34 to capture images below. Head camera 37 can capture images of the state of the components stored in tray 17 at the component removal position by moving above the component removal position.

Next, referring to Figure 8, a process will be described in which a pallet 16 holding a tray 17 containing supply parts transported by the transport device Q is replenished to a storage device 22 which supplies the pallet 16 to a component supply device 21 mounted on the component mounting devices M4 and M5. Here, the process will be described in which the pallet 16 to be replenished is transported in a state stored in a tray magazine 20 (hereinafter referred to as "supply magazine 20A"), and is automatically replenished to the storage device 22 by an automatic supply device 38 equipped on the transport device Q.

In FIG. 8(a), the magazine holding section 28 of the storage device 22 (pallet supply section 22A) holds a tray magazine 20 (hereinafter referred to as "recovery magazine 20B") that stores a pallet 16 holding an empty tray 17 after the stored components have been supplied to the component mounting devices M4 and M5. The automatic resupply device 38 is disposed on a towed vehicle C that is towed by an automatic transport vehicle V. The resupply operation of replacing the resupply magazine 20A with the recovery magazine 20B is performed with a coupling section 39 disposed on the towed vehicle C coupled to a docking section 24 provided on the storage device 22.

The automatic supply device 38 is configured with an upper magazine holding shelf 40, a lower magazine holding shelf 41, and a holding shelf lifting mechanism 42. The upper magazine holding shelf 40 holds the tray magazine 20 on its upper surface. The lower magazine holding shelf 41 is disposed below the upper magazine holding shelf 40 and holds the tray magazine 20 on its upper surface. The holding shelf lifting mechanism 42 raises and lowers the upper magazine holding shelf 40 and the lower magazine holding shelf 41 together. The holding shelf lifting mechanism 42 is controlled by a supply processing unit 75 (FIG. 10) of the transport control device 70 provided in the transport device Q. When automatically supplying the supply magazine 20A to the storage device 22, the supply processing unit 75 and the magazine movement processing unit 114 (FIG. 17) of the storage control device 112 provided in the storage device 22 work together to perform the supply.

In FIG. 8(a), first, the resupply processing unit 75 controls the holding shelf lifting mechanism 42 to move the height position of the upper magazine holding shelf 40 to the position of the magazine holding unit 28 that holds the recovered magazine 20B. Next, the magazine movement processing unit 114 controls the magazine movement unit 29 to hold the recovered magazine 20B on the upper magazine holding shelf 40 (arrow d).

In FIG. 8(b), the resupply processing unit 75 then controls the holding shelf lifting mechanism 42 to move the height position of the lower magazine holding shelf 41, which holds the resupply magazine 20A, to the position of the emptied magazine holding unit 28 (arrow e). The magazine movement processing unit 114 then controls the magazine movement unit 29 to pull out the resupply magazine 20A from the lower magazine holding shelf 41 and hold it in the magazine holding unit 28 (arrow f). In this way, the automatic resupply device 38 and the storage device 22 automatically perform the resupply work of recovering the recovery magazine 20B to the automatic resupply device 38 and resupplying the resupply magazine 20A to the storage device 22.

Next, referring to Figures 9 and 10, the configuration of the control system of the management computer 3 (control system) and the conveying device Q provided in the component mounting system 1 (conveying system) will be described, with a function of conveying the conveyed object to a destination such as a manufacturing device on the floor F. In Figure 9, the management computer 3 is provided with a management processing unit 50, a management memory unit 56, an input unit 62, a display unit 63, a communication unit 64, and a management side communication unit 3a. The management processing unit 50 is a data processing device such as a CPU, and is provided with a management information acquisition unit 51, a warning determination unit 52, a management output unit 53, a conveying control unit 54, and an image analysis unit 55. The management memory unit 56 is a storage device, and stores floor information 57, conveyed object information 58, acceleration information 59, warning information 60, route information 61, etc.

The input unit 62 is an input device such as a keyboard, touch panel, or mouse, and is used for inputting operation commands and data. The display unit 63 is a display device such as a liquid crystal panel, and displays various data stored in the management memory unit 56, as well as various information such as an operation screen and an input screen for operation by the input unit 62. The communication unit 64 is a communication interface, and transmits and receives data to and from the manufacturing devices that make up the component mounting lines L1 to L3 via the communication network 2. The management side communication unit 3a transmits and receives various information wirelessly to and from the terminal side communication unit 6 of the information terminal 5 and the transport side communication unit 80 of the transport device Q (see FIG. 10). Note that the management computer 3 does not need to be configured as a single computer, and may be configured as multiple devices. For example, all or part of the memory unit and the processing unit may be provided in a cloud via a server.

In FIG. 10, the transport device Q includes a transport control device 70, a holding shelf lifting mechanism 42, a traveling device 79, a transport side communication unit 80, and an accelerometer A. The transport control device 70 includes a travel processing unit 71, a position information acquisition unit 72, a transport determination unit 73, a transport output unit 74, a supply processing unit 75, and a transport memory unit 76. The transport memory unit 76 is a storage device in which transport route information 77, supply hold information 78, etc. are stored. The transport side communication unit 80 wirelessly transmits and receives various information to and from the management side communication unit 3a of the management computer 3. The transport side communication unit 80 receives route information 61, which will be described later, from the management computer 3 and stores it in the transport memory unit 76 as transport route information 77. The transport side communication unit 80 also transmits measurement data from the accelerometer A to the management computer 3.

The traveling device 79 includes a motor for driving the wheels of the automated guided vehicle V and a mechanism for changing the direction of the wheels. The traveling processing unit 71 controls the traveling device 79 according to the transport route information 77 stored in the transport memory unit 76 or instructions from the management computer 3 to make the transport device Q travel at a specified speed (maximum speed) along a specified transport route within the floor F. The supply processing unit 75 controls the holding shelf lifting mechanism 42 according to the supply reservation information 78 stored in the transport memory unit 76 or instructions from the management computer 3 to make the transported tray magazine 20 (supply magazine 20A) replenish the storage device 22 (see FIG. 8). At that time, if the supply reservation information 78 stores information to reserve supply, the supply processing unit 75 reserves the supply of the supply magazine 20A.

In FIG. 10, accelerometer A measures the acceleration of conveying device Q, which is conveying the transported object, while it is traveling. Position information acquisition unit 72 acquires position information of conveying device Q on floor F from a sensor provided on traveling device 79 or the like. Transport side communication unit 80 associates the acceleration measured by accelerometer A with the position information of conveying device Q acquired by position information acquisition unit 72, and transmits it to management computer 3.

In FIG. 9, the management information acquisition unit 51 stores the acceleration and position information transmitted from the conveying device Q as acceleration information 59 in the management memory unit 56. In this way, the management information acquisition unit 51 (information acquisition unit, second information acquisition unit) acquires position information on the floor F when the conveying device Q is traveling and the acceleration that may have been experienced by the conveyed object being conveyed by the conveying device Q. The floor information 57 includes information such as the positions (coordinates) of the manufacturing devices of the component mounting lines L1 to L3 arranged on the floor F, information (coordinates) of the conveying route set on the floor F, and the maximum speed of the section set on the conveying route (see FIG. 12). The conveyed object information 58 includes information for the conveying device Q to convey the conveyed object, such as parts and cream solder used in the manufacturing devices installed on the floor F.

Now, referring to FIG. 11, an example of transported object information 58 in which a part is the transported object will be described. The transported object information 58 includes, for each part name 90, a container 91, a class 92, a maximum speed 93, and the like. The container 91 indicates the holding form of the part when it is loaded onto the transport device Q, and "tray" indicates that it is a tray part housed in the tray 17, and "tape" indicates that it is a tape part stored in the carrier tape 14 and housed in a reel.

Class 92 is a classification of sensitivity (resistance) to abnormalities in the condition of the transported object caused by vibrations received during transport by transport device Q. In this example, class 92 is classified into four categories, from "0" to "3," with smaller numbers indicating greater resistance to vibration and larger numbers indicating less resistance to vibration. For example, tape parts with part names 90 of "D006" and "D007" are classified as class 92 as "0," because no part misalignment occurs due to vibration.

In addition, even for tray parts, for example, part P1, which is large and highly resistant to vibration as shown in FIG. 4(b), is classified as class 92 "1". Also, part P2, which is small and less resistant to vibration as shown in FIG. 4(c), may fly out of tray 17B due to the large vibrations it receives during transport, and is classified as class 92 "2" or "3". Hereinafter, parts with class 92 "1" will be referred to as "class 1 parts", etc.

In FIG. 11, maximum speed 93 indicates the maximum speed permitted while the part is being transported. Maximum speed 93 is divided into multiple categories based on the magnitude of acceleration that the part may be subjected to while being transported. In this example, it is divided into three categories: a first speed 93a for acceleration in the Z-axis direction of "-0.8 G or more," a second speed 93b for acceleration in the Z-axis direction of "-0.8 G to -1.2 G," and a third speed 93c for acceleration in the Z-axis direction of "-1.2 G or less."

G is the gravitational acceleration, and -1.0 G indicates that an acceleration in the Z-axis direction that is balanced with the Earth's gravity is being applied to the parts. When a negative acceleration is applied in the Z-axis direction, the state of the parts in the storage section 18 of the tray 17 becomes unstable. If the tray 17 moves horizontally at high speed during this time, abnormalities in the storage state of the parts may occur, such as parts jumping out of the storage section 18 or parts being flipped over inside the storage section 18.

In the example of FIG. 11, two thresholds are set for the acceleration in the Z-axis direction: "-0.8 G" and "-1.2 G". Hereinafter, the acceleration in the Z-axis direction of "-0.8 G" will be referred to as the "first threshold" and "-1.2 G" as the "second threshold". The first speed 93a is set to "1.0 m/s" for all parts. For class 0 parts, the second speed 93b and third speed 93c are set to the same "1.0 m/s" as the first speed 93a.

On the other hand, for class 1 parts, the second speed 93b is set to "1.0 m/s", the same as the first speed 63a, but the third speed 93c is set to "0.8 m/s". For class 2 parts, the second speed 93b is set to "0.8 m/s" and the third speed 93c is set to "0.5 m/s". For class 3 parts, the second speed 93b is set to "0.5 m/s" and the third speed 93c is set to "0.3 m/s". In other words, if there is a possibility of negative acceleration when transporting parts with low resistance to vibration, the maximum speed 93 is set to be low (slow).

The number of classifications of class 92, the number of classifications of maximum speed 93, and the value of the threshold set in the transported object information 58 shown in FIG. 11 are merely examples, and the number of classifications may be three or five or more. The threshold of acceleration in the Z-axis direction is also freely set based on experimental results, etc., according to the size and weight of the parts and the shape of the storage section 18 of the tray 17. For example, the predetermined threshold may be set corresponding to the transported object. The acceleration as the threshold may also be determined taking into consideration not only the component in the Z-axis direction, but also the components in the horizontal direction (X-axis direction, Y-axis direction). In this way, the first threshold and the second threshold (predetermined threshold) are set based on the acceleration at which an abnormality occurs in the storage state of the parts in the tray 17 (the state of the transported object) when the transport device Q transports the tray magazine 20 or the pallet 16 (the transported object).

9, the warning determination unit 52 (determination unit) determines whether the acceleration during travel of the transport device Q exceeds a predetermined threshold (first threshold, second threshold) based on the acquired acceleration information 59. Then, if there is a point where the acceleration exceeds the predetermined threshold (hereinafter referred to as "warning point H") (see FIG. 13), the warning determination unit 52 associates the position information (coordinates) of the warning point H with the measured acceleration value and stores it as warning information 60 in the management memory unit 56. That is, the warning information 60 includes information about the point where the acceleration exceeds the predetermined threshold (warning point H). The management output unit 53 (output unit, third output unit) outputs the warning information 60 to a predetermined output destination (display unit 63, transport device Q, information terminal 5, component mounting devices M4 and M5, component supply device 21, storage device 22) when the acceleration exceeds the predetermined threshold.

For example, the management output unit 53 causes the display unit 63 of the management computer 3 to display the warning information 60. In other words, the display unit 63 is a notification unit that issues a warning based on the warning information 60. The management output unit 53 also outputs the warning information 60 to a terminal (information terminal 5) used by the worker W. This allows the worker W to know that there is a possibility of an obstacle such as a seam, undulating floor, or fallen object occurring at the warning point H on the transport route within the floor F.

Furthermore, if the measured acceleration exceeds a predetermined threshold (first threshold, second threshold), there is a possibility that an abnormality has occurred in the state of the transported object being transported by the transport device Q (the storage state of the parts stored in the tray 17). Therefore, the management output unit 53 outputs supply hold information 78 to the transport device Q to the effect that the supply of the transported object to the destination (manufacturing equipment) will be held. As a result, if the acceleration exceeds a predetermined threshold, the automatic supply device 38 equipped to the transport device Q will hold off on the supply of the transported object to the manufacturing equipment when warning information 60 is output.

The management output unit 53 also outputs warning information 60 to the component mounting devices M4 and M5 (manufacturing devices) to which the pallets 16 (transported objects) are being replenished. This allows the component mounting devices M4 and M5 to which the pallets 16 have been replenished to check (take an image of) the state of the components contained in the tray 17, whose acceleration has exceeded a predetermined threshold, before the component mounting operation of mounting the components on the tray 17 onto the board 35.

The management output unit 53 (imaging determination unit) may determine whether or not to check the state of the parts in the tray 17 (to image the parts) based on the relationship between the acceleration received by the tray 17 and the parts contained in the tray 17 (transported object information 58) contained in the warning information 60, and output the warning information 60 only when it is determined that the state should be checked. For example, when a tray part stored in the supply magazine 20A and transported exceeds a first threshold value specified for that tray part, the imaging determination unit determines that the part should be imaged.

The management output unit 53 also outputs information about the destination of the transported object being transported by the transport device Q to a terminal (information terminal 5) used by the worker W. When the transported object is a supply magazine 20A, the management output unit 53 outputs supply hold information 78 to the transport device Q if there is a possibility that the storage state of the parts stored in the tray 17 held by any of the pallets 16 stored in the supply magazine 20A is abnormal, based on the transported object information 58. The management output unit 53 also outputs information identifying the pallet 16 that may be abnormal to the information terminal 5 used by the worker W.

The worker W, whose information terminal 5 shows the destination of the transported object, follows the displayed information and moves to the transport device Q that is stopped in front of the destination manufacturing equipment. The worker W then removes the transported object, such as the pallet 16 that may be abnormal, from the transport device Q, checks the condition of the transported object (the storage condition of the parts stored in the tray 17), corrects the storage condition of the parts, and then supplies the transported object to the destination manufacturing equipment. This makes it possible to prevent the transported object from being supplied in an abnormal state.

In FIG. 9, the transport control unit 54 controls the transport operation by the transport device Q based on information on the transport route set for floor F included in floor information 57, transported object information 58, and warning information 60. Specifically, the transport control unit 54 creates route information 61 regarding the transport route referenced when the transport device Q transports the transported object to the destination, and stores it in the management memory unit 56.

The transport control unit 54 further transmits the route information 61 to the transport device Q that transports the transported object. The transport device Q that receives the route information 61 stores the received route information 61 as transport route information 77 in the transport memory unit 76, and transports the transported object to the destination according to the transport route information 77. Alternatively, the transport control unit 54 transmits sequential instructions to the transport device Q based on the created route information 61.

The transport control unit 54 also sets a deceleration section in a section of the transport route including the warning point H, where the travel speed (maximum speed) of the transport device Q is slower than the normal travel speed (first speed 93a), based on the warning information 60. The transport control unit 54 then controls the transport operation based on the route information 61, which includes information on the deceleration section, for the transport device Q that passes through the warning point H on the way to transporting the transported object to the destination. In other words, the transport control unit 54 controls the transport operation so that the travel speed of the transport device Q passing through the warning point H is slowed down.

In FIG. 9, a worker W who sees warning information 60 including warning point H displayed on an information terminal 5 moves to warning point H and removes the cause of the abnormality. After that, when the worker W inputs a repair report to the information terminal 5, the management information acquisition unit 51 of the management computer 3 acquires the repair report from the information terminal 5. When the repair report is acquired, the warning determination unit 52 deletes the information of the repaired warning point H from the warning information 60 stored in the management memory unit 56. In addition, the transport control unit 54 cancels the deceleration section corresponding to the deleted warning information 60 and updates the route information 61.

That is, the management information acquisition unit 51 (information acquisition unit) acquires a repair report indicating that the cause of the acceleration exceeding a predetermined threshold at the warning point H has been removed. Then, when the repair report is acquired, the transport control unit 54 controls the transport operation so that the travel speed of the transport device Q passing through the warning point H is restored to normal. In this way, the management computer 3 equipped with the transport control unit 54 constitutes a control system that controls the transport operation by the transport device Q based on the route information 61 regarding the transport route.

Next, an example of the creation of route information 61 by the transport control unit 54 will be described with reference to Figures 12 to 14. Figures 12 and 13 show an example of a transport route set on floor F where component mounting lines L1 to L3 and storage shelves 4 are located. In Figure 12, the transport route on floor F is divided into multiple sections E21 to E34 between branching and cornering points B11 to B20, and point B10 where transport device Q, carrying the transported object stored in storage shelves 4, starts toward the manufacturing device. Figure 12 shows floor F where there is no warning point H on the transport route and no deceleration section is set.

Figure 14 (a) shows route information 61 for transporting tray components of class 2 from start point T0 in front of storage shelf 4 shown in Figure 12 to destination T1 on the rear side of component mounting device M5 of component mounting line L1. In this case, the transport control unit 54 creates route information 61 for traveling from start point T0 through sections E21 to E26 at a maximum speed of 1.0 m/s (first speed 93a) to destination T1. In addition, the transport control unit 54 creates route information 61 for traveling from destination T1 through sections E26 to E31 at a maximum speed of 1.0 m/s (first speed 93a) to return to start point T0 as the return route after unloading the transported object.

Figure 13 shows floor F where a warning point H was detected in section E24 where the acceleration of the transport device Q during travel exceeded a first threshold. In this example, the transport control unit 54 extends the warning point H forward and backward to set a deceleration section EY1 whose maximum speed is the second speed 93b. The transport control unit 54 also sets sections other than the deceleration section EY1 in section E24 as sections E24a and E24b. Note that if the acceleration at the warning point H exceeds the second threshold, the transport control unit 54 sets the maximum speed in the deceleration section EY1 to the third speed 93c. The transport control unit 54 may also set the entire section E24 including the warning point H as a deceleration section whose maximum speed is the second speed 93b.

Figure 14 (b) shows route information 61 for transporting tray parts of class 2 from start point T0 to destination T1 on the transport route of floor F where deceleration section EY1 shown in Figure 13 is set. In Figure 13, deceleration section EY1 with a maximum speed of second speed 93b is set between start point T0 and destination T1. Therefore, transport control unit 54 creates route information 61 in which the maximum speed of deceleration section EY1 set between start point T0 and destination T1 is 0.8 m/s (second speed 93b).

The transport device Q, whose transport operation is controlled based on route information 61 in which the deceleration section EY1 is set, slows the maximum speed passing through the deceleration section EY1 to a second speed 93b. For example, the transport device Q has a position information acquisition unit 72 (information acquisition unit) that acquires position information on the floor F, and slows the travel speed (maximum speed) when subsequently passing through the deceleration section EY1 including the warning point H where the acceleration exceeds a predetermined threshold. This makes it possible to reduce the acceleration experienced by the transported object when passing through the warning point H to below the first threshold, and allows the transported object to pass through the warning point H while maintaining it in a normal state.

In FIG. 9, the image analysis unit 55 analyzes the video of the transport device Q traveling within the floor F captured by the imaging devices S1 to S8, and detects the state of the transport device Q while traveling. For example, when the image analysis unit 55 extracts the warning point H instead of the warning determination unit 52 extracting the warning point H based on the acceleration information 59 measured by the accelerometer A installed on the transport device Q, the image analysis unit 55 detects the amount of change in the Z-axis direction of the transport device Q while traveling.

The image analysis unit 55 then stores the point where the detected change in the Z-axis direction exceeds a predetermined threshold in the warning information 60 as a warning point H. The transport control unit 54 then creates route information 61 based on the warning point H extracted by the image analysis unit 55. This allows the transported object to be transported normally on the floor F on which the manufacturing equipment is installed, even if the transport device Q does not have an accelerometer A.

As described above, the transport system includes a transport device Q that transports transported objects used on floor F, a transport control unit 54 that controls the transport operation by the transport device Q based on route information 61 related to the transport route, a management information acquisition unit 51 (information acquisition unit) that acquires acceleration information 59 related to the measured acceleration, a warning determination unit 52 (determination unit) that determines whether the acceleration exceeds a predetermined threshold (first threshold, second threshold) based on the acquired acceleration information 59, and a management output unit 53 (output unit) that outputs warning information 60 when the acceleration exceeds the predetermined threshold. This allows the transported objects to be transported normally on floor F where the manufacturing equipment is installed.

The transport system may be configured such that the transport device Q has the same functions as the information acquisition unit, judgment unit, and output unit of the management computer 3. That is, in FIG. 10, the position information acquisition unit 72 (information acquisition unit) of the transport control device 70 acquires acceleration information related to the acceleration measured by the accelerometer A in addition to the position information of the transport device Q. Furthermore, the transport judgment unit 73 (judgment unit) of the transport control device 70 judges whether the acceleration exceeds a predetermined threshold value (first threshold value, second threshold value). Furthermore, the transport output unit 74 (output unit, second output unit) of the transport control device 70 transmits (outputs) warning information to the management computer 3, the information terminal 5, the component mounting devices M4 and M5, the component supply device 21, and the storage device 22 when the acceleration exceeds the predetermined threshold value.

In this way, the transported object or transport device Q is equipped with an accelerometer A for measuring acceleration during travel, and the transport device Q has a position information acquisition unit 72 (information acquisition unit), a transport determination unit 73 (determination unit), and a transport output unit 74 (output unit, second output unit), and the management computer 3 (control system) has a transport device Q that transports the transported object used on floor F, and a transport control unit 54 that controls the transport work by the transport device Q, forming a transport system that transports the transported object on floor F. This allows the transported object to be transported in a normal state on floor F where the manufacturing equipment is installed.

Next, following the flow of FIG. 15, a method of transporting an object to be transported on floor F by transport device Q will be described. First, the management information acquisition unit 51 of the management computer 3 acquires acceleration information 59 relating to the acceleration of the transport device Q while it is traveling, measured by an accelerometer A provided on the object to be transported or on the transport device Q (ST1: acceleration information acquisition process). The acceleration information 59 includes position information on floor F while the transport device Q is traveling. Next, the warning determination unit 52 determines whether the acceleration has exceeded a predetermined threshold value (first threshold value, second threshold value) based on the acquired acceleration information 59 (ST2: determination process). If the acceleration has not exceeded the threshold value (No in ST2), the acceleration information acquisition process (ST1) is executed.

If the acceleration exceeds a predetermined threshold (Yes in ST2), the management output unit 53 outputs warning information 60 to the transport device Q and the information terminal 5 (ST3: warning information output process). Next, the transport control unit 54 sets a deceleration section EY1 in a section including the warning point H of the transport route within the floor F based on the warning information 60 (ST4: deceleration section setting process) (see FIG. 13). Furthermore, the transport control unit 54 creates route information 61 including the deceleration section EY1 and transmits it to the transport device Q that passes through the warning point H. As a result, the transport device Q is controlled so that the travel speed (maximum speed) of the transport device Q that subsequently passes the warning point H where the acceleration has exceeded the predetermined threshold is slowed down.

In FIG. 15, when a worker W looks at the warning information 60 including the warning point H displayed on the information terminal 5, removes the cause of the acceleration exceeding the threshold from the warning point H and inputs a repair report into the information terminal 5, the repair report is sent to the management computer 3. When the management information acquisition unit 51 of the management computer 3 receives the repair report (Yes in ST5), the warning determination unit 52 deletes the warning information 60 including the repaired warning point H, and the transport control unit 54 releases the deceleration section EY1 (ST6: deceleration section release process) (see FIG. 12).

In this way, after the travel speed of the transport device Q passing through the warning point H is slowed down (ST4), when a repair report is obtained indicating that the cause of the acceleration exceeding the predetermined threshold at the warning point H has been removed (Yes in ST5), the transport device Q is controlled to return its travel speed passing through the warning point H to its original speed (ST6). This allows the transported object to be transported normally on the floor F where the manufacturing equipment is installed.

Next, following the flow of FIG. 16, a replenishment method for replenishing the replenishment magazine 20A from the transport device Q that has transported the replenishment magazine 20A (transported object) to the component mounting device M4, M5 (manufacturing device) at the destination will be described. First, the replenishment processing unit 75 of the transport device Q that has arrived at the destination judges whether or not it has acquired warning information or replenishment hold information 78 from the management computer 3 or another transport device Q (ST11: information acquisition judgment process). That is, in the warning information output process (ST3) described in the transport method, it is judged whether or not it has acquired warning information 60 or replenishment hold information 78 from the management computer 3, and whether or not it has acquired warning information from the transport device Q, including itself, that has detected the warning point H.

If it is determined in the information acquisition determination process (ST11) that warning information or supply hold information 78 has been acquired (Yes in ST11), the supply processing unit 75 holds back the supply of supply magazines 20A by the automatic supply device 38 (ST12). Next, upon seeing the warning information 60 output to the information terminal 5 in the warning information output process (ST3), the worker W moves to the transport device Q stopped at the transport destination, visually checks the tray 17 from which a component may have popped out, and corrects any abnormality if any is found (ST13). Thereafter, the supply magazines 20A are automatically or manually replenished to the component mounting devices M4 and M5 (ST14: supply process).

If it is determined in the information acquisition determination process (ST11) that warning information or supply pending information 78 has not been acquired (No in ST11), the supply processing unit 75 controls the automatic supply device 38 to supply the supply magazine 20A to the component mounting devices M4 and M5 (ST14) (see FIG. 8). In this way, if there is a possibility that an abnormality has occurred in the storage state of the tray components during transport (Yes in ST11), the operator W checks and corrects it (ST13), and if there is no possibility that an abnormality has occurred during transport (No in ST11), the supply magazine 20A is automatically replenished.

Next, referring to FIG. 17, the component mounting devices M4 and M5, the component supply device 21 attached to the component mounting devices M4 and M5, and the storage device 22 that supplies the pallets 16 to the component supply device 21 will be described, with reference to the function of checking the storage state of the components stored in the tray 17 held by the pallet 16 transported by the transport device Q, among other components of the control system configuration. The component mounting devices M4 and M5 are equipped with a mounting control device 100, a head moving mechanism 34, a mounting head 36, and a head camera 37. The mounting control device 100 is equipped with a mounting operation processing unit 101, a mounting information acquisition unit 102, a mounting determination unit 103, a mounting output unit 104, and a mounting memory unit 105. The mounting memory unit 105 is a memory device, and stores mounting data 106 and the like.

The placement data 106 includes, for each type of mounting board to be produced, the size of the board 35, the type and placement position (XY coordinates) of the components to be mounted, component supply information, and other information necessary for the component placement work. Based on the placement data 106, the placement operation processing unit 101 controls the head movement mechanism 34, the placement head 36, the head camera 37, the placed tape feeder 12, and the component supply device 21 to control the component placement work in which the placement head 36 holds the components supplied by the component supply device 21 or tape feeder 12 and places them on the board 35.

In FIG. 17, the mounting information acquisition unit 102 (first information acquisition unit) acquires, via the communication network 2, warning information 60 output from the management computer 3, indicating that an abnormality may have occurred in the storage state of the parts in the tray 17 when the transport device Q transports the pallet 16. Based on the warning information 60, the mounting determination unit 103 controls the head movement mechanism 34 and the head camera 37 to capture an image of the state of the tray 17 (hereinafter referred to as the "suspect tray") in which an abnormality may have occurred in the storage state of the parts stored therein during transport.

Specifically, when the suspect tray is moved to the component removal position by the component supply device 21, the mounting determination unit 103 captures an image of the inside of the suspect tray while moving the head camera 37 by the head movement mechanism 34 (see FIG. 5). That is, the head camera 37 is an imaging unit that is provided integrally with the mounting head 36 that mounts the components on the board 35, and captures an image of the components in the suspect tray.

Furthermore, the mounting determination unit 103 recognizes and processes the image capture results for the suspect tray and determines whether or not an abnormality has occurred, such as a component protruding from or tilting out of the suspect tray's storage section 18. In other words, the mounting determination unit 103 is an abnormality determination unit that, when warning information 60 is acquired, determines whether or not there is an abnormality in the storage state based on the image capture results of the components in the suspect tray captured by the imaging unit (head camera 37).

In FIG. 17, when the mounting determination unit 103 determines that there is an abnormality in the storage state of the suspect tray, the mounting output unit 104 outputs an instruction to the information terminal 5 carried by the worker W to replace the pallet 16 holding the abnormal tray 17. Alternatively, the mounting output unit 104 outputs an instruction to the component supply device 21 and the storage device 22 to retrieve the pallet 16 holding the abnormal tray 17 into the recovery magazine 20B of the magazine holding unit 28, and to move a tray 17 containing the same parts as the abnormal tray 17 to the component removal position. In this way, the mounting output unit 104 is the first output unit that outputs an abnormality when it is determined that there is an abnormality in the storage state of the parts in the suspect tray.

In addition, the abnormality notification may be sent from the management computer 3, rather than from the mounting output unit 104 of the component mounting devices M4 and M5 to the information terminal 5, or the component supply device 21 and storage device 22. That is, the mounting output unit 104 (first output unit) outputs an abnormality notification to the management computer 3 (control system), and the management computer 3 may have a second output unit that outputs an instruction to replace the pallet 16 holding the tray 17 determined to have an abnormality when it receives the abnormality notification.

In FIG. 17, the component supply device 21 includes a supply control device 110 and a first pallet moving unit 26. The supply control device 110 includes a supply operation processing unit 111. The supply operation processing unit 111 controls the first pallet moving unit 26 in accordance with a command from the mounting operation processing unit 101 of the mounting control device 100 to move the pallet 16 between the first holding unit 25 of the storage device 22 and the component removal position.

The storage device 22 comprises a storage control device 112, a second pallet movement unit 30, a magazine movement unit 29, a first camera 31, a second camera 32, and a touch panel 33. The storage control device 112 comprises a pallet movement processing unit 113, a magazine movement processing unit 114, a storage information acquisition unit 115, a storage determination unit 116, a storage output unit 117, and a storage memory unit 118. The storage memory unit 118 is a storage device that stores information such as the positions of the pallets 16 stored in the first holding unit 25 and the second holding unit 27, and the types of parts contained in the trays 17.

In FIG. 17, the pallet movement processing unit 113 controls the second pallet movement unit 30 to move the pallet 16 between the second holding unit 27 and the first holding unit 25. The magazine movement processing unit 114 controls the magazine movement unit 29 to insert and remove the tray magazines 20 (supply magazine 20A, recovery magazine 20B) in the magazine holding unit 28. The storage information acquisition unit 115 (first information acquisition unit) acquires warning information 60 output from the management computer 3 via the communication network 2, component mounting devices M4 and M5, and component supply device 21.

Based on the warning information 60, the storage determination unit 116 controls the first camera 31 (imaging unit) to capture an image of the state of the suspect tray. Specifically, when the suspect tray is moved to the part removal position by the part supply device 21, the storage determination unit 116 causes the first camera 31 to capture an image of the inside of the suspect tray (see FIG. 5).

Alternatively, the storage determination unit 116 controls the second pallet moving unit 30 and the second camera 32 (imaging unit) based on the warning information 60 to capture an image of the state of the suspect tray. Specifically, the storage determination unit 116 pulls out the pallet 16 holding the suspect tray from the second holding unit 27 and causes the second camera 32 to capture an image of the inside of the suspect tray (see FIG. 6). When capturing an image, the second holding unit 27 moves the pallet 16 to a height position where the second camera 32 is in focus. In this way, the second camera 32 is an imaging unit that is provided at a position where it can capture an image of the second pallet moving unit 30 (drawer unit).

In FIG. 17, the storage determination unit 116 recognizes and processes the image capture results of the suspected tray captured by the first camera 31 or the second camera 32 to determine whether there is an abnormality in the storage state of the parts. When the storage determination unit 116 determines that there is an abnormality in the storage state of the suspected tray, the storage output unit 117 outputs a notice of the abnormality to the information terminal 5 or the management computer 3. In this way, the storage determination unit 116 is an abnormality determination unit that determines whether there is an abnormality in the storage state based on the image capture results of the parts in the suspected tray captured by the imaging unit (first camera 31, second camera 32) when warning information 60 is acquired. In addition, the storage output unit 117 is a first output unit that outputs a notice of the abnormality when it is determined that there is an abnormality in the storage state of the parts in the suspected tray.

The first camera 31 may be provided in the component supply device 21. In this case, the supply control device 110 has a first information acquisition unit that acquires the warning information 60, and an abnormality determination unit that controls the first pallet movement unit 26 and the first camera 31. The abnormality determination unit controls the first pallet movement unit 26 to move the pallet 16 holding the suspected tray from the first holding unit 25 to the component removal position, and causes the first camera 31 to capture an image of the inside of the suspected tray.

As described above, the component mounting devices M4 and M5, which mount the components stored in the trays 17 supplied from the component supply device 21 onto the board 35, have a first information acquisition unit (mounting information acquisition unit 102) that acquires warning information 60 indicating that an abnormality may have occurred in the storage state of the components in the trays 17 when the transport device Q transports the pallet 16 holding the trays 17 to the storage device 22, an imaging unit (head camera 37) that images the components in the trays 17, and an abnormality determination unit (mounting determination unit 103) that, when the warning information 60 is acquired, determines whether there is an abnormality in the storage state of the components in the trays 17 based on the results of the imaging of the components in the trays 17 by the imaging unit. This allows the storage state of the components stored in the transported trays 17 to be appropriately determined.

The component mounting system 1, which mounts components on the board 35, includes component mounting devices M4 and M5 that mount components on the board 35, a component supply device 21 that supplies components stored in a tray 17 to the component mounting devices M4 and M5, a storage device 22 that supplies a pallet 16 to the component supply device 21, and a transport device Q that transports the pallet 16 to the storage device 22. The component mounting devices M4 and M5, the component supply device 21, or the storage device 22 each include a first information acquisition unit (mounting information acquisition unit 102, storage information acquisition unit 115), an imaging unit (head camera 37, first camera 31, second camera 32), and an abnormality determination unit (mounting determination unit 103, storage determination unit 116). This allows the storage state of the components stored in the transported tray 17 to be appropriately determined.

In addition, if the transport device Q is equipped with an imaging unit that captures an image of the tray 17 held by the pallet 16 of the supply magazine 20A being transported, the imaging unit of the transport device Q that has acquired the warning information 60 may capture an image of the inside of the transported tray 17 to determine the storage status of the parts.

Next, following the flow of FIG. 18, a method for determining whether there is an abnormality in the storage state of parts stored in the trays 17 held by the pallets 16 transported by the transport device Q will be described. Here, a case will be described in which the storage device 22 uses the second camera 32 to determine the abnormality. First, the transport device Q automatically supplies the supply magazine 20A transported by the automatic supply device 38 to the storage device 22 (ST21: automatic supply process).

Next, when the storage information acquisition unit 115 acquires warning information 60 indicating that an abnormality may have occurred in the storage state of the parts in the tray 17 when the transport device Q transports the pallet 16 (Yes in ST22), the storage determination unit 116 causes the second camera 32 to capture an image of the inside of the suspect tray (ST23: tray interior imaging process). Specifically, the storage determination unit 116 controls the second pallet movement unit 30 to pull out the pallet 16 holding the suspect tray from the supply magazine 20A, and causes the second camera 32 (imaging unit) to capture an image of the parts in the suspect tray.

In FIG. 18, the storage determination unit 116 then determines whether there is an abnormality in the storage state of the parts in the suspect tray based on the imaging results of the parts in the suspect tray (ST24: abnormality determination process). If there is an abnormality in the storage state (Yes in ST24), the storage output unit 117 outputs to the information terminal 5 or management computer 3 an instruction to replace the pallet holding the suspect tray (ST25: replacement instruction output process). Then, the storage determination unit 116 causes the second pallet moving unit 30 to retrieve the pallet 16 holding the suspect tray with the abnormality back into the original supply magazine 20A (recovery magazine 20B).

If there is no abnormality in the storage state (No in ST24), the storage determination unit 116 stores the pallet 16 holding the suspect tray that was not abnormal in the second pallet moving unit 30 in a specified pallet storage unit 19 of the first holding unit 25 or the second holding unit 27. If an unconfirmed suspect tray remains in the supply magazine 20A (No in ST26), the process returns to the tray interior imaging process (ST23) to confirm the storage state of the next suspect tray (ST24 to ST26). If warning information 60 is not acquired (No in ST22), the determination process ends without performing the tray interior imaging process (ST23). This allows the storage state of the parts stored in the transported tray 17 to be properly determined.

In this way, the tray interior imaging process (ST23) is performed after pallets 16 have been replenished (ST21) to the storage device 22, which supplies pallets 16 to the component supply device 21, which supplies components stored in trays 17 to the component mounting devices M4, M5, which mount the components on the boards 35. The tray interior imaging process (ST23) in the storage device 22 is also performed during idle time when the second pallet moving unit 30 is not performing component mounting operations. This does not interfere with the component mounting operations performed by the component mounting devices M4, M5.

Next, referring to FIG. 19, another embodiment of a component supply device that supplies components stored in a tray 17 to component mounting devices M4 and M5 and a storage device that supplies a pallet 16 to the component supply device will be described. The component supply device 121 of the other embodiment differs from the component supply device 21 in that two first pallet moving units 123 are arranged in parallel along the X-axis. The storage device 122 of the other embodiment differs from the storage device 22 in that the tray magazines 20 (supply magazine 20A, recovery magazine 20B) are inserted and removed from the first holding unit 124. In other words, the storage device 122 does not include a second holding unit and a second pallet moving unit. The storage device 122 also includes two magazine holding units 125 corresponding to the two first pallet moving units 123.

Two magazine exchange windows 126 are formed on the rear side of the storage device 122 corresponding to the two magazine holding parts 125. Below the magazine holding parts 125, magazine moving parts 127 are disposed which hold the tray magazines 20 and transfer the tray magazines 20 between the transport device Q and each other. Below the magazine exchange windows 126, docking parts 128 are disposed. The transport device Q couples the coupling part 39 to the docking part 128 on the side which supplies the tray magazines 20, and supplies the transported tray magazines 20 (supply magazines 20A) to the storage device 122 by linking the automatic supply device 38 and the magazine holding part 125.

In FIG. 19, the first pallet moving unit 123 pulls out a pallet 16 from the pallet storage unit 19 of the tray magazine 20 that has been loaded into the corresponding magazine holding unit 125, and moves it to a component removal position where the components stored in the tray 17 are supplied to the component mounting devices M4 and M5. Two first cameras 129 are arranged on the top of the storage device 122 corresponding to the two first pallet moving units 123, and capture images of the state of the components stored in the tray 17 held by the pallet 16 that has been moved to the component removal position by the first pallet moving unit 123.

When the first information acquisition unit of the storage device 122 acquires the warning information 60, the first camera 129 captures an image of the parts in the suspect tray at the part removal position before supplying parts from the suspect tray, and the abnormality determination unit determines whether there is an abnormality in the storage state. If it is determined that there is an abnormality in the storage state, the first output unit of the storage device 122 outputs a notice that there is an abnormality to the information terminal 5 or the management computer 3. Then, the first pallet movement unit 123 retrieves the pallet 16 determined to be abnormal into the tray magazine 20.

In another embodiment of the component supply device 121 and storage device 122, when all the components on the trays 17 stored in the tray magazine 20 of one magazine holding unit 125 are supplied to the component mounting devices M4 and M5 and the tray magazine 20 becomes empty, the empty tray magazine 20 (recovery magazine 20B) of one magazine holding unit 125 is replaced with the supply magazine 20A transported by the transport device Q while components are being supplied from the other component removal position.

In the above embodiment, the transport system is described using a transport device Q that transports transported objects such as a tray magazine 20 on a floor F where manufacturing devices that perform work on substrates are located, but the transport system is not limited to this. For example, the manufacturing device may be a manufacturing device that performs production work on wafers (workpieces) in a semiconductor manufacturing line that manufactures semiconductor products, and the transported object may be a wafer carrier that contains wafers. Also, the manufacturing device may be a manufacturing device that performs production work in an assembly production line that assembles electrical equipment, or a food processing line that produces food processed products, and the transported object may be a mounting substrate, a housing, a food material, or a container.

The component mounting system, component mounting device, and judgment method of the present invention have the effect of being able to properly judge the storage state of components stored in a transported tray, and are useful in the field of mounting components to a circuit board.

1. Parts mounting system 3. Management computer (control system)
16 Pallet 17, 17A, 17B Tray 19 Pallet storage section 20 Tray magazine 21, 121 Part supply device 22, 122 Storage device 30 Second pallet moving section (drawing section)
31, 129 First camera (imaging unit)
32 Second camera (imaging unit)
35 Circuit board 36 Mounting head 37 Head camera (imaging unit)
38 Automatic supply device A Accelerometer M4, M5 Component mounting device P1, P2 Component Q Conveyor device

Claims (17)

A component mounting system for mounting components on a substrate, comprising:
a component mounting device for mounting components on the board;
a component supplying device that supplies components accommodated in a tray to the component mounting device;
a storage device having a pallet storage unit that stores a pallet holding the tray, the storage device supplying the pallet to the part supply device;
a conveying device that conveys the pallet to the storage device,
The component mounting device, the component supply device, or the storage device,
a first information acquiring unit that acquires warning information indicating that an abnormality may have occurred in a storage state of the parts in the tray when the pallet is being transported by the transport device;
an imaging unit that images the components in the tray;
and an abnormality determination unit that, when the warning information is acquired, determines whether there is an abnormality in the storage state based on the image capturing result of the components in the tray captured by the imaging unit. The component mounting system according to claim 1, wherein the component mounting device, the component supply device, or the storage device further includes a first output unit that outputs a signal indicating that an abnormality exists when it is determined that an abnormality exists in the storage state. Further comprising a control system;
The first output unit outputs a signal indicating that the abnormality exists in the control system,
3. The component mounting system according to claim 2, wherein the control system has a second output section that, when it acquires information indicating that an abnormality exists, outputs an instruction to replace a pallet that holds a tray determined to have an abnormality. the component mounting device has a mounting head that mounts the components on the board,
4. The component mounting system according to claim 1, wherein the imaging unit is provided integrally with the mounting head. The storage device has a drawer for drawing out the pallet,
4. The component mounting system according to claim 1, wherein the imaging unit is provided at a position where it can image the drawer unit. The conveying device is
an accelerometer for measuring acceleration experienced by the tray;
The component mounting system according to claim 1 , further comprising: a second output unit configured to output the warning information when the acceleration exceeds a predetermined threshold value. The conveying device is
an accelerometer for measuring acceleration applied to the tray;
The control system includes:
A second information acquisition unit that acquires acceleration information related to the measured acceleration;
a warning determination unit that determines whether the acceleration exceeds a predetermined threshold based on the acquired acceleration information;
The component mounting system according to claim 3 , further comprising: a third output unit that outputs the warning information when the acceleration exceeds a predetermined threshold value. The component mounting system according to claim 6 or 7, wherein the predetermined threshold is set based on the acceleration at which an abnormality occurs in the storage state of the components in the tray when the conveying device conveys the pallet. The component mounting system according to any one of claims 1 to 8, wherein the conveying device has an automatic supply device that automatically supplies the pallets to be conveyed to the storage device. The pallets are transported while being stored in a tray magazine,
10. The component mounting system according to claim 1, wherein the storage device houses the tray magazine for storing the pallets. The component mounting system according to any one of claims 1 to 10, further comprising an imaging determination unit that determines whether or not to image the components in the tray based on the relationship between the warning information and the components contained in the tray. A component mounting device that mounts components stored in a tray supplied from a component supply device onto a board,
a first information acquisition unit that acquires warning information indicating that an abnormality may have occurred in the storage state of the parts in the tray when the pallet holding the tray is transported to a storage device by a transport device;
an imaging unit that images the components in the tray;
and an abnormality determination unit that, when the warning information is acquired, determines whether there is an abnormality in the storage state of the components in the tray based on the imaging results of the imaging unit. The component mounting device according to claim 12, further comprising a second output unit that outputs an instruction to replace the pallet holding the tray determined to have the abnormality when the abnormality is determined to have occurred. The component mounting device according to claim 12 or 13, wherein the imaging unit is integrally provided in a mounting head that mounts components on a circuit board. A method for determining whether there is an abnormality in a storage state of parts stored in a tray held by a pallet transported by a transport device, comprising:
obtaining warning information indicating that an abnormality may have occurred in the storage state of the parts in the tray when the conveying device conveys the pallet;
a determining method for determining whether or not there is an abnormality in the state in which the parts are accommodated in the tray when the warning information is acquired; The method of claim 15, in which the judgment is made after the pallets are replenished to a storage device that supplies pallets to a component supply device that supplies components stored in the trays to a component mounting device that mounts components on a board. An imaging unit captures an image of the components in the tray;
The method according to claim 15 or 16, wherein the determination is made based on an image of the parts in the tray.

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