JP2003258496A - Packaging unit - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a packaging unit that keeps a safety factor in selecting a drive unit, that is, suppresses a margin degree low, is capable of preventing the failure of the drive unit even if it is a low price drive unit at a minimum capacitance required, and is capable of performing effective production without stopping machinery. <P>SOLUTION: When effective torque calculated by effective torque detecting sections (27, 36) exceeds a predetermined upper limit value in effective torque determining sections (28, 37), the rotational speed of the drive units (10, 14, 23 and 24) is reduced to prevent a temperature from increasing due to the heat generation of parts inside the drive units. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mounting apparatus for mounting electronic parts (hereinafter referred to as "parts") on a circuit board (hereinafter referred to as "board").

[0002]

2. Description of the Related Art Conventionally, a mounting apparatus of this type has a structure in which a supply unit for supplying a predetermined type and quantity of electronic parts and a circuit board on which the electronic parts are mounted are held and the board is held vertically and horizontally. The configuration includes a unit, a mounting unit that mounts the electronic component on a circuit board, and a plurality of driving devices that drive the units.

That is, the components supplied from the supply unit are properly mounted in order on the substrate.

In the conventional mounting device, when the effective torque of the driving device exceeds a predetermined upper limit value due to the operating mode of the mounting device or the load variation, the driving device heats up due to the heat generation of the internal parts, and continues as it is. When driving, the drive device sometimes failed.

When it is considered that the effective torque of the drive device exceeds a predetermined upper limit value in order to prevent the above-mentioned failure,
The safety factor of the controllable drive device capacity, that is, the drive device having a large capacity with a high margin was selected.

As a result, when the drive device is selected, the drive device is excessively selected in terms of capacity, which further leads to an increase in machine cost.

[0007]

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to prevent a temperature rise due to heat generation of components inside the drive unit due to the effective torque of the drive unit exceeding a predetermined upper limit value, and to ensure safety when selecting the drive unit. The rate, that is, the margin is kept low,
(EN) Provided is a mounting device capable of preventing a failure of a driving device even with an inexpensive driving device having a minimum required small capacity and performing efficient production without stopping a machine.

[0008]

The present invention is configured as follows in order to achieve the above object.

According to the first aspect of the present invention, an electronic component supply device for supplying a plurality of electronic components, a circuit board on which the electronic components are mounted are held, and the circuit board is orthogonal to the mounting surface. And a mounting part that mounts the electronic component supplied from the electronic component supply device on the circuit board held by the substrate holding part, and an electronic component supply device. A plurality of drive devices that drive the board holding part and the mounting part, and an effective torque detection part that detects an effective torque required by at least one drive device of the plurality of drive devices at an effective torque detection cycle; In the effective torque determination unit, which determines whether the detected effective torque exceeds its upper limit value, or whether or not it has returned to its safe value from the excess state, Before performing the disconnection, it is determined whether or not the effective torque detected by the effective torque detection unit is a detection error, and the effective torque that is not a detection error is targeted for the determination by the effective torque determination unit. Means and
The electronic component supply device, the board holding unit, the mounting unit, the plurality of driving devices, the effective torque detection unit, the effective torque determination unit, and a control unit for performing control of the detection error removing means respectively. Of the drive device in which the effective torque is detected when it is determined that the detected effective torque is not a detection error by the detection error removing means and when the effective torque determination unit determines that the upper limit value is exceeded. When the initial rotation speed is reduced to a predetermined deceleration speed of the drive unit, and when the effective torque of the drive unit detected by the effective torque detection unit falls below its safe value, the above-mentioned drive unit Provided is a mounting device controlled by the control unit so as to return to the initial rotation speed.

That is, in the present invention, the effective torque detecting section detects the effective torque required by at least one of the plurality of driving devices within a predetermined time, for example, in a predetermined cycle and period, and the effective torque judging section detects the effective torque. Exceeds a predetermined upper limit value, and when the predetermined upper limit value is exceeded, the rotation speed of the drive device is reduced to a predetermined speed, and when the effective torque falls below a predetermined lower limit value, By returning to the rotation speed of No. 2, it is possible to prevent the failure of the drive device and to perform efficient production without stopping the machine.

According to a second aspect of the present invention, there is provided the mounting apparatus according to the first aspect, wherein each of the electronic components is an electronic component having a lead wire.

According to the third aspect of the present invention, the electronic component supply device takes out the electronic components supplied by the electronic component supply unit which accommodates a large number of electronic components and individually supplies the electronic components, and mounts the electronic components. There is provided a mounting apparatus according to a first aspect, which includes a plurality of transport bodies that transport the plurality of transport bodies to a unit, and a transport unit that arranges and moves the plurality of transport bodies in a series of annular shapes.

According to the fourth aspect of the present invention, the upper limit value of the effective torque in the effective torque determining section is such that an overload operation of decelerating the driving device and immediately accelerating the driving device immediately continues. There is provided the mounting apparatus according to the first aspect, wherein the rated torque of the drive unit is set to 105% corresponding to the allowable number of continuous overload operations when the mounting apparatus is performed.

According to the fifth aspect of the present invention, in the effective torque judging section, the safe value of the effective torque capable of returning to the initial rotational speed of the drive device is 95% of the rated torque of the drive device. The mounting apparatus according to the fourth aspect is provided.

According to a sixth aspect of the present invention, any one of the first to fourth aspects in which the effective torque detection period required for a predetermined unit time of the drive unit in the effective torque detection unit is set to 1 second or less A mounting apparatus according to one aspect is provided.

According to a seventh aspect of the present invention, the control unit stops the drive device when the effective torque does not fall below the predetermined upper limit value even if the rotation speed of the drive device is reduced. A mounting apparatus according to a sixth aspect, which is controlled as described above, is provided.

According to an eighth aspect of the present invention, there is provided the mounting apparatus according to the seventh aspect, wherein the drive device is composed of a servo motor and a drive control device for driving and controlling the servo motor.

According to a ninth aspect of the present invention, there is provided the mounting apparatus according to the seventh aspect, wherein the drive device comprises a motor controlled by an inverter and a drive control device for driving and controlling the motor.

According to a tenth aspect of the present invention, there is provided the mounting apparatus according to the seventh aspect, wherein the driving device comprises a stepping motor and a drive control device for driving and controlling the stepping motor.

According to an eleventh aspect of the present invention, there is provided the mounting apparatus according to the seventh aspect, wherein the detection error removing means has a time constant of 100 seconds.

According to the twelfth aspect of the present invention, the seventh aspect further comprises an input unit capable of inputting the set value of the deceleration speed of the rotation speed of the drive device when the deceleration is performed from the outside of the mounting apparatus. Provided is the mounting device described.

According to a thirteenth aspect of the present invention, there is provided the mounting apparatus according to the twelfth aspect, wherein the input section is an operation panel.

According to a fourteenth aspect of the present invention, the first input section is a floppy disk drive.
A mounting apparatus according to the second aspect is provided.

According to a fifteenth aspect of the present invention, there is provided the mounting apparatus according to the twelfth aspect, wherein the input section is an interface capable of inputting data from a host computer.

According to a sixteenth aspect of the present invention, when the detection error removing means determines that the effective torque detected by the effective torque detecting portion exceeds the upper limit value by the effective torque determining portion. Only when the judgment result continues for a predetermined number of times, it is judged that the effective torque detected by the effective torque detection unit is not a detection error, and when the judgment result does not continue for the predetermined number of times, the effective torque detection unit detects it. The first effective torque that is ignored is ignored because it is a detection error.
There is provided a mounting apparatus described in the aspect.

According to a seventeenth aspect of the present invention, the detection error removing means makes a judgment when the effective torque detected by the effective torque detecting portion is judged to be equal to or less than the upper limit value by the effective torque judging portion. Only when the result continues for a predetermined number of times, it is determined that the effective torque detected by the effective torque detection unit is not a detection error, and when the determination result does not continue for a predetermined number of times, it is detected by the effective torque detection unit. There is provided the mounting apparatus according to the first or sixteenth aspect, in which the effective torque is ignored as a detection error.

[0027]

Before continuing with the description of the invention, the same parts are provided with the same reference symbols in the accompanying drawings.

Hereinafter, the first aspect of the present invention will be described with reference to the drawings.
The embodiment will be described in detail.

(First Embodiment) A mounting apparatus according to a first embodiment of the present invention will be described below with reference to the accompanying drawings.

As shown in FIG. 1, under the control of the control unit 2, the electronic component supply unit 1 capable of accommodating a large number of electronic components arranged in a line and individually supplying them sends the electronic components 3 in the direction of arrow A. The component 3 is held by a plurality of transport bodies 5 arranged in a ring on a belt 4 as an example of an electronic component transport unit. The component 3 is supplied while being attached to the paper tape 3A and the like, and the supply unit 1 also has a function of cutting the paper tape in order to separate the component 3 into individual pieces. The electronic component supply unit 1 and the carrier 5 constitute an example of an electronic component supply device.

The carrier 5 opens and closes a pair of chucks,
It is in a form of holding a plurality of lead wires 6 of the component 3. The belt 4 is stretched around pulleys 7, 8 and 9 so as to form a substantially triangular shape, and the conveyors 5 are attached to the belt 4 at equal intervals. The belt 4 is normally rotated in a direction of an arrow B by a belt driving device 10 including a motor and a motor driver which is a drive control device thereof in response to a command from the control unit 2 to rotate the rotating cams 11, 12, 13
Is a power transmission device 1 such as pulleys 15 and 16 and a gear mechanism.
A rotary cam drive device 1 including a motor and a motor driver, which is a drive control device for the motor, via 7, 18
4, the intermittent rotation is performed with the moving amount of the transporting body 5 for each one rotation as the moving amount. When the transfer device 19 reaches a position where each component 3 held by each carrier 5 is transferred from each carrier 5 to the transfer device 19, the plurality of lead wires 6 of the component 3 held by the carrier 5 are transferred. The carrier 5 is released and the component 3
The plurality of lead wires 6 are transferred to the mounting unit 20. This series of operations is performed using the driving force based on the rotating operation of the rotating cam 12. The mounting portion 20 holds the plurality of lead wires 6 of the component 3, descends, and inserts into the plurality of insertion holes 22 of the board 21.
The plurality of lead wires 6 are inserted into the respective parts, the plurality of lead wires 6 are opened, and the parts are lifted to mount the component 3 on the board 21. This series of operations is performed using the driving force based on the rotating operation of the rotating cam 11. This substrate 21 is
A circuit board 2 as shown in FIG. 9 as an example of the board holding portion.
The circuit board 21 is held by an XY table 25 that can move in two XY directions that are orthogonal to each other along the mounting surface of the X-axis table 1. Positioning is performed by an X-direction drive device 23 that drives and controls the movement of the substrate in the Y-direction, and a Y-direction drive device 24 that controls the movement of the substrate in the Y-direction that includes a motor and a motor driver that is a drive control device thereof. It has become so.
The lead wire support (anvil mechanism) 26 is the substrate 21.
Located below the plurality of insertion holes 22 formed in the
Is moved up and down so as to receive the plurality of lead wires 6 and the plurality of lead wires 6 are cut and the plurality of lead wires 6 are clinched with respect to the board 21, and the mounting of the component 3 on the board 21 is completed. The lead wire support 26 is moved up and down by the rotary cam 13. These rotary cams 11, 12, 13 are rotated by a rotary cam drive device 14. That is,
The power of this rotary cam drive device 14 is
After that, the rotary cams 11, 12, and 13 are rotationally driven via the power transmission devices 17 and 18, respectively.

The drive units 10, 23, 24 are arranged in a predetermined rotational position of the rotary cams 11, 12, 13 connected to the drive unit 14 via a mechanical mechanism, that is,
It is configured to operate intermittently at the rotation angle. This is an example of a process of mounting the component 3 on the substrate 21.

The component inserting operation and its mechanism, which are carried out by utilizing the driving force based on the rotating operation of the rotating cam 11 which is rotated by the rotating cam drive device 14, will be described in detail.

FIG. 17 shows a mounting portion (mounting head) 20. The mounting portion 20 has a head body 80 having a side wall 80a having an L-shaped cross section and a top surface 80b, and the head body 80.
A vertical movement device 81, an insertion claw 68 provided in the lower portion of the head body 80, an opening / closing device 82 for the insertion claw 68, and a front-back rotation device 83 for the insertion claw 68. The cam plate 84 that constitutes the rotating device 83 includes the head body 8
It is detachably attached to 0. The vertical movement device 81 includes an outer shaft 81 mounted on the top surface 80b of the head body 80.
A cam plate 84 is detachably attached to a mounting portion 81c provided in the outer shaft 81a and attached to a lower portion of an inner shaft 81b to which the rotational power of the rotary cam 11 is transmitted.

Next, the rotating device 83 has the following structure. As shown in FIGS. 17 and 18, the rotating device 83 has a rotating shaft 83a pivotally supported by two through holes A provided in the side wall 80a of the head body 80.

An opening / closing lever 85, which is also an example of a drive lever shown in FIG. 20, is fixed to the right side portion of the rotary shaft 83a in FIG. 17, and a spring lever 86 of FIG. 17 is fixedly integrated to the left end side.

Further, a U-shaped rotating body 87 is provided behind the opening / closing lever 85. The right side wall 87a of the rotating body 87 has an opening 81 in the side wall 80a of the head body 80.
17 and penetrates to the head body 80 side, and the left side wall 87b projects forward outside the head body 80. In this state, the left and right side walls 80b and 80a are pivoted by the through hole B. It is rotatably supported by 83a.

The rotating body 87 has a lever 87c protruding forward from the outside of the side wall 87b as shown in FIG. 19, and the tip of this lever 87c abuts on the abutting portion 80c at the lower end of the head body 80, Further rotation (state of FIG. 17) to the front side is prevented.

Further, as shown in FIGS. 17 and 20, the upper end of the first insertion claw 68a is fixed to the bottom wall 87d of the rotating body 87 using a fixing tool (not shown).

Further, the first insertion claw 68a and the second insertion claw 68b are overlapped with each other, and the middle part of the second insertion claw 68b is pivotally supported by the pin 88 in the middle part of the first insertion claw 68a. By overlapping the first and second insertion claws 68a and 68b, the size can be reduced, and the positional accuracy between the first and second insertion claws 68a and 68b can be easily obtained, thereby improving the reliability of operation. Will be high.

Further, as shown in FIG. 21, there are three holding claws 89, three on the tip side of the first and second insertion claws, respectively.
22 to 94, and even if the component 3 has three lead terminals 6 as shown in FIG. 22 and FIG. The lead terminals 6 can be securely held by the holding claws 89 to 94, and each lead terminal 6 has the first and second insertion claws 6.
Since they are sandwiched by the sandwiching claws 89 to 91 and 92 to 94 of 8a and 68b, respectively, the pitch between the lead terminals 6 is not changed, and as a result, the mounting can be smoothly performed.

A cam follower 95 is rotatably provided at the upper end of the second insertion claw 68b as shown in FIG. 20, and the cam follower 95 is brought into contact with the cam surface 96 at the left end of the opening / closing lever 85. There is.

As shown in FIG. 20, the cam follower 97 at the right end of the opening / closing lever 85 is in contact with the cam surface 98 of the cam plate 84.

Then, in the above construction, as shown in FIG. 17, the pin 99 of the spring lever 86 and the head main body 80.
A spring 101 is stretched between the pins 100 of the abutting portion 80c, and the pin 102 of the rotating body 87 and the pin 1 of the abutting portion 80c are stretched.
A spring 104 is stretched between 03 and applies tension to each. Further, the lever 87c and the second insertion claw 68
A spring 105 is provided between the upper portions of b to apply a repulsive force.

Next, the operation will be described. First, as shown in FIG. 24, the component 3 is transferred to the insertion claw 68 by the transfer chuck 69 of the component transfer device 19 at the upper side.

At this time, the first and second insertion claws 68a, 6a
8b must be opened as shown in FIG. 22. Therefore, the rotating power of the rotating cam 11 causes the center shaft 81b to rotate.
Is pushed down, which causes the cam plate 84 to open and close the opening / closing lever 85.
Is pushed down.

As a result, the cam surface 96 of the opening / closing lever 85 pivots rearward, whereby the front of the cam surface 96 opposes the cam follower 95 at the upper end of the second insertion claw 68b, and the spring 105 moves. The repulsive force pushes the upper portion of the second insertion claw 68b to the right in FIGS. 17 and 20.

As a result, the first and second insertion claws 68a and 68b are opened as shown in FIG. 22, and in this state, the transfer of the component 3 from the transfer chuck 69 is completed. It will be done.

Next, the first and second insertion claws 68a and 68b.
The central shaft 81b is lifted to close, and the lead terminal (lead wire) 6 is clamped by the clamping claws 89 to 94 as shown in FIG. 23, and the component 3 is held as shown in FIG.

Then, the outer shaft 81a and the inner shaft 81b are lowered synchronously to lower the head main body 80 to the substrate 21 as shown in FIG. 25, and to insert a plurality of holes into the plurality of insertion holes 22 of the substrate 21 of FIG. Insert the lead terminal 6.

At this time, the receiving pin 10 is provided below the substrate 21.
8 rises and waits for the lead terminal 6 to descend. In this way, when the lead terminal 6 is inserted into the plurality of insertion holes 22, the upper end of the component 3 is coaxial with the inner shaft 81b. The provided pusher 109 is pushed down and brought into contact with the pusher 109, whereby the upper and lower ends of the component 3 are sandwiched between the pusher 109 and the receiving pin 108.

FIG. 11 shows a state in which the center shaft 81b is pushed down to open the first and second insertion claws 68a, 68b as shown in FIG. 22, but at that time, as shown in FIG.
Since the lower end is clamped by the pusher 109 and the receiving pin 108, the first and second insertion claws 68a, 68
Even if b is opened, the part 3 does not fall down.

In this state, as shown in FIG. 27, first,
The insertion claw 68 escapes to the outside of the component 3, and when this escape is completed, the pusher 109 and the receiving pin 108 start descending, and finally the lower end of the component 3 comes to the upper surface of the substrate 21 as shown in FIGS. Abut. Next, while the upper surface of the component 3 is being pressed by the pusher 109, the receiving pin 108 is further lowered as shown in FIG. 28, and thereafter, the lower ends of the plurality of lead terminals 6 are cut and clinched by the lead wire support body (anvil mechanism) 26. Then, the mounting of the component 3 is completed.

FIGS. 5A and 5B are timing charts of the mounting operation of the mounting apparatus according to the first embodiment of the present invention. In FIGS. 5A and 5B,
The “cam power” is the driving force of the rotary cam driving device 14. The "rotating cam for vertically moving the insertion head" is the above-mentioned rotating cam 11 for vertically moving the mounting portion for vertically moving the mounting portion 20. The pusher 109 vertical rotation cam is a pusher vertical rotation cam (not shown) for vertically moving the pusher 109. What is an "XY table"?
The X-direction driving device 23 and the Y-direction driving device 24 of the XY table 25. Further, in the figure, (a) is the state of the component insertion start operation of FIG. 10, (b) is the state of the component insertion operation of FIG. 11, (c) is the state of the component insertion completion of FIG. 12, and (d).
Shows the ascending operation states after the components are inserted in FIG. 13, respectively.

In the following description of the operation, first, it is necessary to change the driving state of the rotary cam driving device 14 according to the distance between the mounting positions in the continuous component mounting of the substrate 21 of the XY table 25. The operation will be described separately based on whether it is 30 mm or less.

First, as shown in FIG. 5A, when the distance between the mounting positions in the continuous component mounting of the substrate 21 of the XY table 25 is 30 mm or less, in other words, XY.
A case where the time for moving the substrate 21 by the table 25 is shorter than the time for lowering and raising the insertion head and the pusher 109 will be described.

In FIG. 5 (A), while the rotation angle of each rotary cam is from 0 degree to 180 degrees, then returns to 0 degrees, and further passes through 180 degrees to return to 0 degrees, the rotary cam drive device 1
4 normally continues to rotate at 3000 rpm, for example, and continues to output cam power. The speed waveform of the rotary cam drive device 14 at this time is shown in FIG.

First, the rotation angle of each rotary cam is from 0 degree to 9 degrees.
During the vicinity of 0 degrees, as shown in (a) of FIG. 5A and FIG. 10, the insertion head is held at the upper end position by the insertion head up / down rotation cam and the pusher 10 is held.
9. The pusher 109 is also held at the upper end position by the vertical rotation cam 9. At this time, X of the XY table 25
The direction driving device 23 and the Y direction driving device 24 are rotationally driven at the maximum speed of 3000 rpm, and the XY table 25 is rotated.
Drive control is performed so that the next mounting position of the substrate 21 held by is located below the insertion head.

When the rotation angle of each rotary cam is close to 90 degrees, the insertion head vertical rotation cam causes the insertion head to descend from the upper end position toward the lower end position, and the pusher 109 vertical rotation cam causes the pusher 109 to move to the upper end. It begins to descend from the position toward the lower end position. At this time, the X-direction drive device 23 and the Y-direction drive device 24 of the XY table 25 start deceleration operation.

When the rotation angle of each rotary cam approaches 180 degrees, the next mounting position of the substrate 21 is located below the insertion head by the driving of the X-direction driving device 23 and the Y-direction driving device 24 of the XY table 25. X-direction drive device 23 and Y
The drive with the direction drive device 24 is stopped. At this time, the insertion head up / down rotation cam keeps the insertion head descending from the upper end position to the lower end position, and the pusher 109 up / down rotation cam keeps the pusher 109 also descending from the upper end position to the lower end position.

When the rotation angle of each rotary cam exceeds 180 degrees, as shown in (b) of FIG. 5 (A) and FIG.
Due to the rotation of the insertion head up / down rotary cam 12, the insertion head reaches the lower end position and once descends and stops, maintains a stopped state for several degrees of the rotation angle of each rotary cam, and then starts rising. At this time, as shown in (c) of FIG. 5 (A) and FIG. 12, the pusher 109 also reaches the lower end position slightly behind the insertion head by the pusher 109 up / down rotation cam, but immediately starts rising. To do. At this time, the driving of the X-direction driving device 23 and the Y-direction driving device 24 remains stopped.

In a plurality of insertion holes 22 at predetermined mounting positions of the substrate 21 held by the XY table 25 that has been stopped in the driving state, in the vicinity of 180 degrees of the rotation angle of each rotary cam and up to 270 degrees after passing through the rotation angle. Then, the insertion of the plurality of lead terminals 6 of the component 3 held by the insertion head is started by pressing the pusher 109 to complete the insertion, and the anvil mechanism 26 performs cutting and clinching, and the substrate 2 of the component 3 is cut.
Implementation to 1 is completed.

When the rotation angle of each rotary cam becomes close to 270 degrees, as shown in (d) of FIG. 5 (A) and FIG. 13, the insertion head up / down rotation cam holds the insertion head at the upper end position again. To be done.

When the rotation angle of each rotary cam exceeds 270 degrees and approaches 360 degrees (in other words, 0 degrees), the pusher 109 is held at the upper end position again by the vertical rotation cams. At this time, the X-direction driving device 23 and the Y-direction driving device 24 of the XY table 25 are rotationally driven at the maximum speed of 3000 rpm, so that the next mounting position of the substrate 21 held on the XY table 25 is below the insertion head. The drive is controlled so that it is located. X
The driving of the X-direction driving device 23 and the Y-direction driving device 24 of the Y table 25 is started, driven, and stopped when the insertion head is at or near the upper end position and the pusher 109 is also at or near the upper end position. To be done.

When the distance between the mounting positions in the continuous component mounting on the substrate 21 of the XY table 25 is 30 mm or less, the above steps are basically repeated.

However, the substrate 2 of the XY table 25
The distance between the mounting positions in one continuous component mounting is 30
When it exceeds 100 mm and becomes 100 mm, for example, FIG.
The process is as shown in FIG. 14B (step S2 in FIG. 14).
See 0. X-direction driving device 23 or Y-direction driving device 24
It is determined whether or not the amount of movement of the substrate 21 due to the drive of exceeds 30 mm. Steps S21 to S23 are performed only when the movement amount exceeds 30 mm, and steps S21 to S23 are not performed when the movement amount does not exceed 30 mm. ).

That is, the substrate 2 is moved by the XY table 25.
1 time to move the insertion head and pusher 109
Since it is longer than the descending and ascending time of,
Stop allocation time increases. That is, in FIG. 5 (A), assuming that a section in which the rotation angle of each rotary cam is 0 degree to 180 degrees and then returns to 0 degree is one operation allocation section, 180 degrees of the second operation allocation section. The positions of 0 ° and 0 ° are the positions of 180 ° and 0 ° in the first motion allocation section of FIG. 5 (B). That is, the operation allocation section in FIG. 5 (B) is twice the operation allocation section in FIG. 5 (A).

While the rotation angle of each rotary cam in the first operation allocation section in FIG. 5 (B) goes from 0 degree to 180 degrees, the rotary cam drive device 14 drives the substrate 2 as described later.
Considering the drive time of the XY table 25 of 1, for example, 3
The speed is reduced from 000 rpm to 0 rpm (see step S21 in FIG. 14. The rotary cam drive device 14 is decelerated and driven. This deceleration operation is performed in step S22 in FIG.
This is performed until the driving of the direction driving device 23 or the Y direction driving device 24 is completed. ), The rotation angle of each rotary cam temporarily stops at around 90 degrees, then immediately accelerates to 3000 rpm, and outputs the cam power so as to maintain 3000 rpm in the section from around 180 degrees to 360 degrees (0 degrees). is doing.

While the rotation angle of each rotary cam is from 0 degree to near 180 degrees, as shown in FIG. 10, the insertion head up / down rotation cam holds the insertion head at the upper end position, and the pusher 109 moves up and down. The pusher 109 is also held at the upper end position by the rotary cam for use. In the section from 0 ° to around 90 ° of the rotation angle of each rotary cam, the X-direction drive device 23 and the Y-direction drive device 24 of the XY table 25 are rotationally driven at the maximum speed of 3000 rpm and are held on the XY table 25. The drive control is performed so that the next mounting position of the board 21 is positioned below the insertion head. When the rotation angle of each rotary cam approaches 90 degrees, the X-direction drive device 23 and the Y-direction drive device 24 of the XY table 25 are decelerated and stopped.

When the rotation angle of each rotary cam becomes close to 180 degrees, the insertion head vertical rotation cam causes the insertion head to start descending from the upper end position toward the lower end position, and the pusher 109 causes the vertical rotation cam to pusher 109.
Also starts to descend from the upper end position to the lower end position.

When the rotation angle of each rotary cam exceeds 180 degrees, as shown in FIG. 11, the rotation of the rotary cam 12 for moving the insertion head up and down causes the insertion head to reach the lower end position and temporarily stop descending. The suspension state is maintained for several degrees of the rotation angle of the rotary cam, and then the ascent starts. At this time, as shown in FIG. 12, although the pusher 109 also reaches the lower end position slightly behind the insertion head by the pusher 109 up / down rotation cam, the pusher 109 immediately starts rising. Also,
At this time, the driving of the X-direction driving device 23 and the Y-direction driving device 24 remains stopped.

A plurality of insertion holes 22 at predetermined mounting positions of the substrate 21 held by the XY table 25 which is stopped in the vicinity of 180 degrees of the rotation angle of each rotary cam and 270 degrees after passing through the rotation angle. Insertion of the plurality of lead terminals 6 of the component 3 held by the insertion head is started by pressing the pusher 109 to complete the insertion, and cutting and clinching are performed by the anvil mechanism 26 to remove the component 3 to the substrate 21. Implementation is complete.

When the rotation angle of each rotary cam becomes close to 270 degrees, as shown in FIG. 13, the insertion head up / down rotation cam holds the insertion head again at the upper end position.

When the rotation angle of each rotary cam exceeds 270 degrees and becomes close to 360 degrees (in other words, 0 degrees), the pusher 109 is held at the upper end position again by the vertical rotation cam. At this time, the X-direction drive device 23 and the Y-direction drive device 24 of the XY table 25 are accelerated from the stopped state and rotationally driven at the maximum speed of 3000 rpm (see step S23 in FIG. 14; the rotary cam drive device 14). The driving is controlled so that the next mounting position of the substrate 21 held by the XY table 25 is positioned below the insertion head. The driving of the X-direction driving device 23 and the Y-direction driving device 24 of the XY table 25 is started, driven, and stopped when the insertion head is at or near the upper end position and the pusher 109 is also at or near the upper end position. To be done.

As described above, the distance between the mounting positions in the continuous component mounting on the substrate 21 of the XY table 25 is 3 mm.
0 mm or less and 30 mm or more, eg 10
The driving operation of each driving member is significantly different from the case of 0 mm.

The reason for this will be described with reference to FIG. Figure 7
4 is a graph showing the relationship between speed and time for showing the speed waveform of the rotary cam drive device 14 when the movement amount of the XY table 25 exceeds 30 mm.

A graph that descends with a solid line and rises with a dotted line is
When the movement amount of the XY table 25 is 95 mm, the speed is 30
The figure shows a state in which deceleration is started from 00 rpm and deceleration is changed to acceleration without being temporarily stopped in the vicinity of 0 rpm.
In this state, the rotary cam drive device 14 is not much loaded.

A graph that descends with a solid line and rises with a solid line is
When the amount of movement of the XY table 25 is 100 mm, the speed is 3
The figure shows a state in which the speed is decelerated from 000 rpm, the motor is temporarily stopped, and then immediately accelerated. In this state, the rotary cam drive device 14 is heavily loaded.

The graph in which the solid line descends and the one-dot chain line rises indicates that when the movement amount of the XY table 25 is 105 mm, the speed decelerates from 3000 rpm, stops for a while near 0 rpm, and then changes to acceleration. It shows the state to do. In this state, the rotary cam drive device 14 is not much loaded.

Therefore, the load is most easily applied to the rotary cam drive device 14 when the movement amount of the XY table 25 is 10.
It is when it is 0 mm. That is, the rotary cam drive device 14
When the deceleration driving is performed and the vehicle is temporarily stopped, the acceleration is immediately driven, and the load is the largest. By repeating such an operation, the effective torque exceeding 110% of the rated torque continues to be required.
At 0, 14, 23, and 24, a rapid temperature rise occurs, which causes a failure. When such an overload state continues in the rotary cam drive device 14, the operation of such an overload state is reduced before the rotary cam drive device 14 fails, for example, the load is reduced as indicated by the dotted line state. By doing so, the rotary cam drive device 1 can be operated without stopping the operation.
The purpose of this embodiment is to prevent the failure of No. 4 from the above. However, in the above example, although 100 mm is the state in which the overload is most exerted, the characteristics of the rotary cam drive device 14,
Structure and material of other devices and mechanisms, heat resistance, cooling function, etc.
The distance varies in various ways due to various factors. In one rotating cam driving device 14, 90 mm is the distance over which the overload acts most, and in another rotating cam driving device 14, it is 110 mm.
Can be the distance at which the overload acts most. Therefore, in short, in the present embodiment, when the drive device for which the effective torque is to be detected is deceleratingly driven and once stopped, the overload acts most when it is operated so as to be immediately accelerated. A certain number of overload conditions (in other words, it should be called the number of continuous overload operation that induces a failure, and the number varies depending on the characteristics of the drive device and the operating environment). Therefore, when a predetermined number of times less than a certain number of times (in other words, the number of allowable continuous overload operations) is performed, a similar operation in the overload state is not performed any more, and
By continuing the operation under a sufficiently light load condition without stopping the operation, a large reduction in production efficiency (in other words,
It is intended to prevent the production efficiency from being lowered due to the stoppage of the driving device.

In the mounting apparatus having such a structure, the effective torque detecting section 27 includes the driving devices 10, 14, 23,
The respective effective torques when 24 (at least the rotary cam drive device 14) operate are obtained for each effective torque detection cycle (a predetermined period unit that is a cycle for periodically detecting the effective torque), and each detection cycle The effective torque determination unit 28 is notified of each result. That is, the drive device 10, 1
4, 23, 24 are informed by a torque detector built in or attached to each of the driving devices 10, 14, 2
3 and 24, the effective torque in the predetermined period, which is the detection period, is calculated by the effective torque detection unit 27 from the torque required (for example, within a predetermined time), and the respective drive devices 10, 1
The effective value determined in 4, 23, 24 is notified to the effective torque determination unit 28. The predetermined period as the detection cycle,
Usually, it is set to 1 second or less, and the period for detecting the effective torque and notifying the effective torque determination unit 28 is also set to 1 second or less. By detecting in a cycle as short as 1 second or less in this way, even if there is a load change due to an abnormality, it is possible to reliably detect and detect it.

It is convenient to keep the detection period constant at all times, but it is not limited to this. Immediately after the activation of the drive devices 38, 39, 40, 41, that is, the drive devices 38, 39, When the temperatures of 40 and 41 have not risen so much with respect to the ambient temperature, the detection cycle is roughened in the period in which the temperature does not suddenly rise until the failure immediately even if the effective torque exceeds the upper limit value. You may do it.

If all or some of the drive units 10, 14, 23, 24 have the same detection cycle, a simple structure can be obtained, but the present invention is not limited to this, and the type of motor and Considering the load condition,
The detection cycle may be different for each of the driving devices 10, 14, 23, 24.

The effective torque determination section 28 uses the result from the effective torque detection section 27 to determine the drive devices 10, 14, 23, 24.
It is determined whether or not any one of the effective torques exceeds a predetermined upper limit value, and the control unit 2 is notified of the result. For example, when the effective torque of any one of the driving devices exceeds a predetermined upper limit value, the control unit 2 drives the driving device so as to decelerate the one of the driving devices to a predetermined rotation speed. Control. At this time, if necessary,
Other drive devices can also be appropriately drive-controlled according to the drive control of any one drive device.

The above predetermined upper limit values are usually 105% of the rated torques of the drive units 10, 14, 23 and 24, respectively. This value is equal to
It is a value corresponding to the number of allowable continuous overload operations when continuously performing overload operations such as 0, 14, 23, 24 being decelerated and immediately stopped as soon as they are stopped.
The drive units 10, 14, 23, 24 are usually assumed to be used at 100% or less of the rated torque. In particular, if a state in which an effective torque exceeding 110% of the rated torque is required continues, a rapid temperature rise occurs in the drive devices 10, 14, 23, 24, which causes a failure. By setting the upper limit of 105% of the rated torque, it is possible to prevent a rapid temperature rise.

The driving devices 10, 14, 23, 2 are
The upper limit of 4 is 1 for each rated torque for the sake of simplicity.
Although it is set to 05%, it is not limited to this, and in consideration of the type of motor and heat resistance characteristics, the driving device 10, 1
The upper limit value of the effective torque may be different for each of 4, 23 and 24.

After decelerating any one of the above driving devices to a predetermined rotational speed, when the effective torque of any one of the above driving devices is restored to a predetermined lower limit value, that is, a safe value, any one of the above Accelerate the drive to its original rotational speed.

The above safety value is usually 95% of the rated torque.
And the value. Here, the safety value is 100 of the rated torque.
%, But 105% of the rated torque, which is the upper limit
However, since there is no margin, the effective torque may soon exceed the upper limit value when the rotation speed returns to the original rotation speed. If such a state continues, the driving device 10, 1
In some cases, the temperature does not drop at 4, 23 and 24. In addition, since the frequency of rotation speed deceleration and acceleration increases, machine productivity may decrease,
As for the safety value, 95% of the rated torque is an appropriate value.

The safety value of each of the drive units 10, 14, 23, 24 is not limited to 95% of the rated torque of each drive unit, and the drive unit 10 may be selected in consideration of the type of motor and heat resistance. , 14, 23, 24 may have different predetermined safety values.

This operation will be described with reference to FIG.

Based on the result notified from the effective torque detector 27 to the effective torque determiner 28, a determination step S29 is performed.
Then, the effective torque determination unit 28 determines which of the effective torques exceeds the predetermined upper limit value. The predetermined upper limit of each of these is, as described above, usually
The value is set to 105% of the rated torque of each of the drive devices 10, 14, 23 and 24.

For example, the driving devices 10, 14, 23,
If the effective torque of any one of the above-mentioned driving devices exceeds a predetermined upper limit value, in processing step S30, a predetermined speed that is slower than the rotational speed at which any one of the driving devices is currently operating. The effective torque determination unit 28 notifies the control unit 2 of the deceleration to, and the control unit 2 controls the rotation speed of any one of the above drive devices to the lower limit, in other words, to a safe value. As mentioned above, the above-mentioned safety value is usually set to 95% of the rated torque.

The drive units 10, 23, 24 are respectively arranged at a certain rotational position, that is, a rotation angle, of the rotary cams 11, 12, 13 connected to the drive unit 14 via a mechanical mechanism. It is configured to operate intermittently at certain times. Therefore, by decelerating the rotary cam drive device 14, the operation allocation time and the stop allocation time of the drive devices 10, 23, 24 increase. Therefore, it is possible to reduce the effective torque.

In the judgment step S31, it is judged whether any one of the driving devices whose rotational speed has been decelerated has recovered to the safe value.

In processing step S32, any one of the above
When the effective torque determination unit 28 determines that the effective torque of one drive device has recovered to the safe value, the effective torque determination unit 28 controls the control unit 2 to accelerate one of the drive devices to the initial rotation speed. To the control unit 2,
Accelerate any one of the above drives.

On the other hand, in the judgment step S33, it is judged whether or not a predetermined time or more has elapsed after decelerating the rotational speed of any one of the driving devices, and if the predetermined time or more has elapsed, a processing step S34 is executed. Assuming that another abnormality has occurred in any one of the above driving devices, the above one of the driving devices and the other driving device are stopped.

When the drive units 10, 14, 23, 24 are servo motors and drive control units, the control unit 2 can control them with the same configuration.

Further, when the drive units 10, 14, 23, 24 are motors and drive control units controlled by inverters, the control unit 2 can control them with the same configuration.

Also, when the drive units 10, 14, 23, and 24 are stepping motors and drive control units, the control unit 2 can control them with the same configuration.

(Second Embodiment) Next, a mounting apparatus according to a second embodiment of the present invention will be described with reference to FIG.

As shown in FIG. 3, a first-order lag filter section 35 as an example of the detection error removing means is added to the mounting apparatus of the first embodiment described above.

The first-order lag filter section 35 sets the time constant T, receives the value of the effective torque from the effective torque detecting section 36 (corresponding to the effective torque detecting section 27), and outputs the result to the effective torque determining section 37 (effective torque). Corresponding to the judgment unit 28).

The temperature rise of the drive devices 38, 39, 40, 41 rises with a primary delay with respect to the effective torque.
The drive devices 38, 39, 40, 41 fail when the effective torque exceeds the upper limit value and the temperature continues to rise, but immediately after the drive devices 38, 39, 40, 41 are activated, that is, the drive device temperature is When the temperature does not rise so much with respect to the ambient temperature, even if the effective torque exceeds the upper limit value, the temperature does not rise rapidly until a failure occurs immediately. on the other hand,
Since the effective torque is within the predetermined period, it may exceed the upper limit value of the effective torque even immediately after starting, and at that time, the drive devices 38, 39, 40, 41 are effective even if the temperature does not rise. When the torque exceeds the upper limit value, the speed may be reduced and the productivity may be reduced. Therefore,
By passing the effective torque through the first-order lag filter unit 35 and notifying the result to the effective torque determination unit 37, it is possible to eliminate the deceleration of the rotation speed of the drive devices 38, 39, 40, 41 immediately after the start, Productivity decline can be prevented.

Specifically, as shown in FIG. 8, in step S1, the driving devices 38 and 3 are driven by the first-order lag filter section 35.
After starting 9, 40, 41, it is determined whether 5 minutes have passed. When 5 minutes have not elapsed, the effective torque obtained by the effective torque detection unit 27 is ignored until 5 minutes have elapsed. After the lapse of 5 minutes, the effective torque obtained by the effective torque detecting unit 27 is treated as effective by the first-order lag filter unit 35.

Further, it may be further considered whether or not 30 minutes or more have passed from the last stop to the present start. That is, the mounting device is operated to drive the drive devices 38, 39, 4
While continuing to drive 0, 41, the driving device 38, 39, 40, 41 is temporarily stopped due to some trouble, and after a lapse of less than 30 minutes, the driving device 38, 39, 4
If 0, 41 are activated again, drive devices 38, 3
There is a case where the temperature of 9, 40, 41 remains rising. In such a case, the effective torque obtained by the effective torque detection unit 27 is not ignored by the first-order lag filter unit 35 until 5 minutes have elapsed, and the effective torque is regarded as valid even if less than 5 minutes has elapsed. In some cases, it may be better to handle by the next delay filter unit 35. Therefore, before step S1, the first-order lag filter unit 35 determines whether or not 30 minutes or more have elapsed from the last stop to the current start-up. If 30 minutes or more have passed, step S1 is performed. If not more than a minute has passed, step S1 may be skipped and step S2 in FIG. 8 (step S29 in FIG. 2) may be skipped.

Further, the detection error removing operation as shown in step S2 and thereafter in FIG. 8 may be performed by the first-order lag filter section 35. In the following example, it is assumed that the drive devices 10, 14, 23 and 24 have counters C1 and C2 respectively.

That is, in step S2, the driving device 1
Whether the effective torque of any one of 0, 14, 23, and 24 exceeds the predetermined upper limit value (for example, a value of 105% of the rated torque) is determined by the first-order lag filter unit 35 (or the effective torque determination unit 28). ) To judge.

If any of the effective torques exceeds the predetermined upper limit value in step S2, step S6
Increments the counter C1 corresponding to the driving device by 1, and then determines whether the counter C1 is greater than 3 in step S7. This means that when the effective torque exceeds the predetermined upper limit value, which is a peculiar error temporarily generated for some reason, it is removed. That is, specifically, it is handled as effective only when the effective torque exceeds the predetermined upper limit value three times or more. This rotation is, for example, three times, and may be an arbitrary number smaller than the number of times that the drive device fails.

If the counter C1 is equal to or less than 3 in step S7, the timer is set to the period of the detection cycle, for example, 1 second in step S10, and it is determined in step S11 whether 1 second has elapsed. Only when the second has elapsed, the process returns to step S2.

If the counter C1 is greater than 3 in step S7, the counter C2 corresponding to the drive device whose upper limit value has been exceeded is cleared in step S8, and step S9 is executed.
The counter C1 corresponding to the drive device whose upper limit value is exceeded by
Is greater than 30 is determined. If the counter C1 is greater than 30 in step S9, the process proceeds to step S30. In step S9, the counter C1 is set to 30.
In the following cases, the process proceeds to step S10.

On the other hand, in step S2, the driving devices 10, 1
If the effective torque of any one of 4, 23, and 24 is less than or equal to the predetermined upper limit value, step S3 increments the counter C2 corresponding to the drive device by one, and then step S3.
At 4, it is determined whether the counter C2 is larger than 3. This means that when the effective torque becomes equal to or less than the predetermined upper limit value, which is a peculiar error temporarily generated for some reason, it is removed. That is, specifically, it is treated as effective only when the effective torque becomes equal to or less than the predetermined upper limit value more than three times. This rotation is, for example, three times, and may be an arbitrary number smaller than the number of times that the drive device fails.

If the counter C2 is greater than 3 in step S4, the counter C1 corresponding to the drive device having the upper limit value or less is cleared in step S5, and step S10 is executed.
Proceed to.

When the counter C2 is 3 or less in step S4, the process returns to step S2.

In this way, the driving devices 10, 14,
In determining whether or not the effective torque of any one of 23 and 24 exceeds the predetermined upper limit value, the comparison result of the effective torque with respect to the upper limit value is not judged every time, but the same or plural times. Only when the result continues, a valid judgment can be made, and a detection error can be eliminated to make a more accurate judgment. Therefore, it is possible to prevent unnecessary deceleration operation due to the detection error, prevent the production efficiency from being lowered carelessly, and prevent the productivity from being unnecessarily reduced. On the other hand, the deceleration operation can be performed only when it is really needed, and the drive control of the drive device can be accurately performed.

It should be noted that FIG. 8 is not limited to the application to the upper limit value, but is similarly applied to the lower limit value which is a safe value, so that the temperature is sufficiently lowered due to the detection error. It is possible to prevent the drive device from being accidentally driven even if there is not, to prevent the production efficiency from being lowered carelessly, and to prevent the productivity from being unnecessarily reduced. On the other hand, the acceleration operation can be performed only when it is really necessary, and the drive control of the drive device can be accurately performed.

Further, when the drive devices 38, 39, 40, 41 are servomotors and drive control devices, and when motors and drive control devices controlled by inverters are used, experimentally, the temperature rise characteristic has a first-order delay. Filter unit 35
Since the time constant T is approximated when the time constant T is 100 seconds, the effect can be more enhanced by setting the time constant 100 seconds.

(Third Embodiment) Next, a mounting apparatus according to a third embodiment of the present invention will be described with reference to FIG.

As shown in FIG. 4, an input unit 42 is added to the mounting apparatus of the first embodiment described above, and data can be input.

The input section 42 includes the driving devices 43, 44, 4
When the effective torque of 5, 46 exceeds the upper limit value, the rotation speed is decelerated to a predetermined rotation speed, and the predetermined rotation speed at this time can be input from the outside.

The above-mentioned predetermined rotation speed is determined by the environment of use, the mechanical structure (type of machine), the usage of the drive device, and the rotation speed required for the drive device.

Therefore, the drive devices 43, 44, 45, 46
It is necessary to set it individually depending on the place where the is used and the application.

By providing the input section 42, the setting is facilitated even if there are a plurality of drive devices 43, 44, 45, 46.

By using the operation panel as the input unit 42, a predetermined rotation speed, that is, the deceleration speed value which is the above-mentioned predetermined safety value in consideration of the use environment, the type and characteristics of the machine, etc. The lower limit value or the upper limit value of the counter C1 or C2 of the primary filter unit 35 can be input to be changed. Of course, the upper limit value of the effective torque may be changed and input in consideration of the usage environment, the type and characteristics of the machine, and the like.

Further, if the input section 42 is a floppy (registered trademark) disk drive, the rotation speed and the like can be similarly input.

Further, by using the input section 42 as an interface capable of inputting data from the host computer, the rotation speed and the like can be input from the host computer as well.

The input section 42 according to the second embodiment of the present invention.
The same applies to the case of providing.

According to the above embodiment, the effective torque detecting section 27 for detecting the effective torque required by at least one rotary cam drive device 14 of the plurality of drive devices 10, 14, 23, 24 at the effective torque detection cycle. , 36 and whether or not the detected effective torque exceeds its upper limit value,
Alternatively, the effective torque determination units 28 and 37 for determining whether or not the excess state has returned to the safe value and the effective torque determination units 27 and 37 before performing the determinations by the effective torque determination units 28 and 37, A detection error removing unit 35 that determines whether the effective torque detected by 36 is a detection error and sets the effective torque that is not a detection error as the determination target in the effective torque determination units 28 and 37, and the electronic component. The supply device, the substrate holding unit, the mounting unit 20, the plurality of driving devices, the effective torque detecting units 27 and 36, the effective torque determining units 28 and 37, and the detection error removing unit 35 are controlled. The control unit 2 is provided, and the detected effective torque is determined not to be a detection error by the detection error removing unit 35 and the effective torque determination units 28 and 37 exceed the upper limit value. When judged, the initial rotational speed of the rotary cam drive device 14 in which the effective torque is detected is reduced to a predetermined deceleration speed of the rotary cam drive device 14, and is detected by the effective torque detectors 27 and 36. When the effective torque of the rotary cam drive device 14 has fallen below the safe value, the effective torque determination units 28 and 37 return the rotary cam drive device 14 to the initial rotation speed again. As described above, the control unit 2 controls. Therefore, when the effective torque that is not a detection error exceeds the upper limit value, it is possible to suppress the temperature rise of the rotary cam drive device 14 that occurs by decelerating the rotational speed of the rotary cam drive device 14 to a predetermined deceleration speed. Therefore, the failure of the rotary cam drive device 14 due to the temperature rise can be prevented, and the machine can be operated without stopping. Further, when the effective torque drops below a predetermined safe value, the rotation speed is restored to the initial rotation speed again, so that the rotary cam drive device 14 does not break down, the machine is not stopped unnecessarily, and the efficiency is improved. Good production can be done. Further, by determining the upper limit of the effective torque which is determined not to be a detection error by the detection error removing means 35, it is possible to remove the detection error and make a determination along the temperature rise curve of the rotary cam drive device 14, for example, It is possible to reduce the frequency of rotation speed deceleration of the rotary cam drive device 14 immediately after the drive device is started.

Here, the meaning of applying the present embodiment to the rotary cam drive device 14 is as follows. On the board 21, the distance between the current mounting position where one component is inserted and mounted and the mounting position of the next component is large, and the mounting position of the next component is located below the mounting unit 20. When driving the XY table 25 up to
When the amount of movement of the substrate 21 due to is increased, it is necessary to temporarily stop the drive of the rotary cam drive device 14 until the movement of the XY table 25 is stopped. After stopping,
When the drive is restarted after a few seconds, a large load does not act on the rotary cam drive device 14, but when the drive is restarted after 1 to 2 seconds, a large load acts on the rotary cam drive device 14, resulting in an effective torque. Is likely to be over 105%. If such a state continues beyond the allowable continuous overload operation number of about 30 times, for example, the rotary cam drive device 14 may generate a large amount of heat, and the drive of the rotary cam drive device 14 may be stopped or runaway. Failure will occur. To prevent this, when the number of allowable continuous overload operations is reached, the operation is continued by forcibly switching to the operation under a light load state without performing the subsequent continuous overload operations. While preventing a complete stoppage and maintaining the minimum production efficiency, it also prevents a breakdown.

The present invention is not limited to the above embodiment, but can be implemented in various other modes.

For example, according to the present invention, each drive device 1
0, 14, 23, 24 have been described, but at least one drive, for example, at least the rotary cam drive 1
The present invention may be applied to No. 4.

The present invention can be applied not only to the mounting apparatus shown in FIG. 1 but also to mounting apparatuses of different types as shown in FIGS. 15 and 16.

For example, FIG. 15 is a perspective view of an XY orthogonal type mounting apparatus according to the fourth embodiment of the present invention. This XY
The orthogonal type mounting apparatus drives the board holding portion 226 composed of a pair of rails holding the board 21 and the pair of X-axis direction screw shafts 224 to rotate synchronously to move the Y-axis along the X-axis direction.
It is composed of an X-axis direction driving device 223 composed of a pair of motors or the like for moving the shaft driving member 225 in parallel, and a self-propelled motor or the like with respect to the Y-axis direction screw shaft 222 fixed to the Y-axis driving member 225. Y-axis direction drive device 221
And a mounting unit 220 configured by a suction nozzle supported by the Y-axis direction drive device 221 and mounting the component 3A supplied from a component supply cassette or tray on the mounting unit 220.
It is sucked and held by and mounted on the substrate 21.
In such an XY orthogonal type mounting device, the X-axis direction driving device 223, the Y-axis direction driving device 221, the mounting unit 2
The present invention can be applied to any lifting drive device such as a lifting motor that lifts and lowers 20 nozzles.

FIG. 16 is a perspective view of a rotary type mounting apparatus according to the fifth embodiment of the present invention. This rotary type mounting device includes an XY table 231 having an X-direction driving device 231x and a Y-direction driving device 231y.
And a large number of component suction nozzles 233 constituting the mounting portion,
A rotating body 232 in which a large number of component suction nozzles 233 are arranged on the circumference, a rotating body drive device 235 configured by a motor or the like for intermittently rotating the rotating body 232, and a rotational force of the rotating body drive device 235. And a transmission mechanism 234 for moving the component suction nozzle 233 up and down at the component mounting position, and by intermittent rotation of the rotator 232, each component suction nozzle 233 causes the component suction nozzle 233 and the substrate 2 to move.
At least the component mounting position to 1 is located so as to perform component suction and component mounting. In such a rotary type mounting device, the X-direction driving device 231
The present invention can be applied to any of the x and Y direction driving device 231y and the rotating body driving device 235.

By properly combining the arbitrary embodiments of the aforementioned various embodiments, the effects possessed by them can be produced.

Although the present invention has been fully described in connection with the preferred embodiments with reference to the accompanying drawings, various variations and modifications will be apparent to those skilled in the art. It is to be understood that such variations and modifications are included within the scope of the present invention as defined by the appended claims.

[0136]

According to the present invention, the effective torque detecting section for detecting the effective torque required by at least one drive unit of the plurality of drive units in the effective torque detection cycle, and the detected effective torque are The effective torque determination unit that determines whether or not the upper limit value is exceeded, or whether or not the excess value has returned to the safe value, and the effective torque determination unit before performing the determination in the effective torque determination unit A detection error removing unit that determines whether the effective torque detected by the detection unit is a detection error, and makes the effective torque that is not a detection error the determination target of the effective torque determination unit, and the electronic component supply device. The board holding section, the mounting section, the plurality of drive devices, the effective torque detecting section, the effective torque determining section, and the control section for controlling the detection error removing means, respectively. The initial rotation of the drive unit in which the effective torque is detected when it is determined that the detected effective torque is not a detection error by the detection error removing unit and when the effective torque determination unit determines that the effective torque exceeds the upper limit value. The speed is reduced to a predetermined deceleration speed of the drive unit, and when the effective torque of the drive unit detected by the effective torque detection unit falls below its safe value, the original rotation of the drive unit is again performed. The control unit controls the speed to return to the speed. As a result, when the effective torque that is not a detection error exceeds the upper limit value, it is possible to suppress the temperature rise of the drive device that occurs by decelerating the rotation speed of the drive device to a predetermined deceleration speed, and drive due to the temperature rise. The equipment can be prevented from malfunctioning and can be operated without stopping the machine. Further, when the effective torque is reduced to a predetermined safe value or less, by returning to the initial rotation speed again, without causing a failure of the drive device,
Efficient production can be performed without stopping the machine unnecessarily. Further, by determining the upper limit of the effective torque after the detection error removing means, it is possible to remove the detection error and make a determination along the temperature rise curve of the drive device. It is possible to reduce the frequency of rotation speed deceleration.

The invention according to the second aspect of the present invention is the mounting apparatus according to the first aspect, wherein each of the electronic components is an electronic component having a lead wire. In the device, it is possible to suppress the temperature rise of the drive device that occurs when the effective torque exceeds a predetermined upper limit value, prevent the drive device from malfunctioning due to the temperature rise, and operate the machine without stopping it.

In the invention described in the third aspect of the present invention, the electronic component supplying apparatus takes out the electronic components supplied by the electronic component supplying section which accommodates a large number of electronic components and individually supplies the electronic components. And a plurality of transport bodies for transporting to the mounting unit,
The mounting apparatus according to the first or second aspect, which is configured with a transport unit that moves and arranges the plurality of transport units in a series of annular shapes, the plurality of transport units and the transport unit In a mounting device that conveys components, it is possible to suppress the temperature rise of the drive device that occurs when the effective torque exceeds a predetermined upper limit value, prevent the drive device from failure due to the temperature rise, and operate without stopping the machine. be able to.

In the invention described in the fourth aspect of the present invention, the upper limit value of the effective torque in the effective torque determination section is any one of the first to third conditions in which the effective torque is 105% of the rated torque of the drive device. A mounting apparatus according to one aspect,
By setting the upper limit to 105% of the rated torque, it becomes possible to suppress the temperature rise of the drive device even if the load varies to some extent.

According to a fifth aspect of the present invention, in the effective torque determining section, the safe value of the effective torque capable of returning to the initial rotation speed of the drive device is set to the rated torque of the drive device. The mounting device according to any one of the first to fourth aspects, wherein the safety value is 95% of the rated torque of the drive device.
It is possible to minimize deceleration of the rotation speed of the drive device.

In the invention described in the sixth aspect of the present invention, the effective torque detection period required for a predetermined unit time of the drive unit in the effective torque detection unit is 1 second or less. The mounting apparatus according to any one of the aspects, and by setting the detection cycle to 1 second or less, it is possible to detect even a sudden load change.

In the invention according to the seventh aspect of the present invention, the control unit controls the drive unit when the effective torque does not fall below the predetermined upper limit value even when the rotational speed of the drive unit is reduced. 7. The mounting apparatus according to any one of the first to sixth aspects for controlling so as to stop, the damage to the machine is minimized even when the drive device mechanically falls into a non-rotatable state. It becomes possible.

The invention according to an eighth aspect of the present invention is the mounting according to any one of the first to seventh aspects, in which the drive device is composed of a servo motor and a drive control device for driving and controlling the servo motor. The device is a servo motor and a drive control device, which enables high-speed and highly accurate positioning control.

The invention according to the ninth aspect of the present invention is any one of the first to seventh aspects, in which the above drive device is constituted by a motor controlled by an inverter and a drive control device for driving and controlling the motor. The mounting apparatus according to
By using an inverter-controlled motor and drive control device, simple and inexpensive positioning control becomes possible.

The invention described in the tenth aspect of the present invention is the invention described in any one of the first to seventh aspects, in which the drive device is composed of a stepping motor and a drive control device for driving and controlling the stepping motor. By using the stepping motor and the drive control device as the mounting device, inexpensive and highly accurate positioning control can be performed.

The invention described in the eleventh aspect of the present invention is the mounting apparatus according to the tenth aspect, wherein the time constant of the detection error removing means is 100 seconds. It is possible to detect the effective torque close to the temperature rise curve of the drive device.

The invention according to the twelfth aspect of the present invention is further provided with an input section capable of inputting a set value of the deceleration speed of the rotation speed of the drive device when the deceleration is performed from the outside of the mounting apparatus. The mounting apparatus according to any one of 1 to 11, which can be easily changed when a load is changed.

The invention described in the thirteenth aspect of the present invention is the mounting apparatus according to the twelfth aspect in which the input unit is an operation panel, and it is possible to determine the rotation speed while adjusting the machine. Become.

The invention described in the fourteenth aspect of the present invention is the mounting apparatus according to the twelfth aspect in which the input section is a floppy (registered trademark) disk drive, and when a large number of similar mounting apparatuses are used. Even if the operator does not have knowledge of the rotation speed setting, the rotation speed can be set without error.

The invention described in the fifteenth aspect of the present invention is the mounting apparatus according to the twelfth aspect, wherein the input unit is an interface capable of inputting data from a host computer, and the rotational speed set value is set by the host computer. It is possible to manage all at once.

According to the sixteenth and seventeenth aspects of the present invention, in the detection error removing means, the effective torque detected by the effective torque detecting section exceeds the upper limit value in the effective torque determining section, or When it is determined that the upper limit value or less, it is determined that the effective torque detected by the effective torque detection unit is not a detection error only when the determination result continues for a predetermined number of times, and when the determination result does not continue for a predetermined number of times, The mounting apparatus according to any one of the first to fifteenth aspects, in which the effective torque detected by the effective torque detection unit is ignored as a detection error, and the detection error can be reliably removed, You can do what you want, when you really need it.

[Brief description of drawings]

FIG. 1 is a block diagram of a mounting apparatus according to a first embodiment of the present invention.

FIG. 2 is a flowchart of an effective torque determination unit of the mounting apparatus of the first embodiment.

FIG. 3 is a block diagram of a mounting apparatus according to a second embodiment of the present invention.

FIG. 4 is a block diagram of a mounting apparatus according to a third embodiment of the present invention.

5A and 5B are timing charts of the mounting apparatus of the first embodiment of the present invention.

FIG. 6 is a graph showing the relationship between speed and time for showing the speed waveform of the rotary cam driving device of the mounting apparatus of the first embodiment of the present invention, in which the amount of movement of the XY table is 30.
It is a graph at the time of mm or less.

FIG. 7 is a graph showing the relationship between speed and time for showing the speed waveform of the rotary cam driving device of the mounting apparatus of the first embodiment of the present invention, in which the amount of movement of the XY table is 30.
It is a graph when it exceeds mm.

FIG. 8 is a flowchart showing an operation of a first-order lag filter section of the mounting apparatus according to the second embodiment of the present invention.

FIG. 9 is a perspective view of an XY table as an example of a board holding portion of the mounting apparatus according to the first embodiment of the present invention.

FIG. 10 is an explanatory diagram showing a component insertion start operation of the mounting unit of the mounting apparatus of the first embodiment of the present invention.

FIG. 11 is an explanatory diagram showing a component inserting operation of the mounting apparatus according to the first embodiment of the present invention.

FIG. 12 is an explanatory diagram showing a component insertion completion operation of the mounting apparatus of the first embodiment of the present invention.

FIG. 13 is an explanatory diagram showing a raising operation after the components are inserted in the mounting apparatus according to the first embodiment of the present invention.

FIG. 14 is a flowchart of a deceleration determination operation of the drive unit of the mounting apparatus according to the first embodiment of the present invention.

FIG. 15 is a perspective view of an XY orthogonal type mounting apparatus according to a fourth embodiment of the present invention.

FIG. 16 is a perspective view of a rotary type mounting apparatus according to a fifth embodiment of the present invention.

FIG. 17 is a perspective view of a mounting portion of the mounting apparatus according to the first embodiment of the present invention.

FIG. 18 is a perspective view of the head main body of the mounting portion of the mounting apparatus of the first embodiment of the present invention.

FIG. 19 is a perspective view of the rotating body of the mounting portion of the mounting apparatus of the first embodiment of the present invention.

FIG. 20 is a perspective view of the insertion claw of the mounting portion of the mounting apparatus according to the first embodiment of the present invention.

FIG. 21 is an exploded perspective view of the insertion claw of the mounting portion of the mounting apparatus of the first embodiment of the present invention.

FIG. 22 is a plan view of the insertion claw of the mounting portion of the mounting apparatus according to the first embodiment of the present invention.

FIG. 23 is a plan view of the insertion claw of the mounting portion of the mounting apparatus according to the first embodiment of the present invention.

FIG. 24 is an operation explanatory diagram of the mounting unit of the mounting apparatus of the first embodiment of the present invention.

FIG. 25 is an operation explanatory diagram of the mounting unit of the mounting apparatus of the first embodiment of the present invention.

FIG. 26 is a partial cross-sectional view showing a component insertion state by the mounting unit of the mounting apparatus of the first embodiment of the present invention.

FIG. 27 is a partial cross-sectional view showing a component insertion state by the mounting portion of the mounting apparatus of the first embodiment of the present invention.

FIG. 28 is a partial cross-sectional view showing a component insertion state by the mounting unit of the mounting apparatus of the first embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Electronic component supply part, 2 ... Control part, 3 ... Electronic part, 3A
... Paper tape, 4 ... Transport section, 5 ... Transport body, 6 ... Lead wire,
7,8,9 ... Pulley, 10 ... Belt drive device, 11,1
2, 13 ... Rotating cam, 14 ... Rotating cam drive device, 15,
16 ... Pulley, 17, 18 ... Power transmission device, 19 ... Transfer device, 20 ... Mounting part, 21 ... Circuit board, 22 ... Insertion hole,
23 ... X-direction drive device, 24 ... Y-direction drive device, 25 ...
Substrate holding part, 27, 36 ... Effective torque detecting part, 28, 3
7 ... Effective torque judging section, 35 ... Detection error removing means, 42
... input section, 68 ... insertion claw, 68a ... first insertion claw, 68
b ... 2nd insertion nail, 69 ... Transfer chuck, 80 ... Head body, 80a ... Side wall, 80b ... Top surface, 80c ... Contact part,
81 ... Vertical movement device, 81a ... Outer shaft, 81b ... Middle shaft, 81
c ... attachment part, 81d ... screw, 81e ... opening, 82 ... opening / closing device, 83 ... turning device, 83a ... turning shaft, 84 ... cam plate, 85 ... opening / closing lever, 86 ... spring lever, 87 ... turning body, 87a , 87b ... Side wall, 87c ... Lever, 87d ...
Bottom wall, 88 ... pin, 89-91, 92-94 ... sandwiching claw,
95 ... Cam follower, 96 ... Cam surface, 97 ... Cam follower, 98 ... Cam surface, 99 ... Pin, 100 ... Pin, 10
1, 104, 105 ... Spring, 102, 103 ... Pin, 1
08 ... receiving pin, 109 ... pusher.

Continued front page    F-term (reference) 5E313 AA06 AA11 AA16 CC07 CC08                       CC09 CD03 DD01 DD02 DD03                       DD07 DD12 DD13 DD31 EE01                       EE02 EE03 EE23 EE38 EE44                       FF24 FF29 FG01 FG10

Claims (17)

[Claims] 1. An electronic component supply device (1, 4, 5) for supplying a plurality of electronic components (3) and a circuit board (21) on which the electronic components are mounted are held,
In addition, a board holding part (25) that can move the circuit board in two directions orthogonal to the mounting surface, and the electronic component supplied from the electronic component supply device,
A mounting unit (20) mounted on the circuit board held by the substrate holding unit, and a plurality of driving devices (10, 14, 2) for driving the electronic component supply device, the substrate holding unit, and the mounting unit, respectively.
3, 24), an effective torque detection unit (27, 36) for detecting an effective torque required by at least one drive device of the plurality of drive devices at an effective torque detection cycle, and the detected effective torque is Exceeded the upper limit,
Before or after the effective torque determination section (28, 37) for determining whether or not the excess value has returned to the safe value, and the effective torque determination section, Detection error removing means (35) for determining whether or not the effective torque detected in (1) is a detection error, and subjecting the effective torque that is not a detection error to the determination in the effective torque determination unit, and the electronic component supply device. A control section (2) for controlling each of the board holding section, the mounting section, the plurality of driving devices, the effective torque detecting section, the effective torque determining section, and the detection error removing means. The drive device in which the effective torque is detected when the detected effective torque is determined not to be a detection error by the detection error removing means and the effective torque determination unit determines to exceed the upper limit value. When the effective rotational speed of the drive device is reduced to a predetermined deceleration speed of the drive device and the effective torque of the drive device detected by the effective torque detection unit falls below its safe value, the drive device A mounting device controlled by the control unit so as to return to the initial rotation speed. 2. The mounting apparatus according to claim 1, wherein each electronic component (3) is an electronic component (3) having a lead wire (6). 3. The electronic component supply device (1, 4, 5)
Includes an electronic component supply unit (1) that stores a large number of electronic components and supplies them individually; a plurality of carriers (5) that take out the electronic components supplied by and convey them to the mounting unit; 2. The mounting apparatus according to claim 1, further comprising a transport unit (4) configured to move the plurality of transport bodies arranged in a ring shape. 4. The upper limit value of the effective torque in the effective torque determination unit is an allowable continuous overload when continuously performing an overload operation such as decelerating the driving device and immediately accelerating the driving device. The mounting device according to claim 1, wherein the rated torque of the drive device corresponding to the number of operations is 105%. 5. The effective torque determination unit according to claim 4, wherein the safe value of the effective torque capable of returning to the initial rotation speed of the drive device is 95% of the rated torque of the drive device. Mounting device. 6. The mounting apparatus according to claim 1, wherein a detection cycle of the effective torque required for a predetermined unit time of the drive device in the effective torque detection unit is 1 second or less. 7. The control unit controls to stop the drive device when the effective torque does not fall below the predetermined upper limit value even if the rotation speed of the drive device is decelerated. The mounting device described. 8. The mounting apparatus according to claim 7, wherein the drive device is composed of a servo motor and a drive control device for driving and controlling the servo motor. 9. The mounting apparatus according to claim 7, wherein the drive device is composed of a motor controlled by an inverter and a drive control device for driving and controlling the motor. 10. The mounting apparatus according to claim 7, wherein the drive device is composed of a stepping motor and a drive control device for driving and controlling the stepping motor. 11. The time constant of the detection error removing means is 10
The mounting device according to claim 7, wherein the mounting time is 0 second. 12. The mounting apparatus according to claim 7, further comprising an input unit (42) capable of inputting a set value of the deceleration speed of the rotation speed of the driving device when the deceleration is performed, from the outside of the mounting apparatus. 13. The operation panel as the input section according to claim 12.
Mounting device according to. 14. The input unit is a floppy (registered trademark)
The mounting device according to claim 12, which is a disk drive. 15. The interface according to claim 12, wherein the input unit is an interface capable of inputting data from a host computer.
Mounting device according to. 16. When the detection error removing means (35) determines that the effective torque detected by the effective torque detection unit exceeds the upper limit value by the effective torque determination unit, a determination result is predetermined. Only when the effective torque is detected a number of times consecutively, it is determined that the effective torque detected by the effective torque detection unit is not a detection error, and when the determination result does not continue for a predetermined number of times, the effective torque detected by the effective torque detection unit is determined. The mounting device according to claim 1, wherein the mounting error is ignored as a detection error. 17. The detection error removing means (35), when the effective torque detected by the effective torque detector is judged to be equal to or less than the upper limit value by the effective torque judger,
Only when the judgment result continues for a predetermined number of times, it is judged that the effective torque detected by the effective torque detection unit is not a detection error, and when the judgment result does not continue for a predetermined number of times, it is detected by the effective torque detection unit. The mounting apparatus according to claim 1, wherein the effective torque is ignored as a detection error.