Patent Description:
Conventionally, there has been known a system consisting of a moving body provided with a sensor for detecting an obstacle. For example, Patent Literature <NUM> discloses an unmanned vehicle (moving body) for conveying a wagon cart in which the periphery of the wagon cart is constantly monitored by a proximity detection device, and when the proximity detection device detects an obstacle coming into close proximity while the wagon cart is being conveyed by the unmanned vehicle, the movement of the unmanned vehicle is stopped. In the unmanned vehicle provided with the proximity detection device, the unmanned vehicle enlarges the range for detecting an obstacle by extending the proximity detection device in the width direction or the upper direction while the wagon cart is being conveyed. <CIT> discloses a conveyance vehicle which efficiently travels while preventing congestion, the conveyance vehicle conveying an object to be conveyed such as a container in which various substrates for manufacturing a semiconductor device are stored on an orbit.

<CIT> discloses a component mounting system provided with board conveyance devices, board work machines such as printers and component mounting machines, a storage container, and a unmanned conveyance vehicle which serves as a replenishing device of members between the board work machines and the storage container and the collection of used members. The unmanned conveyance vehicle comprises: detection means for enabling detection of an obstacle; light emitting means for emitting visible light; and light emission control means for controlling the light emitting means.

In a working system in which a work line is formed by arranging multiple modules, a moving body moves along the line and supplies necessary members to each module. The moving body includes a sensor for detecting the presence of an interfering object, and if an interfering object within a predetermined detection range is detected by the sensor while the moving body is moving, the movement of the moving body is stopped. However, in a working system in which a line constituent member constituting a part of a work line is installed in the moving path of the moving body, if a detection range of a sensor is enlarged to ensure safety, and the movement of the moving body is stopped due to the line constituent member entering the detection range of the sensor, there are cases in which the moving body cannot proceed further in the direction approaching the line constituent member causing replenishment work to be delayed.

It is a main object of the present disclosure to provide a working system capable of properly performing the operation of replenishing necessary members to each module and detecting interfering objects even when a line constituent member is present on the moving path of the moving object.

The present disclosure employs the following means in order to achieve the above-mentioned main object.

The working system of the present disclosure comprises: multiple modules constituting a work line; a moving body configured to move alongside a line in which multiple modules are lined up to replenish necessary members to each of the modules; and a line constituent member constituting a part of the work line, wherein the line constituent member is installable on the moving path of the moving body and has a light projecting section configured to project light toward the moving body along the moving path of the moving body; wherein the moving body is further comprised of: a sensor configured to detect presence of an interfering object, a light receiving section configured to receive light from the light projecting section, and a control section configured to monitor for the presence of the interfering object within a detection range of the sensor and, in a case of the line constituent member being installed on the moving path of the moving body, the control section stops the movement of the moving body when the interfering object is detected while monitoring for the presence of the interfering object on the moving path to the line constituent member based on a state of light received from the light receiving section; wherein the control section is capable of switching the detection range of the sensor between a first detection range and a second detection range that is smaller than the first detection range.

The working system of the present disclosure comprises multiple modules, a vehicle, and a line constituent member. The line constituent member can be installed on the moving path of the moving body and has a light projecting section that projects light toward the moving body along the moving path of the moving body. The moving body has a sensor configured to detect the presence of an interfering object, a light receiving section configured to receive light from the light projecting section, and a control section configured to monitor for the presence of the interfering object within a detection range of the sensor and, in a case of the line constituent member being installed on the moving path of the moving body, the control section stops the movement of the moving body when the interfering object is detected while monitoring for the presence of the interfering object on the moving path to the line constituent member based on a state of light received from the light receiving section. The control section can switch the detection range of the sensor between the first detection range and the second detection range which is smaller than the first detection range. With this configuration, when the detection range of the sensor is set to the second detection range, it becomes difficult for the sensor to detect the line constituent member as an interfering object, making it possible for the moving body to move to the vicinity of the line constituent member to continue the replenishment operation. In addition, since the moving body monitors for the presence of an interfering object on the moving path between the moving body and the line constituent member based on the state of light received from the light receiving section instead of the sensor, the moving body adequately detects an interfering object on the moving path. As a result, the working system can adequately perform replenishment work of necessary members to each module and detect an interfering object even when a line constituent member is present on the moving path of the moving body.

Next, an embodiment of the present disclosure will be described with reference to the drawings.

<FIG> is a diagram showing a schematic configuration of component mounting system <NUM> of the present embodiment. <FIG> is a diagram showing a schematic configuration of component mounting device <NUM>. <FIG> is a diagram showing a schematic configuration of tape feeder <NUM>. <FIG> is a diagram showing a schematic configuration of loader <NUM>. <FIG> is a diagram showing a schematic configuration of tray feeder <NUM>. <FIG> is a diagram showing electrical connections of mounting control device <NUM>, loader control device <NUM>, and management device <NUM>. In <FIG> and <FIG>, the left-right direction is the X-axis direction, the front-rear direction is the Y-axis direction, and the up-down is the Z-axis direction.

As shown in <FIG>, component mounting system <NUM> includes printer <NUM>, printing inspector <NUM>, multiple component mounting devices <NUM>, mounting inspection machine (not shown), loader <NUM>, feeder storage container <NUM>, tray feeder <NUM> (refer to <FIG>), and management device <NUM>. Printer <NUM> prints solder on board S. Printing inspector <NUM> inspects the state of solder printed by printer <NUM>. Component mounting device <NUM> is aligned along the conveyance direction (X-direction) of board S and mounts components supplied from tape feeder <NUM> and tray feeder <NUM> on board S. The print inspector inspects the mounting state of components mounted by component mounting device <NUM>. Loader <NUM> supplies necessary tape feeders <NUM> to multiple component mounting devices <NUM> and collects used tape feeders <NUM> from component mounting devices <NUM>. Feeder storage container <NUM> is capable of storing tape feeders <NUM> to be used in component mounting device <NUM> and used tape feeders <NUM>. Tray feeder <NUM> is configured to be detachable from component mounting device <NUM> and supplies trays, in which multiple components are accommodated, to component mounting device <NUM>. Management device <NUM> manages the entire system. Printer <NUM>, printing inspector <NUM>, and multiple component mounting devices <NUM> are arranged side by side in the conveyance direction of board S in this order to constitute a production line. Feeder storage container <NUM> is incorporated in the production line of component mounting system <NUM>, and is installed between component mounting device <NUM> and printing inspector <NUM> on the most upstream side in the conveyance direction of the board among the multiple component mounting devices <NUM>.

As shown in <FIG>, component mounting device <NUM> includes board conveyance device <NUM> for conveying board S from left to right, head <NUM> having a suction nozzle for sucking components supplied by tape feeder <NUM>, head moving mechanism <NUM> for moving head <NUM> in the front-rear direction and the left-right direction (XY direction), and mounting control device <NUM> (refer to <FIG>) for controlling the entire device. Component mounting device <NUM> further includes mark camera <NUM>, part camera <NUM>, nozzle station <NUM>, and the like. Mark camera <NUM> is attached to head <NUM> and images a reference mark, attached to board S, from above. Part camera <NUM> is installed between tape feeder <NUM> and board conveyance device <NUM> and images the component from below when the suction nozzle, which has picked up a component, passes above part camera <NUM>. Nozzle station <NUM> accommodates multiple types of suction nozzles in an interchangeable manner depending on the type of component to be picked up. Mounting control device <NUM> is composed of a well-known CPU, ROM, RAM, and the like. Image signals from mark camera <NUM> and part camera <NUM> are inputted to mounting control device <NUM>. Mounting control device <NUM> processes the image of board S captured by mark camera <NUM> and recognizes the position of the board mark (not shown) attached to board S, and in this way recognizes the position of board S. In addition, mounting control device <NUM> determines whether a component is picked up by the suction nozzle based on the image captured by part camera <NUM>, and determines the suction position and the suction orientation of the component. Mounting control device <NUM> outputs drive signals to board conveyance device <NUM>, head <NUM>, head moving mechanism <NUM>, and the like. Mounting control device <NUM> performs a suction operation in which head <NUM> and head moving mechanism <NUM> are controlled so that the component supplied by tape feeder <NUM> and tray feeder <NUM> are picked up by the suction nozzle. In addition, mounting control device <NUM> performs a mounting operation in which head <NUM> and head moving mechanism <NUM> are controlled so that the component picked up by the suction nozzle is mounted on board S.

As shown in <FIG>, tape feeder <NUM> includes tape reel <NUM>, tape feeding mechanism <NUM>, connector <NUM>, rail member <NUM>, and feeder control device <NUM> (see <FIG>). A tape is wound around tape reel <NUM>. The tape has multiple recesses at predetermined intervals along the longitudinal direction. Each recess accommodates a component. These components are protected by a film covering the surface of the tape. Tape feeding mechanism <NUM> feeds the tape from tape reel <NUM>. Tape feeder <NUM> drives tape feeding mechanism <NUM> to feed the tape rearward by a predetermined amount, thereby sequentially supplying the components accommodated in the tape to a component supply position. The components accommodated in the tape are exposed at the component supply position by peeling off the film before the component supply position and are picked up by the suction nozzle. Connector <NUM> has two positioning pins <NUM> protruding toward the attaching direction. Rail member <NUM> is provided at the lower edge of tape feeder <NUM> and extends in the attaching direction. Feeder control device <NUM> includes a well-known CPU, ROM, RAM, and the like, and outputs a drive signal to tape feeding mechanism <NUM>. Feeder control device <NUM> can communicate with a control section (e.g., mounting control device <NUM> or management device <NUM>) to which tape feeder <NUM> is attached via connector <NUM>.

As shown in <FIG>, tape feeder <NUM> is detachably attached to feeder table <NUM> provided in front of component mounting device <NUM>. Multiple feeder tables <NUM> are arranged in the X-direction, and tape feeders <NUM> are attached so as to be aligned in the X-direction. Feeder table <NUM> is an L-shaped table in the side view, and includes slots <NUM>, two positioning holes <NUM>, and connectors <NUM>. Rail member <NUM> of tape feeder <NUM> is inserted into slot <NUM>. Two positioning pins <NUM> of tape feeder <NUM> are inserted into two positioning holes <NUM>, and thus positions tape feeder <NUM> in feeder table <NUM>. Connector <NUM> is provided between the two positioning holes <NUM> and connects to connector <NUM> of tape feeder <NUM>.

Loader <NUM> is movable along X-axis rail <NUM> provided on the front face of multiple component mounting devices <NUM> and feeder storage container <NUM>, in parallel with the board conveyance direction (X-axis direction). In <FIG>, X-axis rail <NUM> is not shown.

As shown in <FIG>, loader <NUM> includes loader moving mechanism <NUM>, feeder transfer mechanism <NUM>, encoder <NUM> (refer to <FIG>), left and right monitoring sensors <NUM>, 58R (see <FIG>), light receiver <NUM> (see <FIG>), and loader control device <NUM> (see <FIG>). Loader moving mechanism <NUM> moves loader <NUM> along X-axis rail <NUM> and includes an X-axis motor 52a, such as a servo motor for driving a driving belt, and guide roller 52b for guiding the movement of loader <NUM> along X-axis rail <NUM>. Feeder transfer mechanism <NUM> transfers tape feeder <NUM> to component mounting device <NUM> or feeder storage container <NUM>, and includes clamp section <NUM> for clamping tape feeder <NUM> and a Y-axis slider <NUM> for moving clamp section <NUM> along Y-axis guide rail 55b. Y-axis slider <NUM> includes Y-axis motor 55a and moves clamp section <NUM> in the front-rear direction (i.e., the Y-axis direction) with driving Y-axis motor 55a. Encoder <NUM> detects the movement position of loader <NUM> in the X-direction. Monitoring sensors <NUM>, 58R monitor for the presence of an interfering object, and laser scanners can be used for this purpose. Monitoring sensors <NUM>, 58R can switch the sensor monitoring area between area <NUM> and area <NUM> smaller than area <NUM>, both of which will be described later, by switching a scanning range. Left monitoring sensor <NUM> is attached to the left side of loader <NUM> (i.e., the side opposite to the conveyance direction of board S) and is able to detect an interfering object mainly on the left of loader <NUM>. Right monitoring sensor 58R is attached to the right side of loader <NUM> (i.e., the same side as the conveyance direction of board S) and is capable of detecting an interfering object mainly on the right of loader <NUM>. Light receiver <NUM> is configured with safety curtain SC by being combined with light projector <NUM> installed in tray feeder <NUM>, which will be described later, and monitors for the presence of an interfering object between light projector <NUM> and light receiver <NUM>. Light receiver <NUM> and light projector <NUM> are arranged so as to face each other in series. Loader control device <NUM> is composed of a well-known CPU, ROM, RAM, and the like, receives detection signals from encoder <NUM>, monitoring sensors <NUM>, 58R, and light receiver <NUM>, and outputs drive signals to loader moving mechanism <NUM> (i.e., X-axis motor 52a) and feeder transfer mechanism <NUM> (i.e., clamp section <NUM> and Y-axis motor 55a).

When attaching tape feeder <NUM> from inside loader <NUM> into component mounting device <NUM>, loader control device <NUM> first controls X-axis motor 52a to move loader <NUM> to a position facing component mounting device <NUM> to which tape feeder <NUM> is to be attached. Next, loader control device <NUM> causes clamping section <NUM> to clamp tape feeder <NUM>. Loader control device <NUM> then causes Y-axis motor 55a to move Y-axis slider <NUM> rearward (i.e., to the component mounting device <NUM> side), inserts rail member <NUM> of tape feeder <NUM> into slot <NUM> of feeder table <NUM>, and causes clamp section <NUM> to release the clamp of tape feeder <NUM>. As a result, tape feeder <NUM> becomes attached to feeder table <NUM> of component mounting device <NUM>.

When tape feeder <NUM> is detached from component mounting device <NUM> and collected in loader <NUM>, loader control device <NUM> first causes X-axis motor 52a to move loader <NUM> to a position facing component mounting device <NUM> to which tape feeder <NUM> to be collected is attached. Next, loader control device <NUM> causes tape feeder <NUM> attached to feeder table <NUM> to be clamped by clamping section <NUM>. Loader control device <NUM> then causes Y-axis motor 55a to move Y-axis slider <NUM> forward (i.e., toward loader <NUM>). As a result, tape feeder <NUM> is removed from feeder table <NUM> and collected in loader <NUM>.

Feeder storage container <NUM> is provided with multiple feeder tables <NUM>, each having the same configuration as feeder table <NUM> provided in component mounting device <NUM>, to accommodate multiple tape feeders <NUM>. Feeder tables <NUM> of feeder storage container <NUM> are provided at the same height (i.e., position in the Z-direction) as feeder table <NUM> of component mounting device <NUM>. Therefore, loader <NUM> can attach and detach tape feeder <NUM> to and from feeder table <NUM> of feeder storage container <NUM> with the same operation as attaching and detaching tape feeder <NUM> to and from feeder table <NUM> of component mounting device <NUM> at the position facing feeder storage container <NUM>.

Board conveyance device <NUM> for conveying board S in the X-direction is provided behind feeder storage container <NUM>. Board conveyance device <NUM> is disposed at the same position, in the front-rear direction and vertical direction, as the board conveyance device (not shown) of printing inspector <NUM> and board conveyance device <NUM> of adjacent component mounting device <NUM>. For this reason, board conveyance device <NUM> can receive board S from the board conveyance device of printing inspector <NUM> and can convey the received board S to board conveyance device <NUM> of the adjacent component mounting device <NUM>.

Tray feeder <NUM> includes a magazine (not shown) capable of vertically accommodating multiple trays, lifting and lowering mechanism <NUM> for lifting and lowering the magazine, extraction mechanism <NUM> for extracting the tray from the magazine to a component supply position at a predetermined lifting position, light projector <NUM>, and feeder control device <NUM>. When the tray is extracted out to the component supply position by extraction mechanism <NUM>, the component accommodated in the tray can be picked up by the suction nozzle of component mounting device <NUM>. Light projector <NUM> is configured to project light toward loader <NUM> along the traveling path of loader <NUM>, with safety curtain SC being configured by combining loader <NUM> with light receiver <NUM> described above. Feeder control device <NUM> includes a well-known CPU, ROM, RAM, and the like, and outputs drive signals to lifting and lowering mechanism <NUM>, extraction mechanism <NUM>, and light projector <NUM>. When tray feeder <NUM> is attached to component mounting device <NUM>, feeder control device <NUM> is communicably connected to mounting control device <NUM> of mounted component mounting device <NUM>. Feeder control device <NUM> receives a request signal for requesting a component from mounting control device <NUM> and outputs information on the type and remaining number of components accommodated in each tray to mounting control device <NUM>.

Tray feeder <NUM> is attached to the front face of component mounting device <NUM>. When attached to component mounting device <NUM>, tray feeder <NUM> protrudes forward from component mounting device <NUM> and blocks the traveling path of loader <NUM>.

Management device <NUM> is a general-purpose computer, and as shown in <FIG>, receives a signal from input device <NUM> operated by an operator, outputs an image signal to display <NUM>, and outputs a drive signal to board conveyance device <NUM> that conveys board S. Production job data is stored in the memory of management device <NUM>. In the production job data, in each component mounting device <NUM>, which components are mounted on which board S, in which order, how many boards S mounted in this manner are manufactured, and the like are determined. Management device <NUM> is communicably connected to mounting control device <NUM> by wire and communicably connected to loader control device <NUM> wirelessly, receives information on the mounting state of component mounting device <NUM> from mounting control device <NUM>, and receives information on the driving state of loader <NUM> from loader control device <NUM>. In addition, management device <NUM> is also communicably connected to the respective control devices of printer <NUM>, printing inspector <NUM>, and the mounting inspector, and receives various types of information from the corresponding devices.

Management device <NUM> also manages feeder storage container <NUM>. Management device <NUM> is communicably connected to feeder control device <NUM> of tape feeder <NUM> attached to feeder table <NUM> of feeder storage container <NUM> via connectors <NUM>, <NUM>. Management device <NUM> stores storage information including the attaching position and identification information of tape feeder <NUM> stored in feeder storage container <NUM>, the type of accommodated components, the number of components remaining, and the like. Management device <NUM> updates the storage information to the latest information when tape feeder <NUM> is removed from feeder storage container <NUM> or when a new tape feeder <NUM> is attached to feeder storage container <NUM>.

The operation of component mounting system <NUM> configured as described above, in particular, the operation of loader <NUM> will be described. <FIG> is a flowchart showing an example of a loader control process executed by loader control device <NUM>. This process is performed when there is an instruction to attach or collect tape feeder <NUM> at any of the multiple component mounting devices <NUM>.

When the loader control process is executed, loader control device <NUM> first determines whether light (safety curtain SC) from light projector <NUM> is detected by light receiver <NUM>, that is, whether tray feeder <NUM> is present on the traveling path of loader <NUM> (S100). When it is determined that safety curtain SC is not detected, that is, when it is determined that tray feeder <NUM> is not present on the traveling path of loader <NUM>, loader control device <NUM> sets the sensor monitoring area to area <NUM> (S110). Next, loader control device <NUM> determines whether an interfering object is detected in the sensor monitoring area of monitoring sensors <NUM>, 58R (S120). Since the sensor monitoring area is area <NUM>, the process of S120 is a process for determining whether an interfering object is detected in area <NUM>. When it is determined that an interfering object is not detected in the sensor monitoring area, loader control device <NUM> causes loader moving mechanism <NUM> to travel toward the work position (S130) and determines whether the work position has been reached based on a signal from encoder <NUM> (S140). When it is determined that the work position has not been reached, loader control device <NUM> returns to S100 and repeats the process, and when it is determined that the work position has been reached, loader control device <NUM> performs work according to instructions (i.e., attachment work and collection work of tape feeder <NUM>) (S150) and ends the loader control process. When it is determined that an interfering object is detected in the sensor monitoring area in S120, loader control device <NUM> causes loader moving mechanism <NUM> to stop traveling (S160) and returns to S100. After stopping the traveling of loader <NUM>, loader control device <NUM> proceeds to S130 and resumes causing loader moving mechanism <NUM> to travel toward the work position when it is determined that an interfering object is no longer detected in loader control area in S120.

When it is determined that safety curtain SC is detected in S100, that is, when it is determined that tray feeder <NUM> is present along the traveling path of loader <NUM>, loader control device <NUM> acquires the position of loader <NUM> and the position of tray feeder <NUM> (S170). The position of tray feeder <NUM> can be derived based on a signal received from component mounting device <NUM>, to which tray feeder <NUM> is attached, via management device <NUM>. The position of loader <NUM> can be derived based on a signal from encoder <NUM>. Loader control device <NUM> then calculates (S180) the distance between tray feeder <NUM> and loader <NUM> (i.e., tray feeder-loader distance L), based on the acquired position of tray feeder <NUM> and the position of loader <NUM>, and determines whether calculated tray feeder-loader distance L is equal to or greater than predetermined distance Lref (S190). Here, predetermined distance Lref is set as a distance which is longer than the distance at which loader <NUM> can detect tray feeder <NUM>, installed on the traveling path, can be detected as an interfering object in area <NUM>. When it is determined that tray feeder-loader distance L is predetermined distance Lref or more, loader control device <NUM> sets the sensor monitoring area to area <NUM> (S110) and proceeds to S120 described above. On the other hand, when it is determined that tray feeder-loader distance L is less than predetermined distance Lref, loader control device <NUM> sets the sensor monitoring area to area <NUM>, which is smaller than area <NUM> and in which tray feeder <NUM> is not detected (S200). When the sensor monitoring area is set to area <NUM>, loader control device <NUM> determines whether an interfering object is detected in safety curtain SC (S210) and whether an interfering object is detected in loader management area with monitoring sensors <NUM>, 58R (S120) based on a signal from light receiver <NUM>. When it is determined that an interfering object is not detected in neither safety curtain SC nor the sensor monitoring area (area <NUM>), loader control device <NUM> causes loader moving mechanism <NUM> to travel toward the work position (S130). On the other hand, when it is determined that an interfering object is detected in either safety curtain SC or the sensor monitoring area (area <NUM>), loader control device <NUM> stops the traveling of loader moving mechanism <NUM> until the interfering object is no longer detected (S160).

<FIG> are diagrams showing sensor monitoring areas. As shown in <FIG>, when tray feeder <NUM> is not present along the traveling path, loader <NUM> sets the sensor monitoring area to area <NUM> to ensure safety and monitors for the presence of interfering object in area <NUM>. On the other hand, when tray feeder <NUM> is present on the traveling path, loader <NUM> detects tray feeder <NUM> as an interfering object and stops the traveling, as shown in <FIG>, as long as the interfering object continues to be detected in area <NUM>, thereby disabling attachment and collection of tape feeder <NUM> at component mounting device <NUM> in the vicinity of tray feeder <NUM>. Therefore, in component mounting system <NUM>, as shown in <FIG>, when tray feeder <NUM> is installed on the traveling path of loader <NUM>, the monitoring area of monitoring sensors <NUM>, 58R is switched from area <NUM> to area <NUM> in which tray feeder <NUM> is not detected, and the space between loader <NUM> and tray feeder <NUM> is monitored with safety curtain SC between light projector <NUM> installed in tray feeder <NUM> and light receiver <NUM> installed in loader <NUM> instead of monitoring sensors <NUM>, 58R. As a result, since loader <NUM> does not detect tray feeder <NUM> as an interfering object with monitoring sensors <NUM>, 58R, it becomes possible to approach the vicinity of tray feeder <NUM> and execute work. Further, loader <NUM> can detect an interfering object between loader <NUM> and tray feeder <NUM> with safety curtain SC (i.e., light receiver <NUM>) and can ensure adequate safety. As shown in <FIG>, when tray feeder <NUM> is detached from the production line (i.e., component mounting device <NUM>) and safety curtain SC is turned off, loader <NUM> switches the sensor monitoring area from area <NUM> back to area <NUM>. As described above, loader <NUM> automatically switches the monitoring area of monitoring sensors <NUM>, 58R to area <NUM> or area <NUM> depending on whether tray feeder <NUM> is present on the traveling path, thereby enabling operation even in the vicinity of tray feeder <NUM> while ensuring safety. If loader <NUM> continues traveling when tray feeder <NUM> is removed from the production line and the sensor monitoring area is switched from area <NUM> back to area <NUM>, a gap may temporarily occur in the monitoring. Therefore, even when tray feeder <NUM> is present along the traveling path, loader <NUM> sets the sensor monitoring area to area <NUM> when distance L between the tray feeder and the loader is equal to or greater than predetermined distance Lref.

Here, the correspondence between the main elements of the embodiment and the main elements of the present disclosure described in the claims will be described. That is, component mounting system <NUM> of the embodiment corresponds to a working system of the present disclosure, component mounting device <NUM> corresponds to a module, tray feeder <NUM> corresponds to a line constituent member, light projector <NUM> corresponds to a light projecting section, loader <NUM> corresponds to a moving body, monitoring sensors <NUM>, 58R correspond to sensors, light receiver <NUM> corresponds to a light receiving section, and feeder control device <NUM> corresponds to a control section. Component mounting device <NUM> corresponds to a component mounting device, and tray feeder <NUM> corresponds to a component supply device.

The working system (component mounting system <NUM>) of the embodiment described above includes multiple component mounting devices <NUM> (modules), loader <NUM> (moving body), and tray feeder <NUM> (line constituent member). Tray feeder <NUM> can be installed along the traveling path of loader <NUM> and includes light projector <NUM> for projecting light toward loader <NUM> along the traveling path of loader <NUM>. Loader <NUM> stops traveling when an interfering object is detected while loader <NUM> is traveling during the monitoring for the presence of an interfering object within the monitoring area of monitoring sensors <NUM>, 58R which detect the presence of an interfering object and light receiver <NUM> which receives light from light projector <NUM> in addition to the monitoring for the presence of an interfering object within the traveling path between loader <NUM> and tray feeder <NUM> based on the state of light received by light receiver <NUM> in the case where tray feeder <NUM> is installed on the traveling path of loader <NUM>. Loader control device <NUM> can switch the monitoring area of monitoring sensors <NUM>, 58R between area <NUM> and area <NUM>, which is smaller than area <NUM>. As a result, when the monitoring area of monitoring sensors <NUM>, 58R is set to area <NUM>, since monitoring sensors <NUM>, 58R do not detect tray feeder <NUM> as an interfering object, loader <NUM> can travel to the vicinity of tray feeder <NUM> and continue work. In addition, since loader <NUM> monitors for the presence of an interfering object on the traveling path between loader <NUM> and tray feeder <NUM> based on the state of light received by light receiver <NUM> instead of monitoring sensors <NUM>, 58R, it is possible to adequately detect the interfering object on the traveling path. As a result, even when tray feeder <NUM> is present on the traveling path of loader <NUM>, the working system can adequately perform the work of replenishing necessary members to component mounting devices <NUM> and detecting interfering objects.

In the working system of the embodiment, loader control device <NUM> sets the monitoring area of monitoring sensors <NUM>, 58R to area <NUM> when light receiver <NUM> is not receiving light from light projector <NUM> and sets the monitoring area to area <NUM> when light receiver <NUM> is receiving light from light projector <NUM>. As a result, loader control device <NUM> can easily determine the presence of tray feeder <NUM> on the traveling path of loader <NUM>.

In addition, loader control device <NUM> sets the monitoring area as area <NUM> when the distance between loader <NUM> and tray feeder <NUM> (tray feeder-loader distance L) is equal to or greater than predetermined distance Lref and sets monitoring area as area <NUM> when tray feeder-loader distance L is less than predetermined distance Lref. As a result, loader <NUM> can prevent a gap from occurring in the monitoring compared with the case where the monitoring area is switched from area <NUM> to area <NUM> after waiting for tray feeder <NUM> to be detached.

It is to be understood that the present disclosure is not limited to the embodiments described above in any way and may be implemented in various forms as long as the embodiments belong to the technical scope of the present disclosure.

For example, in the embodiment described above, loader control device <NUM> detects whether safety curtain SC is on with light receiver <NUM> to determine whether tray feeder <NUM> (line constituent member) is present on the traveling path of loader <NUM>. However, loader control device <NUM> receives a mounting signal indicating that the mounting is from mounting control device <NUM> of component mounting device <NUM> attached to tray feeder <NUM> and may determine whether tray feeder <NUM> is present along the traveling path based on the mounting signal received.

In the embodiment described above, when tray feeder <NUM> is present on the traveling path of loader <NUM>, loader control device <NUM> sets the sensor monitoring area as area <NUM> when tray feeder-loader distance L is equal to or greater than predetermined distance Lref, and sets the sensor monitoring area as area <NUM> when tray feeder-loader distance L is less than predetermined distance Lref. However, regardless of the length of tray feeder-loader distance L, loader control device <NUM> may set sensor monitoring area to area <NUM> when tray feeder <NUM> is not present on the traveling path of loader <NUM> and set sensor monitoring area to area <NUM> when tray feeder <NUM> is present on the traveling path of loader <NUM>. In this case, the steps of S170 to S190 of the loader control process of <FIG> may be omitted. Further, loader control device <NUM> may temporarily stop the traveling of loader <NUM> when switching the sensor monitoring area.

In the embodiment described above, the line constituent member is tray feeder <NUM>, but the present invention is not limited thereto, and any member may be used as long as the member constitutes a part of the work line and is disposed along the traveling path of loader <NUM>. For example, as shown in <FIG>, the component mounting system may include extraction device <NUM> that extracts component mounting device <NUM> forward so that component mounting device <NUM> overhangs from base <NUM>. Extraction device <NUM> includes a pair of left and right Y-axis guide rails <NUM>, which extend in the front-rear direction (Y-direction), provided on top of base <NUM>, and Y-axis slider <NUM>, which slides along Y-axis guide rails <NUM>, provided at the bottom of component mounting device <NUM>. Y-axis slider <NUM> is connected to extraction motor <NUM> via a ball screw mechanism (not shown). Extraction device <NUM> draws out component mounting device <NUM> by driving and controlling extraction motor <NUM> with mounting control device <NUM>. Even in such a component mounting system, by providing component mounting device <NUM> with the same light projector as in the embodiment, it is possible to monitor the space between component mounting device <NUM> and loader <NUM> with safety curtain SC. Loader <NUM> can switch the monitoring area of monitoring sensors <NUM>, 58R between the normal area <NUM> and area <NUM> in which extracted component mounting device <NUM> is not detected as an interfering object, for example, by determining with light receiver <NUM> whether safety curtain SC is turned on or off.

In the embodiment described above, the working system is applied to component mounting system <NUM>, but it is applicable to any working system as long as the working system includes multiple modules aligned along the work line and a moving body that moves along the work line and replenishes necessary members to each module.

The present disclosure can be applied to a manufacturing industry of working systems and the like.

Claim 1:
A working system (<NUM>), comprising:
multiple modules (<NUM>) constituting a work line;
a moving body (<NUM>) configured to move alongside a line in which multiple modules (<NUM>) are lined up to replenish necessary members to each of the modules (<NUM>), wherein the moving body includes a sensor (<NUM>, 58R) configured to detect presence of an interfering object; and
a line constituent member (<NUM>) constituting a part of the work line,
characterized in that:
the line constituent member (<NUM>) is installable on the moving path of the moving body (<NUM>) and has a light projecting section (<NUM>) configured to project light toward the moving body (<NUM>) along the moving path of the moving body (<NUM>); wherein the moving body (<NUM>) is further comprised of:
a light receiving section (<NUM>) configured to receive light from the light projecting section (<NUM>), and
a control section (<NUM>) configured to monitor for the presence of the interfering object within a detection range of the sensor (<NUM>, 58R) and, in a case of the line constituent member (<NUM>) being installed on the moving path of the moving body (<NUM>), the control section (<NUM>) stops the movement of the moving body (<NUM>) when the interfering object is detected while monitoring for the presence of the interfering object on the moving path to the line constituent member (<NUM>) based on a state of light received from the light receiving section (<NUM>); wherein
the control section (<NUM>) is capable of switching the detection range of the sensor (<NUM>, 58R) between a first detection range and a second detection range that is smaller than the first detection range.