JP7654895B2 - Part replacement system and part mounting system - Google Patents

Description

The present invention relates to a component replacement system that collects and replenishes component supply tools in a component supply unit, and a component mounting system equipped with the same.

The component mounting system includes a component mounter that mounts components onto a substrate such as a printed circuit board. The component mounter includes a component supply unit in which a plurality of component supply devices such as feeders that supply components are arranged, and a head unit that mounts the components supplied by the component supply devices onto the substrate. In the component mounter, a component supply device that has run out of components or the like is collected from the component supply unit, and a new component supply device is replenished to the component supply unit in response to the collection.

Patent Document 1 discloses a supply device that supplies component supply tools to a component mounter in response to the collection of component supply tools from the component mounter. The supply device includes a running body that travels between a component storage facility and the component mounter, a mobile platform that is movably mounted on the running body, and a supply unit mounted on the mobile platform. When the supply device is positioned so as to face the component storage facility by the running body, an operator transfers the component supply tools from the component storage facility to the supply unit. As a result, multiple component supply tools of different component types are arranged in the supply unit. In this state, when the supply device is positioned so as to face the component supply unit of the component mounter by the running body, the component supply tools are exchanged between the component supply unit and the supply unit as the mobile platform moves.

In the supply device disclosed in Patent Document 1, when a part supply tool is transferred from a part storage to a supply unit, the arrangement of multiple part supply tools in the supply unit is not taken into consideration. As a result, when multiple part supply tools are arranged in the supply unit, the amount of movement of the moving platform may increase when part supply tools are exchanged between the part supply unit and the supply unit. In this case, there is a risk that the efficiency of exchanging part supply tools in the part supply unit may decrease.

Patent No. 6074425

The object of the present invention is to provide a component replacement system capable of increasing the efficiency of replacing component supply tools in a component supply unit, and a component mounting system equipped with the same.

A component exchange system according to one aspect of the present invention is a system that supplies a component supplying tool to a component supplying unit in response to retrieving the component supplying tool from the component supplying unit in which a plurality of supply support parts that support and store the component supplying tools that supply components to be mounted on a board are arranged in a predetermined direction. This component exchange system includes a storage unit in which a plurality of storage support parts that support and store a plurality of component supplying tools of different component types are arranged in a predetermined direction, a moving platform in which a plurality of exchange support parts that support the component supplying tools to be exchanged between the supply support parts and between the storage support parts are arranged in a predetermined direction and that can move in the arrangement direction of the plurality of exchange support parts, an operation unit including a gripper that grips the component supplying tool and moves relative to the moving platform to move the component supplying tool, and a control unit that controls the operation unit. When the operation unit is arranged opposite the component supplying unit, the control unit performs an exchange process that moves the moving platform and the gripper so that the component supplying tool moves and is exchanged between the plurality of supply support parts and the plurality of exchange support parts. In addition, when the operating unit is positioned opposite the storage unit, the control unit performs an arrangement process, as a pre-processing step of the replacement process, in which the multiple types of part supply tools supported on the multiple storage support parts are moved to the multiple replacement support parts, and the arrangement of the multiple types of part supply tools on the mobile table is arranged as indicated by predetermined arrangement data to keep the movement amount of the mobile table in the replacement process within a target range.

A component mounting system according to another aspect of the present invention includes a component supply unit having a plurality of supply support parts arranged in a predetermined direction supporting component supply tools that supply components, a head unit that mounts components supplied by the component supply tools supported by the supply support parts onto a substrate, and the above-described component replacement system that replenishes the component supply tools to the component supply unit in response to retrieving the component supply tools from the component supply unit.

The objects, features and advantages of the present invention will become more apparent from the following detailed description and accompanying drawings.

1 is a block diagram showing a configuration of a component mounting system to which a component replacement system according to an embodiment of the present invention is applied. 1 is a cross-sectional view showing a configuration of a component mounter provided in a production system in a component mounting system. 1 is a diagram illustrating a storage device and a storage management device provided in a part replacement system. 1 is a diagram illustrating a part replacement device and a replacement management device provided in the part replacement system. 13A and 13B are diagrams illustrating a specific feeder movement process included in the arrangement process performed by the control unit. 11A to 11C are diagrams illustrating a first array movement process and a second array movement process included in the array process performed by the control unit. 11A to 11C are diagrams illustrating a first array movement process and a second array movement process included in the array process performed by the control unit. 11A to 11C are diagrams illustrating a first array movement process and a second array movement process included in the array process performed by the control unit. 10A and 10B are diagrams illustrating a situation in which a control unit outputs an error command signal. 11 is a diagram illustrating a collection process included in the exchange process performed by the control unit. FIG. 11A and 11B are diagrams illustrating a replenishment process included in the replacement process performed by the control unit.

Below, the component replacement system and component mounting system relating to an embodiment of the present invention are described with reference to the drawings.

[Overall configuration of component mounting system]
The component mounting system 1 shown in FIG. 1 is a system for producing a component mounting board in which components such as electronic components are mounted on a board such as a printed circuit board. The component mounting system 1 includes a production system 2 and a component replacement system 3. The production system 2 includes a production management device 2A and at least one component mounter 2B. In the production system 2, the production management device 2A and the component mounter 2B are connected to each other so that data can be communicated. The component replacement system 3 includes a storage management device 4A, at least one storage device 4, an exchange management device 5A, and at least one component replacement device 5. In the component replacement system 3, the storage management device 4A and the storage device 4 are connected to each other so that data can be communicated, and the exchange management device 5A and the component replacement device 5 are connected to each other so that data can be communicated. In addition, the component mounting system 1 includes an integrated management device 1A that is connected to each of the production management device 2A, the storage management device 4A, and the exchange management device 5A so that data can be communicated. The integrated management device 1A, the production management device 2A, the storage management device 4A, and the exchange management device 5A are each configured, for example, by a microcomputer.

In the component mounting system 1, production plan data D1 is transmitted from the integrated management device 1A to the production management device 2A. When the production management device 2A receives the production plan data D1, the component mounter 2B produces component mounting boards in accordance with the production plan data D1. The production management device 2A manages the production of component mounting boards by the component mounter 2B. The production management device 2A transmits production status data D2 indicating the status of production of component mounting boards by the component mounter 2B to the integrated management device 1A.

Based on the production status data D2 transmitted from the production management device 2A, the integrated management device 1A recognizes the expected time of component shortage associated with the production of component mounting boards by the component mounter 2B, the type of components that have run out, and the like. Then, based on the recognition results, the integrated management device 1A generates supply plan data D3 indicating a supply plan for components to the component mounter 2B. The integrated management device 1A transmits the generated supply plan data D3 to each of the storage management device 4A and the exchange management device 5A.

When the storage management device 4A receives the supply plan data D3, the worker prepares component supply tools for supplying components to be used in the component mounter 2B based on the supply plan data D3. The worker replenishes the prepared component supply tools in the storage device 4. The storage device 4 stores multiple component supply tools of different component types arranged in a specified direction. The storage management device 4A manages the storage status of the component supply tools in the storage device 4.

When the replacement management device 5A receives the supply plan data D3, the part replacement device 5 retrieves the part supply tool from the storage device 4 and exchanges the part supply tool with the component mounter 2B. The replacement management device 5A manages the operation of the part replacement device 5.

[Detailed configuration of the production system]
As described above, in the production system 2, when the production management device 2A receives the production plan data D1 transmitted from the integrated management device 1A, the component mounter 2B produces component mounting boards in accordance with the production plan data D1. This component mounter 2B will be described with reference to FIG. 2. In the following, the directional relationship will be described using XYZ orthogonal coordinate axes. The X-axis direction and the Y-axis direction are mutually orthogonal on a horizontal plane, and the Z-axis direction is a direction extending vertically and orthogonal to both the X-axis direction and the Y-axis direction.

The component mounter 2B is a device that mounts components on a board to produce a component-mounted board. A solder paste pattern is printed on the board before the components are mounted by the component mounter 2B. The component mounter 2B comprises a mounter main body 21, a transport conveyor 22, a component supply unit 23, and a head unit 26.

The mounting machine body 21 is a housing having an internal space in which each part constituting the component mounting machine 2B is arranged. The transport conveyor 22 extends in the Y-axis direction and is arranged in an approximately central area inside the mounting machine body 21. The transport conveyor 22 transports the board in the Y-axis direction. The head unit 26 mounts components on the board transported by the transport conveyor 22. The head unit 26 takes out components from the feeder 25 arranged in the component supply unit 23 and mounts the taken-out components on the board. The head unit 26 is equipped with a plurality of suction nozzles 261. The suction nozzle 261 is a holder capable of suctioning and holding components. The suction nozzle 261 can be connected to any of a negative pressure generating device, a positive pressure generating device, and the atmosphere via an electric switching valve. In other words, the suction nozzle 261 can suction and hold the component by the suction nozzle 261 by supplying negative pressure to the suction nozzle 261, and then the suction and holding of the component is released by supplying positive pressure.

The component supply unit 23 is disposed in the end region in the X-axis direction of the mounting machine main body 21. The component supply unit 23 has an upper frame 231, a lower frame 232, and a rear frame 233 for forming a plurality of supply support parts 24 that support the feeder 25 that supplies components in an insertable and removable manner. The upper frame 231 is a plate-shaped frame extending in the X-axis direction and the Y-axis direction. The upper frame 231 is disposed at one end of the mounting machine main body 21 in the X-axis direction so that a region portion on one end side of the X-axis direction is exposed to the outside from the mounting machine main body 21 and a region portion on the other end side of the X-axis direction is accommodated inside the mounting machine main body 21. The lower frame 232 is a plate-shaped frame extending in the X-axis direction and the Y-axis direction, and is disposed so as to face the upper frame 231 on the lower side in the Z-axis direction. The lower frame 232 has a protruding part 2321 protruding upward in the Z-axis direction in the region portion on the other end side of the X-axis direction that is accommodated inside the mounting machine main body 21. The rear frame 233 is a plate-shaped frame that extends in the Y-axis and Z-axis directions, and is positioned inside the mounting machine main body 21 closer to the center of the mounting machine main body 21 than the other ends of the upper frame 231 and the lower frame 232 in the X-axis direction.

Each of the multiple supply support parts 24 supports a feeder 25 in the component supply unit 23 so that the feeder 25 can be inserted and removed. In the component supply unit 23, the multiple supply support parts 24 are arranged so as to be aligned in the Y-axis direction. By inserting the feeder 25 into each of these supply support parts 24, the multiple feeders 25 are arranged aligned in the Y-axis direction.

The feeder 25 is a component supplying tool that supplies components. The method of supplying components is not particularly limited as long as the feeder 25 is configured to be able to supply components. For example, a tape feeder that supplies components using a tape as a carrier, a tray feeder that supplies components by moving a tray on which the components are placed, or a stick feeder that supplies components stored in a cylindrical stick while pushing the components out of the stick may be used as the feeder 25. A bulk feeder to which a bulk cassette containing a bulk state of a collection of multiple components is detachably attached may also be used as the feeder 25.

The following describes the case where a tape feeder is used as the feeder 25. The feeder 25 supplies components by feeding out a component storage tape PT capable of storing multiple components. The component storage tape PT consists of a carrier tape PT1 having multiple storage sections for storing components, and a cover tape PT2 joined to the carrier tape PT1 so as to cover the storage sections. The feeder 25 includes a feeder body 251, a reel support section 252, a tape feeding section 254, and a recovery section 255.

A tape feed path 253 is formed in the feeder body 251. The tape feed path 253 is a path along which the component storage tape PT is fed, and has a component removal section 2531 between the upstream end and downstream end of the feed direction of the component storage tape PT. The reel support section 252 is disposed on the upstream end side of the tape feed path 253 in the feeder body 251. The reel support section 252 supports a reel around which the component storage tape PT is wound.

The tape feed section 254 is, for example, composed of a sprocket, and is arranged near the component removal section 2531 of the tape feed path 253. The tape feed section 254 unwinds the component storage tape PT from the reel supported by the reel support section 252, and feeds the unwound component storage tape PT along the tape feed path 253. The operation of the tape feed section 254 is controlled by a control circuit mounted on the control board 259. In the component storage tape PT fed along the tape feed path 253, the cover tape PT2 is peeled off from the carrier tape PT1 upstream of the component removal section 2531. This exposes the components on the carrier tape PT1 at the component removal section 2531. The components exposed on the carrier tape PT1 can be removed by the head unit 26. In other words, the head unit 26 removes the components supplied by the feeder 25 from the component removal section 2531.

The cover tape PT2 peeled off from the carrier tape PT1 upstream of the component removal unit 2531 is collected by the collection unit 255. The collection unit 255 is composed of, for example, a pair of rollers that abut against each other. In this case, the collection unit 255 collects the cover tape PT2 in accordance with the rotation of the pair of rollers. The cover tape PT2 collected by the collection unit 255 is stored in a collection box 2551.

After the components are removed by the head unit 26, the carrier tape PT1 is sent out from the feeder 25 via the downstream end of the tape sending path 253 by the sending operation of the tape sending section 254. The carrier tape PT1 sent out from the feeder 25 is cut to a predetermined length by the tape cutter 23A arranged near the protruding portion 2321 of the lower frame 232 in the component supply unit 23.

2, the feeder 25 has an upper positioning pin 256, a lower positioning pin 257, and a feeder side connector 258. The upper positioning pin 256 and the lower positioning pin 257 are pins provided to protrude from one end of the feeder body 251 in the X-axis direction. The upper positioning pin 256 and the lower positioning pin 257 are arranged at an interval from each other in the Z-axis direction at one end of the feeder body 251 in the X-axis direction, and the upper positioning pin 256 is located above the lower positioning pin 257. One end of the feeder body 251 in the X-axis direction has a stepped portion recessed on the other side in the X-axis direction relative to the portion where the upper positioning pin 256 and the lower positioning pin 257 are provided. A feeder side connector 258 is provided in the stepped portion at one end of the feeder body 251 in the X-axis direction. The feeder side connector 258 is a connector that is electrically connected to the control board 259.

A plurality of supply support parts 24 for supporting the feeders 25 so that they can be inserted and removed are formed on the upper frame 231, the lower frame 232, and the rear frame 233 of the component supply unit 23. Each supply support part 24 includes an upper holding rail 241, a lower holding rail 242, an upper pin insertion hole 243, a lower pin insertion hole 244, and a unit side connector 245.

A plurality of upper holding rails 241 are formed side by side in the Y-axis direction so as to extend in the X-axis direction on the underside of the upper frame 231. The upper holding rails 241 are rail members that guide the upper end of the feeder 25 when the feeder 25 moves when it is inserted into or removed from the supply support section 24. A plurality of lower holding rails 242 are formed side by side in the Y-axis direction so as to extend in the X-axis direction on the upper side of the lower frame 232. The lower holding rails 242 are rail members that guide the lower end of the feeder 25 when it moves when it is inserted into or removed from the supply support section 24.

The upper pin insertion holes 243 are holes formed in a line in the Y-axis direction at the upper end of the rear frame 233. The upper pin insertion holes 243 allow the upper positioning pins 256 of the feeder 25 to pass through when the feeder 25 is inserted into the supply support section 24. On the other hand, when the feeder 25 is removed from the supply support section 24, the upper positioning pins 256 are released from the upper pin insertion holes 243. The lower pin insertion holes 244 are holes formed in a line in the Y-axis direction at the lower end of the rear frame 233. The lower pin insertion holes 244 allow the lower positioning pins 257 of the feeder 25 to pass through when the feeder 25 is inserted into the supply support section 24. On the other hand, when the feeder 25 is removed from the supply support section 24, the lower positioning pins 257 are released from the lower pin insertion holes 244. The feeder 25 is positioned with respect to the supply support portion 24 by inserting the upper positioning pin 256 into the upper pin insertion hole 243 and inserting the lower positioning pin 257 into the lower pin insertion hole 244 .

The unit side connectors 245 are arranged in a line in the Y-axis direction on the protruding portion 2321 of the lower frame 232, and are electrically connected to the control unit of the component mounter 2B. The unit side connectors 245 are connected to the feeder side connectors 258 of the feeder 25 when the feeder 25 is inserted into the supply support portion 24.

When component mounting boards are produced by the component mounter 2B, multiple types of components are mounted on each board. Furthermore, different types of components are mounted on different types of boards. For this reason, multiple feeders 25 of different component types are arranged in the Y-axis direction within the component supply unit 23 while being supported by the supply support parts 24. In this case, the multiple feeders 25 are supported by each supply support part 24 within the component supply unit 23 so that the arrangement is optimized based on the efficiency with which the head unit 26 mounts components on the board. Specifically, the arrangement of the multiple feeders 25 within the component supply unit 23 is set so that the amount of movement of the head unit 26 is as small as possible when mounting components on the board.

[Detailed configuration of part replacement system]
As described above, in the component replacement system 3, the storage management device 4A and the replacement management device 5A receive the supply plan data D3 transmitted from the integrated management device 1A. The supply plan data D3 is data indicating a supply plan of the feeder 25 for the component supply unit 23 of the component mounter 2B. As shown in FIG. 1, the supply plan data D3 is data in which component type information D31, supply support part position information D32, and supply completion time information D33 are associated with each other. The component type information D31 is information indicating the type of components contained in the feeder 25 to be collected that is predicted to need to be collected due to a component shortage, etc., among the multiple feeders 25 supported by each supply support part 24 of the component supply unit 23. The supply support part position information D32 is information indicating the position of the supply support part 24 of the collection source that supports the feeder 25 to be collected, among the multiple supply support parts 24 in the component supply unit 23. The supply completion time information D33 is information indicating the target time for collecting the feeder 25 to be collected from the collection source supply support unit 24 and for completing the supply of the feeder 25 to the collection source supply support unit 24. The target time indicated by the supply completion time information D33 is set, for example, to one hour before the predicted time when the feeder 25 to be collected will run out of parts, etc.

3, the storage management device 4A is connected to the storage device 4 so as to be able to communicate data. The storage device 4 is disposed at a position away from the component mounter 2B in the X-axis direction, and is a device for storing feeders 25 for supplying the component mounter 2B. The storage device 4 includes a storage device main body 41 and a storage unit 42. The storage device main body 41 is a housing having an internal space in which the storage unit 42 is disposed. The storage unit 42 has a plurality of storage support parts 421 disposed within the storage device main body 41. The plurality of storage support parts 421 are constituted by rails extending in the X-axis direction, and are arranged so as to be aligned in the Y-axis direction. The plurality of storage support parts 421 support a plurality of feeders 25 of different component types so as to be insertable and removable. In the storage unit 42, the feeders 25 are inserted into each storage support part 421, so that the plurality of feeders 25 are arranged in the Y-axis direction.

In the example shown in Figure 3, seven storage supports 421a-421g are arranged in sequence from one end of the Y-axis direction in the storage unit 42 to the other end. An operator inserts the feeders 25 into each of the storage supports 421a-421g in the storage unit 42. Of the seven storage supports 421a-421g in the storage unit 42, five storage supports 421a-421e each support a different type of feeder 25, and the storage supports 421f and 421g in the specific area 422 on the other end side in the Y-axis direction are support parts that do not support a feeder 25.

The storage management device 4A generates the storage management data D4 shown in FIG. 3 based on the supply plan data D3 transmitted from the integrated management device 1A. The storage management data D4 is data for managing the storage status of the feeders 25 in the storage unit 42 of the storage device 4. The storage management data D4 is data in which the work completion time information D41 and the storage array data D42 are associated. The work completion time information D41 is information indicating the target time for the worker to complete the work of inserting the supply feeders 25 into each of the storage support sections 421a to 421g of the storage unit 42. The target time indicated by the work completion time information D41 is set, for example, to one hour before the target time indicated by the supply completion time information D33 included in the supply plan data D3.

The storage array data D42 is data indicating the array of the supply feeders 25 supported and stored by each storage support part 421a to 421g in the storage unit 42. The storage array data D42 is data in which part type information D421, feeder identification information D422, and storage support part position information D423 are associated. The part type information D421 is information indicating the type of part stored in the supply feeder 25. The part type indicated by the part type information D421 included in the storage array data D42 matches the part type indicated by the part type information D31 included in the supply plan data D3. The feeder identification information D422 is information for identifying the supply feeders 25 supported by each storage support part 421a to 421g. The storage support part position information D423 is information indicating the position in the storage unit 42 of the storage support parts 421a to 421g that support the supply feeders 25.

When the storage management data D4 is generated by the storage management device 4A, the worker stores the parts of the part type indicated by the part type information D421 and prepares the feeder 25 identified by the feeder identification information D422. Then, the worker inserts the prepared feeder 25 into the storage support section 421 at the position indicated by the storage support section position information D423 among the multiple storage supports 421a to 421g so as to arrive in time for the target time indicated by the work completion time information D41. The worker may also insert the prepared feeder 25 into the storage support section 421 at any position within the storage unit 42. In this case, when the worker inserts the feeder 25 into each storage support section 421a to 421g, the storage support section position information D423 is registered in the storage array data D42.

3, in the storage unit 42, the storage support part 421a supports the feeder 25C, the storage support part 421b supports the feeder 25A, the storage support part 421c supports the feeder 25B, the storage support part 421d supports the feeder 25D, and the storage support part 421e supports the feeder 25E. The storage support parts 421f and 421g in the specific area 422 on the other end side in the Y-axis direction of the storage unit 42 do not support the feeder 25.

In addition, in the part replacement system 3, the storage management device 4A may be incorporated into the storage device 4. That is, the storage device 4 may include a storage unit 42 arranged in the storage device main body 41, and the storage management device 4A.

As shown in FIG. 4, the replacement management device 5A is connected to the part replacement device 5 so as to be able to communicate data with them. The part replacement device 5 is a work robot capable of traveling within the area between the storage device 4 and the component mounter 2B. When placed in a position opposite the storage device 4, the part replacement device 5 performs the work of extracting the supply feeders 25 from the respective storage support sections 421a to 421g of the storage unit 42 and taking them inside. When placed in a position opposite the component mounter 2B, the part replacement device 5 performs the work of extracting the feeders 25 from the source supply support section 24 that supports the feeders 25 to be collected in the component supply unit 23 and collecting them inside, and also performs the work of inserting the feeders 25 to be collected into the source supply support section 24 to supply them.

The part replacement device 5 comprises a replacement device main body 51 and an operation unit 52. The replacement device main body 51 is a housing having an internal space in which the operation unit 52 is arranged. The operation unit 52 includes a moving table 53, an arm unit 54, and a hand unit 55. The operation unit 52 is a unit that includes a movement mechanism such as a ball screw mechanism for moving the moving table 53, the arm unit 54, and the hand unit 55, a drive motor that serves as the drive source for the movement mechanism, and a control board that controls the drive of the drive motor.

The movable platform 53 has a plate-like shape extending in the X-axis direction and the Y-axis direction, and a plurality of exchange support parts 531 are provided on its upper surface. The plurality of exchange support parts 531 are formed by rails extending in the X-axis direction, and are arranged on the movable platform 53 so as to be aligned in the Y-axis direction. The plurality of exchange support parts 531 support the feeder 25 to be exchanged between the supply support part 24 of the component supply unit 23 and between the storage support part 421 of the storage unit 42 so as to be insertable and removable. In the movable platform 53, the feeder 25 is inserted into each exchange support part 531, so that the plurality of feeders 25 are aligned in the Y-axis direction. In the example shown in FIG. 4, six exchange support parts 531a to 531f are aligned in order from one end of the movable platform 53 in the Y-axis direction to the other end. The movable platform 53 is movable within a predetermined allowable movement range 532 in the Y-axis direction, which is the arrangement direction of the plurality of exchange support parts 531a to 531f, within the exchange device main body 51.

The arm unit 54 is movable in the space above the movable table 53 in the exchange device main body 51 in the Y-axis direction, which is the arrangement direction of the multiple exchange support parts 531a to 531f. The hand unit 55 is a gripping body that is movably attached to the arm unit 54 and can grip the feeder 25. The hand unit 55 is movable relative to the arm unit 54 in the X-axis direction along which the multiple exchange support parts 531a to 531f extend. The hand unit 55 moves in the Y-axis direction in conjunction with the movement of the arm unit 54 in the space above the movable table 53 in the exchange device main body 51, and also moves in the X-axis direction relative to the arm unit 54. The hand unit 55 moves in the X-axis direction relative to the arm unit 54 while gripping the feeder 25, thereby moving the feeder 25 so that the feeder 25 is inserted into or removed from each of the exchange support parts 531a to 531f on the movable table 53.

When the part replacement device 5 is disposed in a position facing the storage device 4 and the operating unit 52 is disposed facing the storage unit 42, the moving platform 53 moves in the Y-axis direction within a predetermined allowable movement range 532 so that the destination exchange support part 531, which is the destination of the feeder 25 to be transferred, faces the source storage support part 421 that supports the feeder 25 to be transferred from the storage unit 42 to the moving platform 53. The arm part 54 moves in the Y-axis direction so that the hand part 55 is positioned above the destination exchange support part 531. Then, the hand part 55 moves from the storage device 4 side to the part replacement device 5 side along the X-axis direction while holding the feeder 25 to be transferred. In this case, the feeder 25 to be transferred is extracted from the source storage support part 421 in the storage unit 42 and moved to the destination exchange support part 531 on the moving platform 53 and inserted. By sequentially repeating the movements of the movable table 53, the arm portion 54, and the hand portion 55, a plurality of feeders 25 to be replenished with different types of components are aligned in the Y-axis direction on the movable table 53.

When the component replacement device 5 is disposed at a position facing the component mounter 2B, and the operating unit 52 is disposed facing the component supply unit 23, the moving table 53 moves in the Y-axis direction within a predetermined allowable movement range 532 so that the exchange support part 531 of the destination, which is the destination of the feeder 25 to be collected, faces the supply support part 24 of the source that supports the feeder 25 to be collected from the component supply unit 23 to the moving table 53. The arm part 54 moves in the Y-axis direction so that the hand part 55 is located above the exchange support part 531 of the destination. Then, the hand part 55 moves from the component mounter 2B side to the component replacement device 5 side along the X-axis direction while holding the feeder 25 to be collected. In this case, the feeder 25 to be collected is extracted from the supply support part 24 of the source in the component supply unit 23 and moved to the exchange support part 531 of the destination on the moving table 53 and inserted. As a result, the feeder 25 to be collected in the component supply unit 23 is collected on the moving table 53.

The movable table 53 also moves in the Y-axis direction within a predetermined allowable movement range 532 so that the replacement support part 531 of the supply source, which supports the feeder 25 to be supplied from the movable table 53 to the supply support part 24 of the recovery source in the component supply unit 23, faces the supply support part 24 of the recovery source. The arm part 54 moves in the Y-axis direction so that the hand part 55 is positioned above the replacement support part 531 of the supply source. Then, the hand part 55 moves from the component replacement device 5 side to the component mounter 2B side along the X-axis direction while holding the feeder 25 to be supplied. In this case, the feeder 25 to be supplied is extracted from the replacement support part 531 of the supply source on the movable table 53, and moved to and inserted into the supply support part 24 of the recovery source in the component supply unit 23. As a result, the feeder 25 to be supplied on the movable table 53 is supplied into the component supply unit 23 so as to be replaced with the feeder 25 to be collected.

As shown in Figure 4, the part replacement device 5 further includes a detection unit 56 and an alarm unit 57. The detection unit 56 is a unit that detects the feeders 25 inserted into each replacement support section 531a to 531f on the movable table 53 in response to the movement of the hand section 55. The detection unit 56 detects feeder identification information for identifying the feeder 25. The alarm unit 57 is a unit that is attached to the outer surface of the replacement device main body 51 and that notifies various types of information.

The replacement management device 5A is a device that manages the operation of the part replacement device 5. The replacement management device 5A includes a control unit 5A1 and a storage unit 5A2. The control unit 5A1 generates replacement management data D5 shown in FIG. 4 based on the supply plan data D3 transmitted from the integrated management device 1A. The replacement management data D5 generated by the control unit 5A1 is stored in the storage unit 5A2.

The replacement management data D5 is data for managing the operation of the operating unit 52 of the part replacement device 5. The replacement management data D5 is data that associates replacement completion time information D51, supply support part position information D52, and mobile table arrangement data D53.

The replacement completion time information D51 is information indicating the target time for completing the operation of the operating unit 52, which is to arrange multiple feeders 25 to be supplied on the movable table 53, to retrieve feeders 25 to be retrieved from the parts supply unit 23 onto the movable table 53, and to supply the feeders 25 to be supplied on the movable table 53 to the parts supply unit 23. The target time indicated by the replacement completion time information D51 is set to a time that falls within a predetermined tolerance range centered on the target time indicated by the supply completion time information D33 included in the supply plan data D3.

The supply support part position information D52 is information indicating the position of the supply support part 24 at the recovery source that supports the feeder 25 to be recovered in the part supply unit 23. The position indicated by the supply support part position information D52 is consistent with the position indicated by the supply support part position information D32 included in the supply plan data D3.

The movable table arrangement data D53 is data showing the arrangement of multiple types of feeders 25 to be supplied on the movable table 53. The movable table arrangement data D53 is data in which part type information D531, feeder identification information D532, and exchange support part position information D533 are associated with each other. The part type information D531 is information showing the type of parts contained in the feeder 25 to be supplied to the part supply unit 23 after being transferred to the movable table 53, which is a feeder 25 to be transferred from the storage unit 42 to the movable table 53. The part type shown in the part type information D531 included in the movable table arrangement data D53 is consistent with the part type shown in the part type information D31 included in the supply plan data D3. The feeder identification information D532 is information for identifying the feeder 25 to be transferred from the storage unit 42 to the movable table 53, which is a feeder to be supplied to the part supply unit 23 after being transferred to the movable table 53. The exchange support part position information D533 is information that indicates the position on the mobile table 53 of the exchange support part 531, which is the supply source that supports the feeder 25 to be transferred from the storage unit 42 to the mobile table 53 and is to be supplied to the component supply unit 23 after being transferred onto the mobile table 53.

The control unit 5A1 generates the mobile platform arrangement data D53 so that the arrangement of the feeders 25 to be replenished on the mobile platform 53 is an arrangement optimized based on the exchange efficiency of the feeders 25 between the mobile platform 53 and the component supply unit 23, while taking into consideration that the target time indicated by the exchange completion time information D51 falls within an allowable range with respect to the time indicated by the supply completion time information D33. In this case, the arrangement of the feeders 25 to be replenished indicated by the mobile platform arrangement data D53 is an arrangement such that the target time indicated by the exchange completion time information D51 falls within an allowable range, and the amount of movement of the mobile platform 53 when exchanging the feeders 25 between the mobile platform 53 and the component supply unit 23 falls within a predetermined target range and is as small as possible.

The control unit 5A1 generates the mobile table arrangement data D53, for example, according to the following procedure. First, the control unit 5A1 confirms the arrangement of the feeders 25 in the storage unit 42 based on the storage management data D4, and also confirms the arrangement of the feeders 25 on the mobile table 53 based on the detection results of the detection unit 56. The control unit 5A1 also confirms the component type and number of the feeders 25 to be collected in the component supply unit 23 based on the supply plan data D3. As a result, the control unit 5A1 identifies component type information D531 and feeder identification information D532 corresponding to the feeder 25 to be supplied.

Next, the control unit 5A1 checks the position of the supply support part 24 of the recovery source that supports the feeder 25 to be recovered in the part supply unit 23 based on the supply plan data D3. Then, the control unit 5A1 sets the supply order when the feeders 25 to be recovered are replaced with the feeders 25 to be recovered so that the movement amount of the moving table 53 is within the target range and is as small as possible, while taking into consideration that the target time indicated by the exchange completion time information D51 falls within an allowable range for the time indicated by the supply completion time information D33. In this case, the supply order of the feeders 25 to be recovered does not necessarily match the order of the earliest target times indicated by the supply completion time information D33. In other words, the supply order of the feeders 25 to be recovered does not necessarily match the order of the earliest predicted times at which the feeders 25 to be recovered will run out of parts, etc.

For example, assume that the third feeder 25 is placed between the first and second feeders 25 in the parts supply unit 23 in order of the earliest predicted time when parts will run out. In this case, if the order of the feeders 25 to be replenished is set in order of the earliest predicted time when parts will run out, the moving platform 53 will pass the position of the third feeder 25 and move to the position of the second feeder 25 when replenishing the second feeder 25 after replenishing the first feeder 25. This results in a large amount of movement of the moving platform 53. Therefore, the control unit 5A1 sets the order of the feeders 25 to be replenished in the order of the first feeder 25, the third feeder 25, and the second feeder 25 so that the amount of movement of the moving platform 53 is small.

Next, the control unit 5A1 sets, for the multiple exchange support parts 531a to 531f on the movable table 53, a destination exchange support part 531 for collecting the feeder 25 to be collected without supporting the feeder 25 to be replenished, and a supply source exchange support part 531 for supporting the feeder 25 to be replenished. At this time, the control unit 5A1 sets the positions of the destination and source exchange support parts 531 depending on whether the number of feeders 25 to be collected is half or less of the number of exchange support parts 531a to 531f on the movable table 53.

When the number of feeders 25 to be collected exceeds half the number of exchange supports 531a-531f on the movable table 53, as shown in the first example of FIG. 4, the control unit 5A1 sets the exchange support 531a on the movable table 53 at the most one side in the Y-axis direction as the support part to be collected, and sets the exchange support parts 531b-531f arranged on the other side in the Y-axis direction relative to the exchange support part 531a as the support parts of the supply source that support the feeders 25A-25E to be replenished. At this time, the control unit 5A1 sets the positions of the exchange support parts 531b-531f of the supply source corresponding to each of the feeders 25A-25E to be replenished so that the multiple feeders 25A-25E to be replenished are lined up in the order of replenishment from one side to the other in the Y-axis direction. As a result, the control unit 5A1 identifies exchange support part position information D533 indicating the position of the exchange support part 531a of the recovery destination and the positions of the exchange support parts 531b to 531f of the supply source that support the feeders 25A to 25E to be supplied.

On the other hand, when the number of feeders 25 to be collected is less than half the number of exchange supports 531a-531f on the movable table 53, as shown in the second example of Fig. 4, the control unit 5A1 sets the exchange supports 531a, 531c, 531e of the collection destination and the exchange supports 531b, 531d, 531f of the supply source supporting the feeders 25A-25C to be replenished to be arranged alternately in the Y-axis direction on the movable table 53. In this case, the control unit 5A1 sets the positions of the exchange supports 531b, 531d, 531f of the supply source corresponding to each of the feeders 25A-25C to be replenished to be arranged in the order of replenishment from one side to the other in the Y-axis direction. As a result, the control unit 5A1 identifies exchange support part position information D533 indicating the positions of the exchange support parts 531a, 531c, and 531e at the collection destination and the positions of the exchange support parts 531b, 531d, and 531f at the supply source that support the feeders 25A to 25C to be replenished.

The control unit 5A1 can generate movable table arrangement data D53 indicating the arrangement of the feeders 25 to be replenished on the movable table 53 based on the part type information D531, feeder identification information D532, and exchange support part position information D533 identified as described above.

In the part replacement system 3, the replacement management device 5A including the control unit 5A1 may be incorporated in the part replacement device 5. That is, the part replacement device 5 may include an operation unit 52 arranged in the replacement device main body 51, a detection unit 56, an alarm unit 57, and the replacement management device 5A.

[Regarding control of operation units by the control unit]
The control unit 5A1 controls the operation of the operating unit 52 of the part replacement device 5 based on the storage arrangement data D42 included in the storage management data D4 and the replacement management data D5 including the mobile table arrangement data D53. The control unit 5A1 moves the mobile table 53, the arm unit 54, and the hand unit 55 of the operating unit 52 by sending a control signal based on the storage arrangement data D42 and the replacement management data D5 to the control board of the operating unit 52.

(Array Processing)
When the part replacement device 5 is disposed at a position facing the storage device 4 and the operating unit 52 is disposed facing the storage unit 42, the control unit 5A1 performs an arrangement process in which the feeders 25 to be transferred in the storage unit 42 are moved onto the movable table 53, and the feeders 25 to be replenished are arranged on the movable table 53. This arrangement process will be described with reference to Figures 5 to 9. The arrangement process shown in Figures 5 to 9 is based on the movable table arrangement data D53 such that the arrangement of the feeders 25 to be replenished on the movable table 53 becomes the arrangement shown in the first example of Figure 4.

Based on the storage arrangement data D42, the control unit 5A1 checks the positions of the source storage support parts 421a to 421e that support the feeders 25A to 25E to be transferred in the storage unit 42. Based on the moving platform arrangement data D53, the control unit 5A1 also checks the positions of the destination exchange support parts 531b to 531f on the moving platform 53 that correspond to the feeders 25A to 25E to be transferred. Then, the control unit 5A1 moves the moving platform 53, the arm part 54, and the hand part 55 so that the feeders 25A to 25E to be transferred that are supported by the source storage support parts 421a to 421e in the storage unit 42 move to the destination exchange support parts 531b to 531f on the moving platform 53, and the arrangement of the feeders 25A to 25E on the moving platform 53 becomes the arrangement shown in the moving platform arrangement data D53.

At this time, the control unit 5A1 judges whether or not there is a feeder 25 to be processed in the specific feeder movement process shown in FIG. 5 among the feeders 25A-25E to be transferred in the storage unit 42. In the example of FIG. 5, the feeder 25C to be transferred supported by the storage support part 421a in the storage unit 42 is the feeder 25 to be processed in the specific feeder movement process. When the moving platform 53 is moved within the allowable movement range 532, if the exchange support part 531d of the transfer destination on the moving platform 53 does not face the storage support part 421a of the transfer source that supported the feeder 25C to be transferred in the storage unit 42, the control unit 5A1 performs the specific feeder movement process. In the specific feeder movement process, the control unit 5A1 moves the moving platform 53, the arm part 54, and the hand part 55 so that the feeder 25C to be transferred moves from the storage support part 421a of the transfer source to the storage support part 421f in the specific area 422 via the exchange support part 531a. When it is impossible to move the movable table 53 so that the exchange support section 531d of the transfer destination faces the storage support section 421a of the transfer source due to a restriction on the movement range of the movable table 53, the control unit 5A1 moves the feeder 25C to be transferred from the storage support section 421a of the transfer source to the storage support section 421f within the specific area 422 via the exchange support section 531a.

Specifically, the control unit 5A1 moves the moving platform 53 in the Y-axis direction within the allowable movement range 532 so that the exchange support part 531a faces the storage support part 421a of the source that supports the feeder 25C to be transferred. Next, the control unit 5A1 moves the arm part 54 in the Y-axis direction so that the hand part 55 is positioned above the exchange support part 531a. Then, the control unit 5A1 moves the hand part 55 along the X-axis direction from the storage device 4 side to the part exchange device 5 side while holding the feeder 25C to be transferred. As a result, the feeder 25C to be transferred is removed from the storage support part 421a of the source in the storage unit 42, and moved to the exchange support part 531a on the moving platform 53 and inserted.

Next, the control unit 5A1 moves the moving platform 53 in the Y-axis direction within the allowable movement range 532 so that the exchange support part 531a supporting the feeder 25C to be transferred faces the storage support part 421f in the specific area 422. Next, the control unit 5A1 moves the arm part 54 in the Y-axis direction so that the hand part 55 is positioned above the exchange support part 531a that has been moved to a position facing the storage support part 421f. Then, the control unit 5A1 moves the hand part 55 along the X-axis direction from the part exchange device 5 side to the storage device 4 side while holding the feeder 25C to be transferred. As a result, the feeder 25C to be transferred is extracted from the exchange support part 531a on the moving platform 53 and moved to the storage support part 421f in the specific area 422 of the storage unit 42 and inserted.

When the specific feeder movement process is completed, the control unit 5A1 repeats the first array movement process and the second array movement process shown in Figures 6 to 8 until the arrangement of the feeders 25A to 25E on the moving table 53 becomes the arrangement indicated by the moving table arrangement data D53.

In the first array movement process, the control unit 5A1 moves the moving platform 53 in the Y-axis direction within the allowable movement range 532 so that the destination exchange support part 531b faces the source storage support part 421b that supports the feeder 25A to be transferred. Next, in the second array movement process, the control unit 5A1 moves the arm part 54 in the Y-axis direction so that the hand part 55 is positioned above the destination exchange support part 531b. Then, the control unit 5A1 moves the hand part 55 along the X-axis direction from the storage device 4 side to the part exchange device 5 side while holding the feeder 25A to be transferred. As a result, the feeder 25A to be transferred is removed from the source storage support part 421b in the storage unit 42 and moved to the destination exchange support part 531b on the moving platform 53 and inserted.

The control unit 5A1 also performs the first array movement process and the second array movement process for the feeder 25B to be transferred, in the same manner as for the feeder 25A described above. As a result, the feeder 25B to be transferred is removed from the storage support section 421c of the transfer source in the storage unit 42, and moved to the exchange support section 531c of the transfer destination on the moving platform 53 and inserted therein.

The control unit 5A1 performs the first and second array movement processes described below for the feeder 25C to be transferred that has been moved to the storage support part 421f in the specific area 422 of the storage unit 42. In the first array movement process, the control unit 5A1 moves the moving platform 53 in the Y-axis direction within the allowable movement range 532 so that the exchange support part 531d of the transfer destination faces the storage support part 421f in the specific area 422 that supports the feeder 25C to be transferred. Next, in the second array movement process, the control unit 5A1 moves the arm part 54 in the Y-axis direction so that the hand part 55 is positioned above the exchange support part 531d of the transfer destination. Then, the control unit 5A1 moves the hand part 55 in the X-axis direction from the storage device 4 side to the part exchange device 5 side while holding the feeder 25C to be transferred. As a result, the feeder 25C to be transferred is removed from the storage support section 421f in the specific area 422 of the storage unit 42, and moved to the exchange support section 531d on the moving platform 53 where it is inserted.

The control unit 5A1 also performs the first array movement process and the second array movement process for the feeders 25D and 25E to be transferred, in the same manner as for the feeders 25A and 25B described above. As a result, the feeders 25D and 25E to be transferred are removed from the storage support parts 421d and 421e of the transfer source in the storage unit 42, and moved to the exchange support parts 531e and 531f of the transfer destination on the moving platform 53 and inserted therein.

By the first array movement process and second array movement process of the control unit 5A1, the feeders 25A-25E to be transferred are removed from the source storage support parts 421a-421e of the storage unit 42 and moved to and inserted into the destination exchange support parts 531b-531f on the mobile platform 53. By repeatedly performing the first array movement process and the second array movement process by the control unit 5A1 for each of the multiple feeders 25A-25E to be transferred, the arrangement of the feeders 25A-25E on the mobile platform 53 can be made into the arrangement shown in the mobile platform arrangement data D53.

As described above, in the arrangement process in which the control unit 5A1 moves the feeders 25 from the storage support section 421 of the storage unit 42 to the exchange support section 531 of the mobile table 53 and arranges them on the mobile table 53, the control unit 5A1 moves the mobile table 53, the arm section 54, and the hand section 55 so that the arrangement of the feeders 25 on the mobile table 53 becomes the arrangement indicated by the mobile table arrangement data D53. The mobile table arrangement data D53 is data indicating the arrangement of the feeders 25 on the mobile table 53, which is set so that the amount of movement of the mobile table 53 when the feeders 25 are exchanged between the supply support section 24 of the component supply unit 23 and the exchange support section 531 of the mobile table 53 falls within a target range and is as small as possible. Therefore, when the feeders 25 are exchanged between the component supply unit 23 and the mobile table 53 in a state in which a plurality of feeders 25 are arranged on the mobile table 53 according to the mobile table arrangement data D53, the amount of movement of the mobile table 53 can be kept within the target range. This makes it possible to improve the efficiency of replacement of the feeders 25 between the component supply unit 23 and the movable table 53.

9, when the second array movement process of the control unit 5A1 is being performed, the detection unit 56 detects the feeder 25X transferred to the destination exchange support section 531f on the moving table 53. In this case, the control unit 5A1 determines whether the feeder 25X detected by the detection unit 56 matches the feeder 25E to be placed on the destination exchange support section 531f based on the moving table array data D53. If they do not match, the control unit 5A1 outputs an error command signal S1 to the notification unit 57 to command the notification of error information SS1. The notification unit 57 can notify the error information SS1 based on the error command signal S1 output from the control unit 5A1.

When the control unit 5A1 outputs an error command signal S1, it moves the hand unit 55 so that the feeder 25X corresponding to the error command signal S1 moves from the exchange support unit 531f on the mobile table 53 to the storage support unit 421e of the transfer source in the storage unit 42. In this case, the feeder 25X corresponding to the error command signal S1 is returned from the mobile table 53 to the storage unit 42. This makes it possible to prevent the arrangement of the feeders 25 on the mobile table 53 from becoming an arrangement different from the mobile table arrangement data D53.

In addition, when the control unit 5A1 outputs an error command signal S1, the control unit 5A1 excludes the feeder 25X corresponding to the error command signal S1 from the processing target of the exchange process described below in which the feeder 25 is exchanged between the component supply unit 23 and the movable table 53. Specifically, the control unit 5A1 deletes the component type information D531 and the feeder identification information D532 related to the feeder 25X corresponding to the error command signal S1 in the exchange management data D5. In this case, the feeder 25X corresponding to the error command signal S1 is excluded from the processing target of the exchange process in which the feeder 25 is exchanged between the component supply unit 23 and the movable table 53. This makes it possible to prevent the feeder 25X corresponding to the error command signal S1 from being replenished to the component supply unit 23.

In addition, when the control unit 5A1 outputs an error command signal S1, it outputs an alternative preparation request signal S2 requesting the preparation of a feeder 25E to replace the feeder 25X corresponding to the error command signal S1. The alternative preparation request signal S2 output from the control unit 5A1 is input to the integrated management device 1A. In response to the input of the alternative preparation request signal S2, the integrated management device 1A updates the supply plan data D3 and transmits an alternative preparation command signal S3 to the storage management device 4A. The alternative preparation command signal S3 is a signal that commands the preparation of an alternative feeder 25E indicated by the alternative preparation request signal S2. When the storage management device 4A receives the alternative preparation command signal S3, it notifies, for example, information indicating that the preparation of an alternative feeder 25E is necessary. This allows, for example, an operator to prepare a feeder 25E to replace the feeder 25X corresponding to the error command signal S1 and replenish the prepared feeder 25E in the storage unit 42.

The control unit 5A1 does not have to output the replacement preparation request signal S2. In this case, for example, the operator can prepare a feeder 25E to replace the feeder 25X corresponding to the error command signal S1 based on the error information SS1 notified by the notification unit 57, and replenish the storage unit 42 with the prepared feeder 25E.

(Exchange process)
When the component replacement device 5 is disposed at a position facing the component mounter 2B, and the operation unit 52 is disposed facing the component supply unit 23, the control unit 5A1 performs replacement processing. In the replacement processing, the control unit 5A1 moves the movable table 53, the arm unit 54, and the hand unit 55 so that the feeder 25 moves and is replaced between the component supply unit 23 and the movable table 53 based on the replacement management data D5. In the replacement processing, the control unit 5A1 moves the movable table 53, the arm unit 54, and the hand unit 55 so that the feeder 25 is replaced between the component supply unit 23 and the movable table 53 in the order of arrangement of the feeders 25 to be supplied on the movable table 53 shown in the movable table arrangement data D53 included in the replacement management data D5, i.e., in the supply order. This replacement processing will be described with reference to Figs. 10 and 11. In Figs. 10 and 11, the feeder 25A to be collected from the component supply unit 23 to the movable table 53 is shown with hatching.

Based on the supply support part position information D52 included in the replacement management data D5, the control unit 5A1 checks the position of the recovery source supply support part 24b that supports the feeder 25A to be recovered in the part supply unit 23. Based on the movable carriage arrangement data D53, the control unit 5A1 also checks the position of the replacement support part 531b of the supply source on the movable carriage 53 of the feeder 25A to be replenished in response to the recovery of the feeder 25A to be recovered. In the replacement process, the control unit 5A1 repeatedly performs the recovery process shown in FIG. 10 and the supply process shown in FIG. 11.

In the collection process, the control unit 5A1 performs a first collection movement process and a second collection movement process. In the first collection movement process, the control unit 5A1 moves the moving table 53 in the Y-axis direction within the range of the allowable movement range 532 so that the exchange support part 531a of the collection destination faces the supply support part 24b of the collection source that supports the feeder 25A to be collected. Next, in the second collection movement process, the control unit 5A1 moves the arm part 54 in the Y-axis direction so that the hand part 55 is positioned above the exchange support part 531a of the collection destination. Then, the control unit 5A1 moves the hand part 55 in the X-axis direction from the component mounter 2B side to the component replacement device 5 side while holding the feeder 25A to be collected. As a result, the feeder 25A to be collected is extracted from the supply support part 24b of the collection source in the component supply unit 23 and moved to the exchange support part 531a of the collection destination on the moving table 53 for collection.

In the supply process, the control unit 5A1 performs a first supply movement process and a second supply movement process. In the first supply movement process, the control unit 5A1 moves the moving table 53 in the Y-axis direction within the range of the allowable movement range 532 so that the exchange support part 531b of the supply source that supports the feeder 25A to be supplied faces the supply support part 24b of the recovery source that is the supply destination. Next, in the second supply movement process, the control unit 5A1 moves the arm part 54 in the Y-axis direction so that the hand part 55 is located above the exchange support part 531b of the supply source. Then, the control unit 5A1 moves the hand part 55 along the X-axis direction from the component exchange device 5 side to the component mounter 2B side while holding the feeder 25A to be supplied. As a result, the feeder 25A to be supplied is extracted from the exchange support part 531b of the supply source on the moving table 53 and moved to the supply support part 24b of the recovery source in the component supply unit 23 for supply.

In the component mounting system 1, the component replacement system 3 increases the efficiency of the replacement of the feeders 25 between the component supply unit 23 and the moving table 53. In this case, the feeder 25A to be recovered due to a shortage of components or the like is efficiently recovered from the component supply unit 23, and the feeder 25A to be replenished in response to the recovery is efficiently replenished to the component supply unit 23.

The specific embodiments described above primarily include inventions having the following configurations:

A component exchange system according to one aspect of the present invention is a system that supplies a component supplying tool to a component supplying unit in response to retrieving the component supplying tool from the component supplying unit in which a plurality of supply support parts that support and store the component supplying tools that supply components to be mounted on a board are arranged in a predetermined direction. This component exchange system includes a storage unit in which a plurality of storage support parts that support and store a plurality of component supplying tools of different component types are arranged in a predetermined direction, a moving platform in which a plurality of exchange support parts that support the component supplying tools to be exchanged between the supply support parts and between the storage support parts are arranged in a predetermined direction and that can move in the arrangement direction of the plurality of exchange support parts, an operation unit including a gripper that grips the component supplying tool and moves relative to the moving platform to move the component supplying tool, and a control unit that controls the operation unit. When the operation unit is arranged opposite the component supplying unit, the control unit performs an exchange process that moves the moving platform and the gripper so that the component supplying tool moves and is exchanged between the plurality of supply support parts and the plurality of exchange support parts. In addition, when the operating unit is positioned opposite the storage unit, the control unit performs an arrangement process, as a pre-processing step of the replacement process, in which the multiple types of part supply tools supported on the multiple storage support parts are moved to the multiple replacement support parts, and the arrangement of the multiple types of part supply tools on the mobile table is arranged as indicated by predetermined arrangement data to keep the movement amount of the mobile table in the replacement process within a target range.

According to the above-mentioned part exchange system, in an arrangement process in which the part supply tools are moved from the storage support part of the storage unit to the exchange support part of the mobile table and arranged on the mobile table, the control unit moves the mobile table and the gripper so that the arrangement of the part supply tools on the mobile table becomes the arrangement indicated by the arrangement data. The arrangement data is data indicating the arrangement of the part supply tools on the mobile table, which is set so that the movement amount of the mobile table in the exchange process in which the part supply tools are exchanged between the supply support part of the part supply unit and the exchange support part of the mobile table falls within a target range. Therefore, when the part supply tools are exchanged between the part supply unit and the mobile table in a state in which multiple part supply tools are arranged on the mobile table according to the arrangement data, the movement amount of the mobile table can be kept within the target range. This makes it possible to increase the exchange efficiency of the exchange of part supply tools between the part supply unit and the mobile table.

In the above-mentioned part replacement system, in the arrangement process, the control unit may perform a first movement process of moving the mobile table so that a destination support part, among the multiple exchange support parts, to which the part supply tool to be transferred is to be transferred faces a source support part, among the multiple storage support parts, that supports the part supply tool to be transferred from the storage unit to the mobile table, and a second movement process of moving the gripper so that the part supply tool to be transferred moves from the source support part to the destination support part after the first movement process.

In this aspect, the component supply tool to be transferred is extracted from the storage support section of the storage unit as the source of the transfer and moved to the exchange support section on the transfer table as the destination of the transfer, by the first movement process and the second movement process of the control unit, and inserted. The first movement process and the second movement process by the control unit are repeatedly performed corresponding to each of the multiple component supply tools to be transferred, so that the arrangement of the component supply tools on the transfer table can be the arrangement indicated by the arrangement data.

In the above-mentioned part replacement system, in the storage unit, the support parts within a specific area among the multiple storage support parts are support parts that do not support the part supply tool, and the moving platform is movable within a predetermined allowable movement range in the arrangement direction of the multiple replacement support parts. Then, when the destination support part does not face the source support part when the moving platform is moved within the allowable movement range, the control unit moves the moving platform and the gripper so that the part supply tool to be transferred moves from the source support part to the support part within the specific area via the replacement support part.

In this embodiment, when it is impossible to move the mobile table so that the destination exchange support part faces the source storage support part due to restrictions placed on the moving range of the mobile table, the part supply tool to be transferred is moved from the source storage support part to the storage support part within the specified area via the exchange support part.

In the above-mentioned part replacement system, when the part supply tool to be transferred is moved to a support part within the specific area, the control unit may, in the first movement process, move the moving table so that the destination support part faces the support part within the specific area, and, in the second movement process, move the gripper so that the part supply tool to be transferred supported by the support part within the specific area moves to the destination support part.

In this embodiment, the part supply tool to be transferred that has been moved to the storage support section within a specific area of the storage unit is extracted from the storage support section within the specific area by the first movement process and the second movement process of the control unit, and moved to the exchange support section on the moving table to which it is to be transferred and inserted.

The above-mentioned part replacement system may further include a detection unit that detects the part supply tool to be transferred that has been transferred to the destination support part in the second movement process, and an alarm unit that notifies various information. In this case, the control unit determines whether the part supply tool detected by the detection unit matches the part supply tool to be placed on the destination support part based on the arrangement data, and outputs an error command signal to the alarm unit to command the notification of error information if they do not match.

In this embodiment, when the part supply tool transferred to the destination exchange support section on the moving table does not match the part supply tool that should be placed on the destination support section based on the arrangement data, the alarm unit can alarm error information based on the error command signal output from the control unit.

In the above-mentioned part replacement system, the control unit may move the gripper so that the part supply tool to be transferred corresponding to the error command signal moves from the destination support part to the source support part.

In this embodiment, the part supply tool corresponding to the error command signal is returned from the mobile table to the storage unit. This prevents the arrangement of the part supply tools on the mobile table from becoming different from the arrangement data.

In the above-mentioned part replacement system, the control unit may exclude the part supply tool to be transferred that corresponds to the error command signal from the processing targets of the replacement process.

In this embodiment, the part supply tool corresponding to the error command signal is excluded from the processing target of the exchange process in which the part supply tool is exchanged between the part supply unit and the moving table. This makes it possible to prevent the part supply tool corresponding to the error command signal from being replenished to the part supply unit.

In the above-mentioned part replacement system, the control unit may output an alternative preparation request signal to request preparation of a part supply tool to replace the part supply tool to be transferred in response to the error command signal.

In this embodiment, a replacement preparation request signal is output from the control unit. In this case, for example, an operator can prepare a replacement part supply tool for the part supply tool corresponding to the error command signal and replenish the prepared part supply tool in the storage unit.

A component mounting system according to another aspect of the present invention includes a component supply unit having a plurality of supply support parts arranged in a predetermined direction supporting component supply tools that supply components, a head unit that mounts components supplied by the component supply tools supported by the supply support parts onto a substrate, and the above-described component replacement system that replenishes the component supply tools to the component supply unit in response to retrieving the component supply tools from the component supply unit.

According to this component mounting system, the component replacement system increases the efficiency of component supply tool replacement between the component supply unit and the moving table. In this case, component supply tools to be collected due to a shortage of components or the like are efficiently collected from the component supply unit, and component supply tools to be replenished in response to the collection are efficiently replenished to the component supply unit.

As described above, according to the present invention, it is possible to provide a component replacement system capable of increasing the efficiency of replacement of component supply tools in a component supply unit, and a component mounting system including the same.

Claims (7)

1. A component replacement system that supplies component supplying tools to a component supplying unit in response to collection of the component supplying tools from a component supplying unit having a plurality of supply support parts arranged in a predetermined direction, the component supplying tools supplying components to be mounted on a board, the component supplying unit comprising:
a storage unit in which a plurality of storage support parts for supporting and storing a plurality of the component supply tools of different component types are arranged in a predetermined direction;
an operating unit including: a moving table on which a plurality of exchange support parts for supporting the component supply tools to be exchanged between the supply support part and the storage support part are arranged in a predetermined direction, the moving table being movable in the arrangement direction of the plurality of exchange support parts; and a gripping body for gripping the component supply tool and moving relative to the moving table to move the component supply tool;
A control unit for controlling the operation unit,
The control unit
When the operation unit is disposed opposite to the component supply unit, an exchange process is performed to move the movable table and the gripper so that the component supply tool is moved and exchanged between the plurality of supply support parts and the plurality of exchange support parts;
When the operating unit is disposed opposite the storage unit, as a pre-processing step for the replacement process, the multiple types of component supply tools supported on the multiple storage support parts are moved to the multiple replacement support parts, and an arrangement process is performed in which the movable table and the gripper are moved so that the arrangement of the multiple types of component supply tools on the movable table becomes an arrangement indicated by predetermined arrangement data so that the movement amount of the movable table in the replacement process falls within a target range ,
In the arrangement process, the control unit
a first moving process for moving the moving platform so that a destination support part, which is a destination of the component supply tool to be transferred, among the plurality of replacement support parts, faces a source support part, which supports a component supply tool to be transferred from the storage unit to the moving platform, among the plurality of storage support parts;
a second movement process for moving the gripper so that the component supply tool to be transferred moves from the source support part to the destination support part after the first movement process;
In the storage unit, a support portion within a specific area among the plurality of storage support portions is a support portion that does not support the component supply tool,
the movable table is movable within a predetermined allowable movement range in an arrangement direction of the plurality of exchange support units,
A part replacement system in which, when the destination support part does not face the source support part when the mobile table is moved within the allowable movement range, the control unit moves the mobile table and the gripper so that the part supply tool to be transferred moves from the source support part to a support part within the specific area via the replacement support part . The part replacement system of claim 1, wherein when the part supply tool to be transferred is moved to a support part within the specific area, the control unit, in the first movement process, moves the moving table so that the destination support part faces the support part within the specific area, and, in the second movement process, moves the gripper so that the part supply tool to be transferred supported by the support part within the specific area moves to the destination support part. 1. A component replacement system that supplies component supplying tools to a component supplying unit in response to collection of the component supplying tools from a component supplying unit having a plurality of supply support parts arranged in a predetermined direction, the component supplying tools supplying components to be mounted on a board, the component supplying unit comprising:
a storage unit in which a plurality of storage support parts for supporting and storing a plurality of the component supply tools of different component types are arranged in a predetermined direction;
an operating unit including: a moving table on which a plurality of exchange support parts for supporting the component supply tools to be exchanged between the supply support part and the storage support part are arranged in a predetermined direction, the moving table being movable in the arrangement direction of the plurality of exchange support parts; and a gripping body for gripping the component supply tool and moving relative to the moving table to move the component supply tool;
A control unit for controlling the operation unit,
The control unit
When the operation unit is disposed opposite to the component supply unit, an exchange process is performed to move the movable table and the gripper so that the component supply tool is moved and exchanged between the plurality of supply support parts and the plurality of exchange support parts;
When the operating unit is disposed opposite the storage unit, as a pre-processing step for the replacement process, the multiple types of component supply tools supported on the multiple storage support parts are moved to the multiple replacement support parts, and an arrangement process is performed in which the movable table and the gripper are moved so that the arrangement of the multiple types of component supply tools on the movable table becomes an arrangement indicated by predetermined arrangement data so that the movement amount of the movable table in the replacement process falls within a target range,
In the arrangement process, the control unit
a first moving process for moving the moving platform so that a destination support part, which is a destination of the component supply tool to be transferred, among the plurality of replacement support parts, faces a source support part, which supports a component supply tool to be transferred from the storage unit to the moving platform, among the plurality of storage support parts;
a second movement process for moving the gripper so that the component supply tool to be transferred moves from the source support part to the destination support part after the first movement process;
a detection unit that detects the component supply tool to be transferred that has been transferred to the destination support part in the second movement process;
and a notification unit for notifying various information.
The control unit determines whether the component supply tool detected by the detection unit matches the component supply tool to be placed on the destination support section based on the arrangement data, and if they do not match , outputs an error command signal to the notification unit to command the notification of error information. The part replacement system according to claim 3 , wherein the control unit moves the gripper so that the part supply tool to be transferred corresponding to the error command signal moves from the destination support part to the source support part. 5. The part replacement system according to claim 3 , wherein the control unit excludes the part supply tool to be transferred corresponding to the error command signal from a processing target of the replacement process. A part replacement system as described in any one of claims 3 to 5 , wherein the control unit outputs an alternative preparation request signal requesting preparation of a part supply tool to replace the part supply tool to be transferred in response to the error command signal. a component supply unit in which a plurality of supply support parts for supporting a component supply tool that supplies components are arranged in a predetermined direction;
a head unit that mounts the components supplied by the component supply tool supported by the supply support section onto a substrate;
and the component replacement system according to claim 1 , which replenishes the component supplying unit with the component supplying tool in response to collecting the component supplying tool from the component supplying unit.

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