JP2004359433A

JP2004359433A - Deceleration setting method and device in conveyance device

Info

Publication number: JP2004359433A
Application number: JP2003161978A
Authority: JP
Inventors: Masahiro Sugiura; 正浩杉浦; Takeshi Mizukoshi; 剛水越
Original assignee: Fuji Machine Manufacturing Co Ltd
Current assignee: Fuji Corp
Priority date: 2003-06-06
Filing date: 2003-06-06
Publication date: 2004-12-24
Anticipated expiration: 2023-06-06
Also published as: JP4382395B2

Abstract

<P>PROBLEM TO BE SOLVED: To set a predetermined deceleration for stopping a conveyor device to the greatest possible deceleration within a scope in which an article does not slip in a conveyance device stopping the conveyor device by set feed amount and positioning the article at a target position after detecting a specific section of the article by a sensor. <P>SOLUTION: The conveyor device is driven by set feed amount during a period of time from feeding-out of a detection signal from the sensor to deceleration by predetermined deceleration and stop to position the article at the target position. When the detection signal is fed, the conveyor device is decelerated from predetermined conveyance speed and is stopped by trial deceleration determined to be slightly large deceleration based on experience. Braking distance of the article from the start of deceleration to stop of the conveyor device is measured. The deceleration of the conveyor device decelerating and stopping by the braking distance of the article from predetermined conveyance speed is set to be predetermined deceleration. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

【０００１】
【発明の属する技術分野】
本発明は、プリント基板等の物品を搬送して目標位置に高効率に減速停止する搬送装置に関する。
【０００２】
【従来の技術】
基盤を搬送装置のコンベア装置により搬送経路に沿って搬送し、基板の前端縁が搬送経路の基準位置を通過したことを検出するセンサを搬送経路に設け、センサが基板の前端縁を検出するとコンベア装置を設定送り量で停止して基板を目標位置に位置決めすることが特開２００１−２７４５９４号公報に記載されている。
【０００３】
【特許文献１】
特開２００１−２７４５９４号公報（第６頁、図８）
【０００４】
【発明が解決すべき課題】
基板を短時間に目標位置に位置決めするために、基板の前端縁が搬送経路の基準位置を通過したことをセンサが検出した検出信号に基づいてコンベア装置を搬送速度から大きい減速度で停止すると、基板がコンベア装置に対して滑ってしまい、基板を目標位置に正確に位置決めできなくなる。逆に減速度が小さ過ぎると位置決め時間が長くなる不具合があった。
【０００５】
本発明は係る従来の不具合を解消するためになされたもので、物品の特定部位をセンサが検出してからコンベア装置を所定減速度で設定送り量で停止して物品を目標位置に位置決めする搬送装置において、該所定減速度を物品が滑らない範囲でなるべく大きい減速度に設定することである。
【０００６】
【課題を解決するための手段】
上記の課題を解決するため、請求項１に記載の発明の構成上の特徴は、物品を搬送経路に沿って搬送するコンベア装置が、前記物品の特定部位が前記搬送経路の基準位置に位置したことをセンサが検出して検出信号を送出してから所定減速度で減速して停止されるまでの間に設定送り量だけ駆動されて前記物品を目標位置に位置決めする搬送装置において、前記検出信号に基づいて前記コンベア装置が所定搬送速度から試行減速度で減速停止されたとき、前記コンベア装置の減速開始から停止までの間の前記物品の制動距離を計測し、前記コンベア装置が前記物品の制動距離で前記所定搬送速度から減速停止される減速度を前記所定減速度として設定することである。
【０００７】
請求項２に記載の発明の構成上の特徴は、請求項１において、前記検出信号に基づいて前記コンベア装置が前記所定搬送速度から前記試行減速度で減速停止するまでの前記コンベア装置の正方向送り量を求め、前記コンベア装置が減速停止してから微小時間経過後に、前記コンベア装置を前記物品が滑らない加速度で逆方向に駆動し、前記基準センサが検出信号を送出するまでの間の前記コンベア装置の逆方向送り量を求め、前記逆方向送り量から前記正方向送り量を減算して前記物品の滑り量を算出し、前記コンベア装置が前記所定搬送速度から前記試行減速度での減速を開始してから停止するまでの間の距離に前記滑り量を加算して前記物品の制動距離を求めることである。
【０００８】
請求項３に記載の発明の構成上の特徴は、物品を搬送経路に沿って搬送するコンベア装置が、前記物品の特定部位が前記搬送経路の基準位置に位置したことをセンサが検出して検出信号を送出してから所定減速度で減速して停止されるまでの間に設定送り量だけ駆動されて前記物品を目標位置に位置決めする搬送装置において、前記コンベア装置を物品が滑らない加速度で加速した後に減速度で停止し、停止後に物品が滑ったか否か判定する探査サイクルを物品が滑らない減速度から減速度を僅かな量ずつ順次増大して繰り返し、物品が滑ったと判定された探査サイクルの前回の探査サイクルでの減速度を前記所定減速度に設定することである。
【０００９】
請求項４に記載の発明の構成上の特徴は、物品を搬送経路に沿って搬送するコンベア装置が、前記物品の特定部位が前記搬送経路の基準位置に位置したことをセンサが検出して検出信号を送出してから所定減速度で減速して停止されるまでの間に設定送り量だけ駆動されて前記物品を目標位置に位置決めする搬送装置において、前記物品の特定部位が前記センサから離れて前記検出信号が送出されてから探査送り量だけ前記コンベア装置を前記物品が滑らない状態で逆方向に駆動した後に、前記コンベア装置を停止状態から物品が滑らない加速度で加速し減速度で減速して前記探査送り量だけ正方向に駆動して停止し、コンベア装置の停止後微小時間経過しても前記検出信号が無いと判定されると、前記コンベア装置を物品が滑らない状態で探査送り量だけ逆方向に駆動する探査サイクルを前記検出信号が送出されるまで前記正方向駆動での減速度を順次増大して繰り返し、前記検出信号が有りと判定された探査サイクルの前回の探査サイクルの正方向駆動での減速度を前記所定減速度に設定することである。
【００１０】
請求項５に記載の発明の構成上の特徴は、請求項１乃至４のいずれかにおいて、前記物品は基板であり、前記コンベア装置はパルスモータ又はサーボモータにより駆動されるコンベアベルトを備えたベルトコンベアであることである。
【００１１】
請求項６に記載の発明の構成上の特徴は、物品を搬送経路に沿って搬送するコンベア装置が、前記物品の特定部位が前記搬送経路の基準位置に位置したことをセンサが検出して検出信号を送出してから所定減速度で減速して停止されるまでの間に所定送り量だけ駆動されて前記物品を目標位置に位置決めする搬送装置において、前記検出信号に基づいて前記コンベア装置を所定搬送速度から試行減速度で減速停止したとき、前記コンベア装置の減速開始から停止までの間の前記物品の制動距離を計測する手段と、前記コンベア装置を前記物品の制動距離で前記所定搬送速度から減速停止させるための減速度を前記所定減速度として設定する手段を設けたことである。
【００１２】
【発明の作用・効果】
上記のように構成した請求項１に係る発明においては、基板等の物品がコンベア装置により搬送経路に沿って搬送され、物品の特定部位、例えば前端縁が搬送経路の基準位置を通過するなどして基準位置に位置したことがセンサにより検出されるとセンサは検出信号を送出する。コンベア装置は、検出信号が送出されてから所定減速度で減速して停止されるまでの間に設定送り量だけ駆動されて物品を目標位置に位置決めする。この所定減速度を物品が滑らず且つ効率的な減速度に設定するために、センサが検出信号を送出すると、若干大きめに経験的に決められた試行減速度でコンベア装置を所定搬送速度から減速停止する。コンベア装置が減速を開始したときから停止するまでの間の物品の制動距離を計測する。コンベア装置が所定搬送速度からこの物品の制動距離で減速停止するときの減速度を所定減速度として設定する。これにより、コンベア装置を搬送速度から減速停止するときの所定減速度を物品が滑らない範囲でなるべく大きい減速度に、低コストで容易に設定することができる。
【００１３】
上記のように構成した請求項２に係る発明においては、検出信号が送出されるとコンベア装置を若干大きめに経験的に決められた試行減速度で所定搬送速度から減速停止し、コンベア装置が検出信号が送出されてから停止されるまでの間に駆動された送り量を求める。この減速停止時にコンベア装置に対して滑る物品が停止するまでの微小時間が経過した後に、コンベア装置を物品が滑らない加速度で逆方向に駆動する。センサが検出信号を送出するまでの間のコンベア装置の逆方向送り量を、例えばコンベア装置を駆動するパルスモータに送出したパルス数をカウントして計測する。この逆方向送り量から前記正方向送り量を減算して物品の滑り量を算出する。コンベア装置が所定搬送速度から試行減速度での減速を開始してから停止するまでの間の距離に物品の滑り量を加算して物品の制動距離を求める。コンベア装置が所定搬送速度からこの物品の制動距離で減速停止するときの減速度を所定減速度として設定する。これにより、搬送装置を減速停止するときの所定減速度を物品が滑らないと想定される範囲でなるべく大きい減速度に、特別の装置を設けることなく、低コストで容易に設定することができる。
【００１４】
上記のように構成した請求項３に係る発明においては、コンベア装置を物品が滑らない加速度で加速した後に減速度で停止し、停止後に物品が滑ったか否か判定する探査サイクルを物品が滑らない減速度から減速度を僅かな量ずつ順次増大して繰り返す。物品が滑ったと判定された探査サイクルの前回の探査サイクルでの減速度を所定減速度に設定する。これにより、コンベア装置を減速停止するときの所定減速度を物品が滑らない範囲でなるべく大きい減速度に、特別の装置を設けることなく、低コストで確実に設定することができる。
【００１５】
上記のように構成した請求項４に係る発明においては、物品の特定部位がセンサから離れて検出信号が送出されてから探査送り量だけ搬送装置を物品が滑らない状態で逆方向に駆動する。コンベア装置を物品が滑らない加速度で加速し、減速度で減速して停止するまでの間に探査送り量だけ正方向に駆動する。停止後微小時間経過しても検出信号が無いと判定されると、コンベア装置を物品が滑らない状態で探査送り量だけ逆方向に駆動する。探査送り量の正方向駆動、検出信号の有無判定および探査送り量の逆方向駆動からなる探査サイクルを検出信号が送出されるまで正方向駆動での減速度を順次増大して繰り返す。検出信号が有りと判定された探査サイクルの前回の探査サイクルの正方向駆動での減速度を所定減速度に設定する。これにより、コンベア装置を減速停止するときの所定減速度を物品が滑らない範囲でなるべく大きい減速度に、特別の装置を設けることなく、低コストで確実に設定することができる。
【００１６】
上記のように構成した請求項５に係る発明においては、ベルトコンベアのパルスモータ又はサーボモータにより駆動されるコンベアベルトを請求項１乃至３のいずれかに記載の方法により設定した所定減速度で減速して停止するので、基板をコンベアベルトに対して滑ることなく搬送装置の所望目標位置に正確に位置決め停止することができる。
【００１７】
上記のように構成した請求項６に係る発明においては、コンベア装置を搬送速度から所定減速度で減速して停止して物品を効率的に正確に目標位置に停止するために、センサが検出信号を送出すると、若干大きめに経験的に決められた試行減速度でコンベア装置を所定搬送速度から減速停止する。コンベア装置が減速を開始したときから停止するまでの間の物品の制動距離を計測する。コンベア装置が所定搬送速度からこの物品の制動距離で減速停止するときの減速度を所定減速度として設定する。これにより、搬送装置を搬送速度から減速停止するための所定減速度を物品が滑らない範囲でなるべく大きい減速度に、低コストで容易に設定可能な搬送装置における減速度設定装置を提供することができる。
【００１８】
【発明の実施の形態】
以下、本発明に係る搬送装置における減速度設定方法および装置の第１の実施形態を、図面を参照して具体的に説明する。図１は、本搬送装置を備えた部品実装機の概略斜視図である。この実装機は、部品を供給する部品供給装置１０と、部品供給装置１０より供給される部品Ｐを取出して配線パターンが形成されたプリント基板ＰＢ（以下、基板ＰＢと称す。）に実装する実装ヘッド装置１１と、基板ＰＢを搬送し目標位置に位置決め停止する基板搬送装置１２を主たる構成要素とする。
【００１９】
部品供給装置１０は、複数列の部品供給リール１３を支承する本体１４と、本体１４の先端に設けた部品取出部１５からなる。実装ヘッド装置１１は、実装ヘッド１６を水平なＸ−Ｙ平面で移動させる走行駆動系と、ノズルホルダ１７に支承され作動位置に割出されたスピンドル１８を上下のＺ軸方向に移動させる上下駆動機構を備えている。実装ヘッド１６に割出し回転可能に装架されたノズルホルダ１７には、複数のスピンドル１８が垂直軸線を中心とする円周上に等ピヅチ間隔でＺ軸方向に往復動可能に支承され、各スピンドル１８の下端には、部品Ｐを吸着するノズルＮが取り付けられている。
【００２０】
基板搬送装置１２を図１のＡ−Ａ線矢視方向に沿って破断した図２及び図２のＢ−Ｂ線矢視方向に沿って破断した図３に示すように、基板搬送装置１２は、搬送方向正面から観て左右一対の基台１９上に基板ＰＢの幅（基板ＰＢの搬送方向と直交する方向の長さ）に対応して配設され搬送経路を形成する一対のガイドレール２０，２１と、ガイドレール２０，２１に沿って直下に設けられベルトガイド２２，２３により案内される断面凸形の一対のエンドレスのコンベアベルト２４，２５と、該コンベアベルト２４，２５によって所定位置まで搬送された基板ＰＢを位置決めクランプするクランプ装置２６より構成されている。
【００２１】
クランプ装置２６は、搬送する複数種の基板に対応して適宜配置される複数の支持ピン２７が立設した上下動する台座２８を有する。基板ＰＢがレール２０，２１でガイドされつつコンベアベルト２４，２５により実装位置に搬入されると、複数のパイロットバー２９により案内された台座２８が流体圧シリンダ３０により駆動されて上昇し、支持ピン２７にて基板ＰＢを上方に押し上げてガイドレール２０，２１に設けた係合凸部２０ａ、２１ａとの間でクランプする。基板ＰＢの搬出は台座２８を下降して基板ＰＢをコンベアベルト２４，２５上に載せて行なわれる。
【００２２】
左右のエンドレスのコンベアベルト２４，２５は、図２に示すように、前後一対の搬送ガイドプーリ３１、前後一対の戻しプーリ３２、方向変換プーリ３３、駆動プーリ３４、及びテンション付与プーリ３５間に巻装されている。駆動プーリ３４は、スプライン軸３６と一体回転されるように支持され、スプライン軸３６はパルスモータ３７と結合されて回転駆動される。コンベアベルト２４，２５にはタイミングベルトを使用し、駆動プーリ３４等のプーリはタイミングプーリとするのがよい。コンベアベルト２４，２５、搬送ガイドプーリ３１、駆動プーリ３４、パルスモータ３７等によりベルトコンベアがコンベア装置３８として構成されている。
【００２３】
さらに、ガイドレール２０には、図３に示すように、基板ＰＢの搬送方向の前端縁を検出するセンサ３９が基板ＰＢの一側面に向けて取り付けられている。このセンサ３９は基板ＰＢの一側面に対向してないときは「ＯＦＦ」信号を、また一側面と対向するときは「ＯＮ」信号を出力するＯＮ−ＯＦＦ動作形のものである。このセンサ３９の搬送方向における取付位置は、基板搬送装置１２の中央位置よりも少し上流側に寄った位置である。センサ３９は、基板ＰＢの特定部位、例えば前端縁が基準位置を通過するなど基準位置に位置したことを検出して「ＯＦＦ」から「ＯＮ」に変化して検出信号を送出する。コンベア装置３８は、検出信号が送出されてから所定減速度で減速して停止されるまでの間に設定送り量だけ駆動されて基板ＰＢを目標位置に位置決めする。
【００２４】
部品実装機では、搬送方向に長さが異なる複数種類の基板ＰＢが選択的に基板搬送装置１２内へ搬入され、実装ヘッド装置１１により部品Ｐが実装される。図４に概略示すように、複数種類の各基板ＰＢは、その搬送方向の任意な部位、好ましくは、多数の部品が装着される実装領域の中央部位Ｂｊが基板前端からの３桁の数字（ｎｎｎ）で指定される。通常、前記部位Ｂｊと基板の搬送方向中央Ｂｍとはほぼ一致するが、基板によっては実装領域が基板の搬送方向の前方側或いは後方側に偏奇しており、このような基板の実装領域の中心を任意に特定するために前記部位Ｂｊが指定される。
【００２５】
そして、基板ＰＢは、中央Ｂｍ又は任意の整列部位Ｂｊを基板搬送装置１２上の最適実装位置に整列するように位置決め停止される。ここで、最適実装位置とは、センサ３９と整列するセンサ整列位置Ｐ０、部品カメラ４０と整列する部品カメラ整列位置Ｐ１、基板搬送装置１２の搬送方向中央と整列する搬送装置中央位置Ｐ２及び部品供給装置１０の部品取出部１５の中央或いは実装数の大きな部品を配置する位置Ｐ３の何れか１つの位置であり、最適実装位置としてこれら整列位置Ｐ０〜Ｐ３が選択的に指定され、基板種に応じて整列部位Ｂｊを最適実装位置にフレキシブルに割り出すことを可能としている。
【００２６】
再び図１において、符号４１は実装ヘッド１６のヘッド本体４２に取り付けられた基板カメラを示し、このカメラ４１は、実装位置にクランプされた基板ＰＢに形成された少なくとも２個の基準マークを撮像し、基板ＰＢのクランプ位置の位置ずれ、角度ずれをモニタする。また、前述した部品カメラ４０は、部品取出部１５と基板搬送装置１２との間で機枠４３に固定設置され、実装ヘッド装置１１のノズルＮに吸着された部品ＰのノズルＮに対する位置ずれ、角度ずれをモニタする。
【００２７】
図５は、上記のように構成される部品実装機の制御装置の構成を示すブロック図である。この制御装置は中央処理装置ＣＰＵにＲＯＭとＲＡＭがデータバスにより接続された演算処理部４４を含む。この処理部４４に、テンキー等の入力装置４５、デスプレイ等の表示装置４６、記憶装置４７、図略のホストコンピュータに接続された通信装置４８、ＸＹ軸駆動装置４９、Ｚ軸駆動装置５０、ノズルＮを開閉するノズル駆動装置５１、基板カメラ４１及び部品カメラ４０からのカメラデータを受け入れるカメラインターフェース５２が接続されている。さらに、演算処理部４４には、センサ３９からの検出信号が入力されるセンサインターフェース５３と、前記パルスモータ３７を制御してコンベア装置３８を駆動し、基板搬送装置１２上における各種基板ＰＢを搬送する基板搬送駆動装置５４と、前記クランプ装置２６の流体圧シリンダ３０のようなアクチエータを制御するアクチエータ制御装置５５が接続されている。
【００２８】
ＸＹ軸駆動装置４９は、ヘッド本体４２をＸ軸方向及びＹ軸方向に沿って移動させ、ノズルＮを部品取出部１５から基板ＰＢ上の多数の指令箇所まで搬送する。Ｚ軸駆動装置５０は、ノズルホルダ１７をＲ軸回りに回転させ、吸着する部品Ｐに対応するノズルＮが取り付けられたスピンドル１８を下降させ、ノズルＮを先端が部品背面位置に極めて接近するまで下降させる。ノズル駆動装置５１は、切換弁を切り換えてノズルＮに負圧を選択的に供給及び遮断し、ノズルＮに部品Ｐを吸着又は離脱させる。基板搬送駆動装置５４は、パルスモータ３７を駆動制御してベルトコンベア２４，２５を駆動することにより基板ＰＢを実装位置に搬入すると共にここから搬出し、またアクチエータ制御装置５５は流体圧シリンダ３０を制御して台座２８を昇降させ、基板ＰＢをクランプ又はアンクランプする。
【００２９】
実装データは、複数の基板ＩＤ毎の実装部品の種類、部品の装着位置及び部品毎の適合ノズル情報からなる。このデータは、部品の実装順番を設定する基礎データであり、予めホストコンピュータから演算処理部４４に送られ、記憶装置４７に記憶される。基板カメラ４１により得られる基板Ｓの位置ずれ、角度ずれデータは、基板ＰＢに対する部品Ｐの実装位置を示すために基板ＰＢに対応して設定された基板座標系を部品実装機の機械座標系に変換する座標変換のデータとして使用される。部品カメラ４０から得られる部品ＰのノズルＮに対する位置ずれ、角度ずれデータは、装着位置データを補正するのに使用される。ＲＯＭには、部品実装順序設定プログラムなどが登録されている。
【００３０】
図６は、図５の記憶装置４７内に形成される基板情報テーブルＢＤＴであり、このテーブルＢＤＴには、基板Ｓの種別番号ＰＢ００１〜ＰＢｎ毎に、基板長（Ｌ）と、基板ＰＢ上の整列部位Ｂ（Ｂｍ／Ｂｊ）、搬送装置上の最適実装位置（Ｐ０〜Ｐ３）及びその基板ＰＢに対し実装ヘッド装置１１が実行すべき実装プログラムの番号ＰＲ００１〜ＰＲｎが記憶されている。これら情報は、予め図略のホストコンピュータから転送されるか、或いは入力装置４５を用いて入力される。基板長（Ｌ）及び基板ＰＢ上の整列部位（Ｂｍ／Ｂｊ）は、長さの異なる各種の基板ＰＢを基板搬送装置１２の最適実装位置（Ｐ０〜Ｐ３）の選択された１つの位置に整列させるために使用する情報である。
【００３１】
次に、第１の実施形態の作動を図７に示す制御プログラムに基づいて説明する。図８に２点鎖線で示すように、種別番号ＰＢ００１の基板ＰＢが基板搬送装置１２の入口側に設置した搬入コンベア装置５６の一対のガイドレール５７，５８に案内されて待機しているものと仮定する。この待機位置で適宜識別センサ５９（例えば、バーコード読取器）により基板ＰＢの種類の識別が行われる。このような状況において、搬入動作指令が与えられると、図７の処理が開始され、実装動作の対象となる基板ＰＢが識別され、識別された基板ＰＢの種別、この場合、基板情報テーブルＢＤＴのＰＢ００１の識別フラッグに「１」がセットされる（ステップＳ１）。
【００３２】
ステップＳ２で減速度設定モードであるか否か判定され、否の場合、続くステップＳ３においては、前記センサ３９による前端縁の検出位置（基準位置）からさらに基板ＰＢが前進すべき設定送り量としての前進量が演算される。ここで、前進量Ｘｎの演算は、後述するように、基板上の中央Ｂｍ或いは指定の整列部位Ｂｊを基板搬送装置１２の最適実装位置Ｐ０〜Ｐ３の何れに整列させるかによって異なるが、この演算は、図６に示す基板情報テーブルＢＤＴに記憶されたデータに基づいて実行される。例えば、基板ＰＢ００１上の整列部位を指定する情報として「中央」、最適実装位置情報としてＰ１が基板情報テーブルＢＤＴに指定されているときは、基板ＰＢ００１を中央Ｂｍが部品カメラ整列位置Ｐ１に整列する位置に停止するように、基板長Ｌ１の半分にセンサ整列位置Ｐ０に対する部品カメラ整列位置Ｐ１のオフセット値Ａを加算する式（Ｘ１＝Ｌ１／２＋Ａ）を用いて、前進量Ｘ１が算出される。基板ＰＢ００１上の任意の部位Ｂｊを部品カメラ４０との整合位置Ｐ１に整合させる場合は、部位Ｂｊの指定数値情報ｎｎｎに前記オフセット値Ａを加算する式（Ｘ１＝ｎｎｎ＋Ａ）を用いて前進量Ｘ１が算出される。
【００３３】
制御装置の演算処理部４４は、基板搬送駆動装置５４に指令を与え、搬入コンベア装置５６および基板搬送装置１２のパルスモータ３７を同期駆動して基板ＰＢを基板搬送装置１２内に所定搬送速度Ｖで搬入する。この場合、演算処理部４４は、この搬入動作指令の投与の間中、センサインターフェース５３がセンサ３９の「ＯＮ」動作信号を受領したかどうかの監視を微小時間インターバルで行う。そして、センサインターフェース８１がセンサ３９から「ＯＮ」動作信号を受領した瞬間において、演算処理部４４はそれ以降の目標移動量をステップＳ３において演算した前進量Ｘｎに設定し、基板搬送駆動装置５４に対し基板ＰＢの前端縁がセンサ３９と整合した位置Ｐ０を基準としてこの位置から前進量Ｘｎだけ基板ＰＢを前進させるように制御を行う。この前進量Ｘｎの移動制御中において演算処理部４４は前進量Ｘｎを時々刻々と減算し、この前進量Ｘｎの残値が所定数に達すると基板搬送駆動装置５４に所定減速度Ｒでの減速制御を実行させ、コンベア装置３８はセンサ３９が検出信号を送出してから所定減速度Ｒで減速して停止するまでの間に設定送り量である前進量Ｘｎだけ駆動されて基板ＰＢを目標位置に位置決めする（ステップＳ４）。
【００３４】
基板カメラ４１は、種別番号ＰＢ００１の基板ＰＢが目標位置に計算通り正確に位置決めされたとき、この基板ＰＢの一方の基準マーク６０と対向する位置に移動され、一方の基準マーク６０を読み取る（ステップＳ５）。基準マーク６０が基板カメラ４１の視野内に入った場合、演算処理部４４はアクチエータ制御回路５５に指令を与え、クランプ装置２６の流体圧シリンダ３０を動作させて台座２８を上昇し、基板ＰＢを図３の鎖線で示すクランプ位置に固定する（ステップＳ６）。クランプ後、基板カメラ４１は一方の基準マーク６０を再び読み込んだ後に移動されて他方の基準マーク６１を読み取り、演算処理部４４は、基板カメラ４１により得られる基板Ｓの位置ずれ、角度ずれデータに基づいて、種別番号ＰＢ００１の基板ＰＢに対する部品Ｐの実装位置を示すために基板ＰＢに対応して設定された基板座標系を部品実装機の機械座標系に変換し、基板ＰＢに対する実装動作プログラムＰＲ００１を実行して実装ヘッド装置１１により部品実装を行う（ステップＳ７）。部品実装が完了すると実装ヘッド装置１１は、部品取出部１５の上方で部品カメラ４０に隣接して設定された原位置へ復帰される。これと共に、クランプ装置２６がアンクランプ動作され、基板搬送装置１２及び搬出コンベア装置６２のパルスモータ３７が同期駆動されて各コンベアベルト２４，２５が前進周回送りされ、基板ＰＢが図８に示す搬出コンベア装置６２に搬出される（ステップＳ８）。
【００３５】
ステップＳ５で基準マーク６０が基板カメラ４１の視野内に入らなかった場合、搬入コンベア装置５６およびコンベア装置３８のパルスモータ３７が同期して逆転駆動され、基板ＰＢが搬入コンベア装置５６の待機位置に戻される（ステップＳ９）。基板ＰＢを目標位置に最位置決めするか否か判定され（ステップＳ１０）、再位置決めする場合、ステップＳ４にジャンプして基板ＰＢの再位置決めが行われる。
【００３６】
ステップＳ２，Ｓ１０で減速度の設定が指令されると、搬入コンベア装置５６およびコンベア装置３８のパルスモータ３７が同期駆動され、図９に示すようにコンベア装置３８が所定搬送速度Ｖで駆動され（ステップＳ１１）、基板ＰＢの前端縁がｔ０点で基準位置を通過するとセンサ３９から検出信号が送出される（ステップＳ１２）。コンベア装置３８はｔ０点で検出信号が送出されてから微少時間後のｔ１点で減速を開始し、試行減速度Ｒｔで減速してｔ２点で停止されるまでの間に正方向送り量ｙ１だけ駆動される（ステップＳ１３）。試行減速度Ｒｔは、コンベア装置３８が試行減速度Ｒｔで減速して停止すると基板ＰＢがコンベア装置３８に対して僅かに滑る程度に若干大きめに経験的に決められている。コンベア装置３８が停止されてからコンベア装置３８に対して滑る基板ＰＢが停止するまでの微小時間が経過したｔ３点で（ステップＳ１４）、コンベア装置３８は基板ＰＢがコンベア装置３８に対して滑らない加速度Ａ０でパルスモータ３７により逆方向に加速されてｔ４点から所定搬送速度Ｖで駆動され（ステップＳ１５）、ｔ５点でセンサ３９が検出信号を送出するまでの間のコンベア装置３８の逆方向送り量ｙ２が求められる。この場合、演算処理部４４は、センサ３９が「ＯＮ」から「ＯＦＦ」に変化したかどうかの監視を微小時間インターバルで行い、センサ３９が「ＯＮ」から「ＯＦＦ」に変化したとき、基板ＰＢの前端縁が基準位置に位置したことをセンサが検出して検出信号を送出したと判断する（ステップＳ１６）。ｔ３点からｔ５点までの間に基板搬送駆動装置５４がパルスモータ３７に送出したパルス数が演算処理部４４で計数されて逆方向送り量ｙ２が計測される（ステップＳ１７）。この逆方向送り量ｙ２から正方向送り量ｙ１を減算して基板ＰＢの滑り量ｙ３が算出される（ステップＳ１８）。コンベア装置３８が所定搬送速度Ｖから減速を開始した時点ｔ１から試行減速度Ｒｔで減速して停止した時点ｔ２までの間に駆動された送り量ｙ４に滑り量ｙ３が加算されて基板ＰＢの制動距離ｙ５が求められる（ステップＳ１９）。コンベア装置３８が所定搬送速度Ｖから制動距離ｙ５で減速停止される減速度が所定減速度Ｒとして設定される（ステップＳ２０）。減速度の設定が完了すると、搬入コンベア装置５６およびコンベア装置３８のパルスモータ３７が同期して逆転駆動され、基板ＰＢが搬入コンベア装置５６の待機位置に戻され、ステップＳ６〜Ｓ８が実行されて基板ＰＢの位置決め、部品実装が行われる。
【００３７】
上記第１の実施形態では、コンベア装置３８を検出信号に基づいて試行減速度Ｒｔで減速停止してから微小時間経過後に、コンベア装置を基板ＰＢが滑らない加速度で逆方向に駆動し、基準センサ３９が検出信号を送出するまでの間のコンベア装置３８の逆方向送り量ｙ２に基づいて基板ＰＢの滑り量ｙ３を計測しているが、コンベア装置３８が試行減速度Ｒｔで減速停止してから微小時間経過後に、停止した基板ＰＢの前端縁を所定位置に位置決めされた基板カメラ４１で撮像して、基板ＰＢの滑り量ｙ３を計測するようにしてもよい。
【００３８】
次に、本発明に係る搬送装置における減速度設定方法および装置の第２の実施形態について説明する。第２の実施形態は、図１０に示すように制御プログラムにおいて所定減速度Ｒを設定するステップのみが第１の実施形態と異なるので、この相違点のみについて説明する。ステップＳ２，Ｓ９で減速度の設定が指令されると、搬入コンベア装置５６およびコンベア装置３８のパルスモータ３７が同期駆動され、図１１に示すように搬入コンベア装置５６およびコンベア装置３８が搬送速度Ｖで正方向に駆動され（ステップＳ２１）、基板ＰＢの前端縁が基準位置を通過するとセンサ３９は、ＯＦＦからＯＮに変化して検出信号を送出する（ステップＳ２２）。コンベア装置３８は検出信号が送出されてから減速停止するまでの間に正方向に第１送り量ｙ２１だけ駆動され（ステップＳ２３）、所定時間停止される（ステップＳ２４）。第１送り量ｙ２１は、コンベア装置３８が停止状態から基板ＰＢを滑らない状態で搬送速度Ｖで搬送する状態になるまでに必要な送り量以上に設定されている。換言すれば、コンベア装置３８が停止状態から加速度Ａ０で搬送速度Ｖまで加速されて第１送り量ｙ２１だけ駆動される間に、基板ＰＢはコンベア装置３８に対して滑らない状態となって搬送速度Ｖで搬送される。
【００３９】
コンベア装置３８は、所定時間経過後に基板ＰＢがコンベア装置３８に対して滑らない加速度Ａ０で搬送速度Ｖまで逆方向に加速され（ステップＳ２５）、センサ３９は基板ＰＢの前端縁から離れてＯＮからＯＦＦに変化して検出信号を送出する（ステップＳ２６）。コンベア装置３８は、検出信号が送出されてから搬送速度Ｖから基板ＰＢが滑らない減速度Ｒ０で減速して停止するまでの間に第２送り量ｙ２２だけ逆方向に駆動され（ステップＳ２７）、所定時間停止される（ステップＳ２８）。第２送り量ｙ２２は、コンベア装置３８が停止状態から基板ＰＢが滑らない加速度Ａ０で前記搬送速度Ｖまで加速され、この搬送速度Ｖから初期減速度Ｒ０で減速して停止するまでの間に必要な送り量以上の探査送り量に設定される。
【００４０】
コンベア装置３８は加速度Ａ０で搬送速度Ｖまで加速され、搬送速度Ｖから初期減速度Ｒ０より僅かに増大した減速度Ｒ１で減速して停止されるまでの間に第２送り量ｙ２２（探査送り量）だけ正方向に駆動される（ステップＳ２９）。コンベア装置３８が減速度Ｒ１で減速停止されるときに基板ＰＢがコンベア装置３８に対して滑る場合に、基板ＰＢが停止するまでに必要な微小時間が経過するまで（ステップＳ３０）、センサ３９からの検出信号の有無が判定される（ステップＳ３１）。微小時間が経過しても検出信号が無い場合、コンベア装置３８は加速度Ａ０で搬送速度Ｖまで逆方向に加速され、搬送速度Ｖから初期減速度Ｒ０で減速して停止するまでの間に第２送り量ｙ２２だけ逆方向に駆動される（ステップＳ３２）。ステップＳ２９の探査送り量の正方向駆動、ステップＳ２８の検出信号の有無判定およびステップＳ３２の探査送り量の逆方向駆動からなる探査サイクルが、正方向駆動での減速度を僅かな量ずつ順次増大して（ステップＳ３３）、検出信号が送出されるまで繰り返される。検出信号が有りと判定された探査サイクルの前回の探査サイクルの正方向駆動での減速度が所定減速度Ｒに設定される（ステップＳ３４）。なお、探査送り量は各探査サイクルで一定にするのが好ましいが、今回のサイクルの正方向の探査送り量と前回のサイクルの逆方向の探査送り量とを等しくすれば変化させてもよい。また、物品が滑らない加速度Ａ０および搬送速度Ｖも各探査サイクルにおいて一定にするのが好ましいが、僅かに変えるようにしてもよい。
【図面の簡単な説明】
【図１】本発明に係わる搬送装置における減速度設定装置の第１の実施形態を適用した電子部品実装機の全体構成を示す斜視図。
【図２】図１のＡ−Ａ線矢視方向に破断した搬送装置の縦断面図。
【図３】図２のＢ−Ｂ線矢視方向に破断した搬送装置の要部拡大断面図。
【図４】基板上の部位と搬送装置上の各種目標位置との搬送方向における相対位置関係を説明するための説明図。
【図５】電子部品実装機の制御装置の構成を示すブロック線図。
【図６】図５に示す記憶装置に登録された基板情報テーブルを説明するための説明図。
【図７】搬送装置における減速度設定装置の第１の実施形態を適用した電子部品実装機を制御するプログラムを示すフロー図。
【図８】基板を搬送装置上に位置決め制御するための動作を説明する説明図。
【図９】第１の実施形態における所定減速度の設定方法を説明する線図。
【図１０】第２の実施形態における所定減速度を設定するプログラムを示すフロー図。
【図１１】第２の実施形態における所定減速度の設定方法を説明する線図。
【符号の説明】
１０…部品供給装置、Ｐ…電子部品、１１…実装ヘッド装置、１２…基板搬送装置（搬送装置）、１５…部品取出部、１６…実装ヘッド、４１…基板カメラ、ＰＢ…基板（物品）、２０，２１…ガイドレール（搬送径路）、２４，２５…コンベアベルト、３８…コンベア装置、３９…センサ、４０…部品カメラ、ＢＤＴ…基板情報テーブル、４４…演算処理部、４７…記憶装置、３７…パルスモータ、５８…搬入コンベア、５９…バーコード読取器、６２…搬出コンベア装置。[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a transport device that transports an article such as a printed circuit board and stops at a target position with high efficiency at high efficiency.
[0002]
[Prior art]
The substrate is transported along the transport path by the conveyor device of the transport device, and a sensor is provided in the transport path for detecting that the front edge of the substrate has passed the reference position of the transport path. JP-A-2001-274594 describes that the apparatus is stopped at a set feed amount and the substrate is positioned at a target position.
[0003]
[Patent Document 1]
JP 2001-274594 A (page 6, FIG. 8)
[0004]
[Problems to be solved by the invention]
In order to position the substrate at the target position in a short time, when the conveyor device is stopped at a large deceleration from the transport speed based on a detection signal detected by the sensor that the front edge of the substrate has passed the reference position of the transport path, The substrate slips with respect to the conveyor device, and the substrate cannot be accurately positioned at the target position. Conversely, if the deceleration is too small, there is a problem that the positioning time becomes longer.
[0005]
SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned conventional problems, and a conveyor for stopping a conveyor device at a predetermined deceleration at a set feed amount after a sensor detects a specific part of an article and positioning the article at a target position. In the apparatus, the predetermined deceleration is set to a deceleration as large as possible within a range where the article does not slip.
[0006]
[Means for Solving the Problems]
In order to solve the above problem, a structural feature of the invention according to claim 1 is that a conveyor device that conveys an article along a conveyance path has a specific part of the article located at a reference position of the conveyance path. In a transport device that is driven by a set feed amount and positions the article at a target position during a period from when the sensor detects that the sensor sends a detection signal to when the sensor is decelerated at a predetermined deceleration and stopped, the detection signal When the conveyor device is decelerated and stopped at a trial deceleration from a predetermined transport speed based on the measured braking distance of the article from the start of deceleration to the stop of the conveyor device, the conveyor device brakes the article. The deceleration to be decelerated and stopped from the predetermined transport speed by a distance is set as the predetermined deceleration.
[0007]
A structural feature of the invention according to claim 2 is that, in claim 1, the forward direction of the conveyor device until the conveyor device decelerates and stops at the trial deceleration from the predetermined transport speed based on the detection signal. The feed amount is obtained, and after a lapse of a minute time from the deceleration stop of the conveyor device, the conveyor device is driven in the reverse direction at an acceleration at which the article does not slip, and the reference sensor sends a detection signal until the reference sensor sends a detection signal. The reverse feed amount of the conveyor device is obtained, the forward feed amount is subtracted from the reverse feed amount to calculate the slip amount of the article, and the conveyor device is decelerated at the trial deceleration from the predetermined transport speed. To calculate the braking distance of the article by adding the slip amount to the distance from the start to the stop.
[0008]
A configuration feature of the invention according to claim 3 is that the sensor detects that the specific portion of the article is located at the reference position of the transport path by the conveyor device that transports the article along the transport path. In a transport device that drives the set feed amount to position the article at a target position during a period from when the signal is transmitted to when the article is decelerated at a predetermined deceleration and stopped, the conveyor apparatus is accelerated at an acceleration at which the article does not slip. An exploration cycle that stops at a deceleration after stopping and repeats a search cycle to determine whether or not the article has slipped after the stop by sequentially increasing the deceleration by a small amount from a deceleration at which the article does not slip, and determining that the article has slipped Is to set the deceleration in the previous search cycle to the predetermined deceleration.
[0009]
A structural feature of the invention according to claim 4 is that the sensor detects that the specific portion of the article is located at the reference position of the transport path by the conveyor device that transports the article along the transport path. In a transport device that is driven by a set feed amount and positions the article at a target position during a period from sending a signal to decelerating at a predetermined deceleration and stopping, a specific portion of the article is separated from the sensor. After driving the conveyor device in the reverse direction in a state where the article does not slip after the detection signal is sent, the conveyor device accelerates at a speed at which the item does not slip from the stopped state and decelerates at a deceleration. When it is determined that there is no detection signal even after a lapse of a short time after the conveyor device is stopped, the conveyor device is driven in the forward direction by the search feed amount and stopped, and the conveyor device is moved in a state where the article does not slip. A search cycle of driving in the reverse direction by the inspection feed amount is repeated by sequentially increasing the deceleration in the forward drive until the detection signal is transmitted, and the previous search of the search cycle in which the detection signal is determined to be present is performed. This is to set the deceleration in the forward drive of the cycle to the predetermined deceleration.
[0010]
A structural feature of the invention according to claim 5 is that, in any one of claims 1 to 4, the article is a substrate, and the conveyor device has a conveyor belt driven by a pulse motor or a servomotor. It is a conveyor.
[0011]
A structural feature of the invention according to claim 6 is that, in the conveyor device that conveys the article along the conveyance path, the sensor detects that the specific portion of the article is located at the reference position of the conveyance path. In a transport device that is driven by a predetermined feed amount to position the article at a target position during a period from sending a signal to decelerating at a predetermined deceleration and stopping, the conveyor device is moved to a predetermined position based on the detection signal. When decelerating and stopping at the trial deceleration from the transport speed, means for measuring the braking distance of the article from the start of the deceleration to the stop of the conveyor apparatus, and the conveyor apparatus moves the braking distance of the article from the predetermined transport speed at the braking distance of the article. Means is provided for setting a deceleration for decelerating and stopping as the predetermined deceleration.
[0012]
[Action and Effect of the Invention]
In the invention according to claim 1 configured as described above, an article such as a substrate is transported along a transport path by a conveyor device, and a specific portion of the article, for example, a front edge passes through a reference position of the transport path. When the sensor detects that the sensor is located at the reference position, the sensor sends a detection signal. The conveyor device is driven by a set feed amount during the period from when the detection signal is sent to when the conveyor is decelerated at a predetermined deceleration and stopped, and positions the article at the target position. In order to set this predetermined deceleration to an efficient deceleration without slipping, when the sensor sends out a detection signal, the conveyor device is decelerated from the predetermined transport speed with a slightly larger empirically determined trial deceleration. Stop. The braking distance of the article from when the conveyor device starts to decelerate to when it stops is measured. The deceleration when the conveyor device decelerates and stops at the braking distance of the article from the predetermined transport speed is set as the predetermined deceleration. This makes it possible to easily set the predetermined deceleration at the time of decelerating and stopping the conveyor device from the transport speed to a deceleration as large as possible within a range where the article does not slip, at low cost.
[0013]
In the invention according to claim 2 configured as described above, when the detection signal is transmitted, the conveyor device is decelerated and stopped from a predetermined transport speed at an experimentally determined deceleration slightly larger than the conveyor device, and the conveyor device is detected. The feed amount driven between the time when the signal is transmitted and the time when the signal is stopped is obtained. After a lapse of a minute time until the article slipping on the conveyor apparatus at the time of the deceleration stop, the conveyor apparatus is driven in the reverse direction at an acceleration at which the article does not slip. The reverse feed amount of the conveyor device until the sensor sends the detection signal is measured, for example, by counting the number of pulses sent to a pulse motor that drives the conveyor device. The slip amount of the article is calculated by subtracting the forward feed amount from the reverse feed amount. The braking distance of the article is obtained by adding the slip amount of the article to the distance from when the conveyor device starts to decelerate at the trial deceleration from the predetermined transport speed to when the article stops. The deceleration when the conveyor device decelerates and stops at the braking distance of the article from the predetermined transport speed is set as the predetermined deceleration. This makes it possible to easily set the predetermined deceleration at the time of decelerating and stopping the transporting device to a deceleration as large as possible within a range in which the article does not slip, without providing a special device, at low cost.
[0014]
In the invention according to claim 3 configured as described above, the conveyor apparatus stops at deceleration after accelerating at an acceleration at which the article does not slip, and the article does not slip during the exploration cycle of determining whether the article has slipped after the stop. From the deceleration, the deceleration is sequentially increased by a small amount and repeated. The deceleration in the previous search cycle of the search cycle in which it is determined that the article has slipped is set to a predetermined deceleration. As a result, the predetermined deceleration when the conveyor device is decelerated and stopped can be reliably set at a low cost without providing a special device, to a deceleration as large as possible without slipping the articles.
[0015]
In the invention according to claim 4 configured as described above, after the specific portion of the article is separated from the sensor and the detection signal is transmitted, the transport device is driven in the reverse direction in a state where the article does not slip by the search feed amount. The conveyor device is accelerated at an acceleration at which the article does not slip, is decelerated at a deceleration, and is driven in the forward direction by the search feed amount until it stops. If it is determined that there is no detection signal even after a lapse of a short time after the stop, the conveyor device is driven in the reverse direction by the search feed amount in a state where the article does not slip. A search cycle consisting of forward drive of the search feed amount, determination of the presence / absence of a detection signal, and reverse drive of the search feed amount is repeated by sequentially increasing the deceleration in the forward drive until a detection signal is transmitted. The deceleration in the forward drive in the previous search cycle of the search cycle in which the detection signal is determined to be present is set to a predetermined deceleration. As a result, the predetermined deceleration when the conveyor device is decelerated and stopped can be reliably set at a low cost without providing a special device, to a deceleration as large as possible without slipping the articles.
[0016]
In the invention according to claim 5 configured as described above, the conveyor belt driven by the pulse motor or the servo motor of the belt conveyor is decelerated at a predetermined deceleration set by the method according to any one of claims 1 to 3. Therefore, the substrate can be accurately positioned and stopped at a desired target position of the transfer device without slipping the substrate with respect to the conveyor belt.
[0017]
In the invention according to claim 6 configured as described above, in order to stop the conveyor device at a predetermined deceleration from the transport speed and stop to efficiently and accurately stop the article at the target position, the sensor detects the detection signal. Is sent, the conveyor device is decelerated and stopped from a predetermined transport speed at a slightly larger empirically determined trial deceleration. The braking distance of the article from when the conveyor device starts to decelerate to when it stops is measured. The deceleration when the conveyor device decelerates and stops at the braking distance of the article from the predetermined transport speed is set as the predetermined deceleration. Accordingly, it is possible to provide a deceleration setting device in a transport device that can easily set a predetermined deceleration for decelerating and stopping the transport device from the transport speed to a deceleration as large as possible within a range where articles do not slip, at low cost. it can.
[0018]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, a first embodiment of a deceleration setting method and device in a transport device according to the present invention will be specifically described with reference to the drawings. FIG. 1 is a schematic perspective view of a component mounter provided with the present transport device. This mounting machine mounts a component supply device 10 for supplying components and a component P supplied from the component supply device 10 to take out and mount the component P on a printed board PB (hereinafter, referred to as a board PB) on which a wiring pattern is formed. The main components are a head device 11 and a substrate transport device 12 that transports a substrate PB and stops positioning at a target position.
[0019]
The component supply device 10 includes a main body 14 that supports a plurality of rows of component supply reels 13, and a component extraction unit 15 provided at a tip of the main body 14. The mounting head device 11 includes a traveling drive system that moves the mounting head 16 in a horizontal XY plane, and a vertical drive that moves a spindle 18 supported by a nozzle holder 17 and indexed to an operating position in the vertical Z-axis direction. It has a mechanism. A plurality of spindles 18 are supported on a nozzle holder 17 rotatably mounted on the mounting head 16 so as to reciprocate in the Z-axis direction at equal pitches on a circumference centered on a vertical axis. At the lower end of the spindle 18, a nozzle N for sucking the component P is attached.
[0020]
As shown in FIG. 2 in which the substrate transfer device 12 is broken along the line AA of FIG. 1 and FIG. 3 in which the substrate transfer device 12 is cut along the line BB of FIG. A pair of guide rails 20 arranged on a pair of left and right bases 19 corresponding to the width of the substrate PB (length in a direction orthogonal to the transport direction of the substrate PB) as viewed from the front in the transport direction to form a transport path. , 21, a pair of endless conveyor belts 24, 25, which are provided directly below the guide rails 20, 21 and are guided by belt guides 22, 23 and have a convex cross section, and are brought to a predetermined position by the conveyor belts 24, 25. It comprises a clamp device 26 for positioning and clamping the transported substrate PB.
[0021]
The clamp device 26 has a vertically movable pedestal 28 on which a plurality of support pins 27 appropriately arranged corresponding to a plurality of types of substrates to be conveyed are erected. When the substrate PB is carried into the mounting position by the conveyor belts 24 and 25 while being guided by the rails 20 and 21, the pedestal 28 guided by the plurality of pilot bars 29 is driven up by the fluid pressure cylinder 30 and rises, and the support pins At 27, the board PB is pushed upward to clamp the board PB between the engaging projections 20a and 21a provided on the guide rails 20 and 21. The substrate PB is carried out by lowering the pedestal 28 and placing the substrate PB on the conveyor belts 24 and 25.
[0022]
As shown in FIG. 2, the left and right endless conveyor belts 24 and 25 are wound between a pair of front and rear transport guide pulleys 31, a pair of front and rear return pulleys 32, a direction conversion pulley 33, a driving pulley 34, and a tension applying pulley 35. Is equipped. The drive pulley 34 is supported so as to rotate integrally with the spline shaft 36, and the spline shaft 36 is coupled to a pulse motor 37 and driven to rotate. Timing belts are preferably used for the conveyor belts 24 and 25, and pulleys such as the drive pulley 34 are preferably timing pulleys. A belt conveyor is configured as a conveyor device 38 by the conveyor belts 24 and 25, the transport guide pulley 31, the drive pulley 34, the pulse motor 37, and the like.
[0023]
Further, as shown in FIG. 3, a sensor 39 for detecting the front edge of the board PB in the transport direction is attached to the guide rail 20 toward one side of the board PB. The sensor 39 is of an ON-OFF operation type that outputs an “OFF” signal when not facing one side surface of the substrate PB, and outputs an “ON” signal when facing the one side surface. The mounting position of the sensor 39 in the transport direction is a position slightly closer to the upstream side than the center position of the substrate transport device 12. The sensor 39 detects that the specific position of the substrate PB, for example, the front edge is located at the reference position such as passing through the reference position, and changes the state from “OFF” to “ON” to transmit a detection signal. The conveyor device 38 is driven by the set feed amount during the period from when the detection signal is sent to when the conveyor device 38 is decelerated at a predetermined deceleration and stopped, and positions the substrate PB at the target position.
[0024]
In the component mounter, a plurality of types of substrates PB having different lengths in the transport direction are selectively carried into the substrate transport device 12, and the component P is mounted by the mounting head device 11. As shown schematically in FIG. 4, each of the plurality of types of substrates PB has a three-digit number (from the front end of the substrate) of an arbitrary portion in the transport direction, preferably, a central portion Bj of a mounting area where a large number of components are mounted. nnn). Normally, the portion Bj and the center Bm of the board in the transport direction substantially coincide with each other, but depending on the board, the mounting area is deviated forward or backward in the board transport direction. Is arbitrarily specified in order to specify the position Bj.
[0025]
Then, the positioning of the substrate PB is stopped so that the center Bm or an arbitrary alignment portion Bj is aligned with the optimal mounting position on the substrate transfer device 12. Here, the optimum mounting position is a sensor alignment position P0 aligned with the sensor 39, a component camera alignment position P1 aligned with the component camera 40, a transport device center position P2 aligned with the center of the board transport device 12 in the transport direction, and component supply. This is one of the center of the component take-out part 15 of the device 10 or the position P3 where a component with a large number of components is arranged, and these alignment positions P0 to P3 are selectively designated as the optimal mounting positions, depending on the type of board. Thus, it is possible to flexibly determine the alignment portion Bj at the optimum mounting position.
[0026]
Referring again to FIG. 1, reference numeral 41 denotes a board camera attached to the head body 42 of the mounting head 16, and this camera 41 captures images of at least two reference marks formed on the board PB clamped at the mounting position. , The displacement and the angular displacement of the clamp position of the substrate PB are monitored. Further, the component camera 40 described above is fixedly installed on the machine frame 43 between the component pick-up unit 15 and the board transfer device 12, and the position of the component P sucked by the nozzle N of the mounting head device 11 with respect to the nozzle N, Monitor the angle shift.
[0027]
FIG. 5 is a block diagram showing a configuration of a control device of the component mounting machine configured as described above. This control device includes an arithmetic processing unit 44 in which a ROM and a RAM are connected to a central processing unit CPU by a data bus. The processing unit 44 includes an input device 45 such as a numeric keypad, a display device 46 such as a display, a storage device 47, a communication device 48 connected to a host computer (not shown), an XY-axis driving device 49, a Z-axis driving device 50, and a nozzle. A nozzle drive device 51 for opening and closing N, a camera interface 52 for receiving camera data from the board camera 41 and the component camera 40 are connected. Further, the arithmetic processing unit 44 controls the sensor interface 53 to which a detection signal from the sensor 39 is input, and drives the conveyor device 38 by controlling the pulse motor 37 to transport various substrates PB on the substrate transport device 12. The substrate transfer driving device 54 is connected to an actuator control device 55 for controlling an actuator such as the fluid pressure cylinder 30 of the clamp device 26.
[0028]
The XY-axis driving device 49 moves the head main body 42 along the X-axis direction and the Y-axis direction, and conveys the nozzle N from the component extracting unit 15 to a number of command locations on the board PB. The Z-axis driving device 50 rotates the nozzle holder 17 around the R-axis, lowers the spindle 18 on which the nozzle N corresponding to the component P to be sucked is attached, and moves the nozzle N until the tip comes very close to the component back position. Lower it. The nozzle driving device 51 switches the switching valve to selectively supply and shut off the negative pressure to the nozzle N, and causes the nozzle N to suck or release the component P. The substrate transport driving device 54 controls the driving of the pulse motor 37 to drive the belt conveyors 24 and 25 to carry the substrate PB into and out of the mounting position, and the actuator control device 55 controls the fluid pressure cylinder 30 The pedestal 28 is moved up and down under control, and the substrate PB is clamped or unclamped.
[0029]
The mounting data includes types of mounted components for each of a plurality of board IDs, mounting positions of the components, and compatible nozzle information for each component. This data is basic data for setting the order of mounting components, is sent from the host computer to the arithmetic processing unit 44 in advance, and is stored in the storage device 47. The position shift and angle shift data of the board S obtained by the board camera 41 are obtained by converting the board coordinate system set corresponding to the board PB into the machine coordinate system of the component mounter in order to indicate the mounting position of the component P with respect to the board PB. Used as coordinate transformation data to be transformed. The positional deviation and angular deviation data of the component P with respect to the nozzle N obtained from the component camera 40 are used to correct the mounting position data. A component mounting order setting program and the like are registered in the ROM.
[0030]
FIG. 6 shows a board information table BDT formed in the storage device 47 of FIG. 5. The table BDT includes a board length (L) and a board length (L) for each type number PB001 to PBn of the board S. The alignment part B (Bm / Bj), the optimal mounting position (P0 to P3) on the transfer device, and the mounting program numbers PR001 to PRn to be executed by the mounting head device 11 on the board PB are stored. These pieces of information are transferred in advance from a host computer (not shown) or are input using the input device 45. The board length (L) and the alignment portion (Bm / Bj) on the board PB are such that various boards PB having different lengths are aligned at one of the optimal mounting positions (P0 to P3) of the board transfer device 12. This is the information used to make it work.
[0031]
Next, the operation of the first embodiment will be described based on a control program shown in FIG. As shown by a two-dot chain line in FIG. 8, a substrate PB of type number PB001 is guided by a pair of guide rails 57, 58 of a carry-in conveyor device 56 installed at the entrance side of the substrate transport device 12 and is on standby. Assume. At this standby position, the type of the substrate PB is appropriately identified by the identification sensor 59 (for example, a barcode reader). In such a situation, when a carry-in operation command is given, the processing in FIG. 7 is started, the board PB to be subjected to the mounting operation is identified, and the type of the identified board PB, in this case, the board information table BDT. "1" is set to the identification flag of PB001 (step S1).
[0032]
In step S2, it is determined whether or not the mode is the deceleration setting mode. If not, in the following step S3, the set feed amount at which the substrate PB should be further advanced from the detection position (reference position) of the front edge by the sensor 39 is set. Is calculated. Here, the calculation of the advance amount Xn differs depending on which one of the optimal mounting positions P0 to P3 of the substrate transfer device 12 aligns the center Bm on the substrate or the specified alignment portion Bj, as described later. Is executed based on the data stored in the board information table BDT shown in FIG. For example, when “center” is specified as information for specifying an alignment portion on the board PB001 and P1 is specified as the optimum mounting position information in the board information table BDT, the center Bm of the board PB001 is aligned with the component camera alignment position P1. The forward movement amount X1 is calculated using an equation (X1 = L1 / 2 + A) that adds the offset value A of the component camera alignment position P1 with respect to the sensor alignment position P0 to half of the board length L1 so as to stop at the position. When an arbitrary part Bj on the board PB001 is aligned with the alignment position P1 with the component camera 40, the advance amount X1 is calculated by using the equation (X1 = nnn + A) in which the offset value A is added to the designated numerical information nnn of the part Bj. Is calculated.
[0033]
The arithmetic processing unit 44 of the control device gives a command to the substrate transport driving device 54 to synchronously drive the carry-in conveyor device 56 and the pulse motor 37 of the substrate transport device 12 to move the substrate PB into the substrate transport device 12 at a predetermined transport speed V. To carry in. In this case, the arithmetic processing unit 44 monitors whether the sensor interface 53 has received the “ON” operation signal of the sensor 39 during the administration of the carry-in operation command at minute time intervals. At the moment when the sensor interface 81 receives the “ON” operation signal from the sensor 39, the arithmetic processing unit 44 sets the subsequent target movement amount to the forward movement amount Xn calculated in step S3, and On the other hand, the control is performed such that the substrate PB is advanced by the advance amount Xn from the position P0 where the front edge of the substrate PB is aligned with the sensor 39 as a reference. During the movement control of the forward movement amount Xn, the arithmetic processing unit 44 decrements the forward movement amount Xn every moment, and when the remaining value of the forward movement amount Xn reaches a predetermined number, the substrate transport driving device 54 decelerates at a predetermined deceleration R. The control is executed, and the conveyor device 38 is driven by the advance amount Xn, which is the set feed amount, between the time when the sensor 39 sends the detection signal and the time when the sensor 39 decelerates at the predetermined deceleration R and stops, and moves the substrate PB to the target position (Step S4).
[0034]
When the board PB of the type number PB001 is accurately positioned at the target position as calculated, the board camera 41 is moved to a position opposing one of the reference marks 60 on the board PB and reads one of the reference marks 60 (step S1). S5). When the reference mark 60 is within the field of view of the board camera 41, the arithmetic processing unit 44 gives a command to the actuator control circuit 55, operates the fluid pressure cylinder 30 of the clamp device 26, moves up the pedestal 28, and lifts the board PB. It is fixed at the clamp position indicated by the chain line in FIG. 3 (step S6). After the clamping, the substrate camera 41 is moved after reading the one reference mark 60 again, and reads the other reference mark 61. The arithmetic processing unit 44 calculates the positional deviation and the angular deviation data of the substrate S obtained by the substrate camera 41. Based on this, the board coordinate system set for the board PB is converted to the machine coordinate system of the component mounter to indicate the mounting position of the component P on the board PB of the type number PB001, and the mounting operation program PR001 for the board PB is set. Is performed, and components are mounted by the mounting head device 11 (step S7). When the component mounting is completed, the mounting head device 11 is returned to the original position set adjacent to the component camera 40 above the component extracting unit 15. At the same time, the clamp device 26 is unclamped, the pulse motors 37 of the substrate transfer device 12 and the unloading conveyor device 62 are synchronously driven, and the conveyor belts 24 and 25 are moved forward and around, and the substrate PB is unloaded as shown in FIG. It is carried out to the conveyor device 62 (step S8).
[0035]
If the reference mark 60 does not enter the field of view of the board camera 41 in step S5, the carry-in conveyor device 56 and the pulse motor 37 of the conveyor device 38 are synchronously driven in reverse and the substrate PB is moved to the standby position of the carry-in conveyor device 56. It is returned (step S9). It is determined whether or not the substrate PB is most re-positioned at the target position (step S10). When re-positioning, the process jumps to step S4 to re-position the substrate PB.
[0036]
When the setting of the deceleration is commanded in steps S2 and S10, the pulse motors 37 of the carry-in conveyor device 56 and the conveyor device 38 are driven synchronously, and the conveyor device 38 is driven at the predetermined transport speed V as shown in FIG. In step S11, when the front edge of the substrate PB passes the reference position at point t0, a detection signal is sent from the sensor 39 (step S12). Conveyor device 38 starts decelerating at time t1 after a short time from when the detection signal is transmitted at time t0, decelerates at trial deceleration Rt, and stops at time t2 only by forward feed amount y1. It is driven (step S13). The trial deceleration Rt is empirically determined to be slightly larger so that the substrate PB slides slightly with respect to the conveyor device 38 when the conveyor device 38 stops at the trial deceleration Rt. At a time t3 when a minute time elapses from the stop of the conveyor device 38 to the stop of the substrate PB slipping on the conveyor device 38 (step S14), the conveyor device 38 does not slide the substrate PB on the conveyor device 38. It is accelerated in the reverse direction by the pulse motor 37 at the acceleration A0 and driven at the predetermined transport speed V from the point t4 (step S15), and the reverse feed of the conveyor device 38 until the sensor 39 sends the detection signal at the point t5. The quantity y2 is determined. In this case, the arithmetic processing unit 44 monitors whether the sensor 39 has changed from “ON” to “OFF” at a short time interval, and when the sensor 39 changes from “ON” to “OFF”, the substrate PB The sensor detects that the front edge of is located at the reference position, and determines that the detection signal has been transmitted (step S16). The number of pulses sent to the pulse motor 37 by the substrate transfer driving device 54 from the time point t3 to the time point t5 is counted by the arithmetic processing unit 44, and the backward feeding amount y2 is measured (step S17). The amount of slip y3 of the substrate PB is calculated by subtracting the amount of forward feed y1 from the amount of backward feed y2 (step S18). The slip amount y3 is added to the feed amount y4 driven from the time point t1 when the conveyor device 38 starts to decelerate from the predetermined transport speed V to the time point t2 when the conveyor device 38 starts to decelerate at the trial deceleration Rt and stops the substrate PB. The distance y5 is obtained (step S19). The deceleration at which the conveyor device 38 is decelerated and stopped at the braking distance y5 from the predetermined transport speed V is set as the predetermined deceleration R (step S20). When the setting of the deceleration is completed, the carry-in conveyor device 56 and the pulse motor 37 of the conveyor device 38 are synchronously driven to rotate in reverse, the substrate PB is returned to the standby position of the carry-in conveyor device 56, and steps S6 to S8 are executed. Positioning and component mounting of the substrate PB are performed.
[0037]
In the first embodiment, the conveyor device 38 is decelerated and stopped at the trial deceleration Rt based on the detection signal, and after a lapse of a short time, the conveyor device is driven in the reverse direction at an acceleration at which the board PB does not slip, and the reference sensor Although the slip amount y3 of the substrate PB is measured based on the reverse feed amount y2 of the conveyor device 38 until the detection signal is transmitted from the conveyor 39, the conveyor device 38 decelerates and stops at the trial deceleration Rt. After a lapse of a minute time, the front edge of the stopped substrate PB may be imaged by the substrate camera 41 positioned at a predetermined position, and the slip amount y3 of the substrate PB may be measured.
[0038]
Next, a description will be given of a second embodiment of the deceleration setting method and apparatus in the transport apparatus according to the present invention. The second embodiment differs from the first embodiment only in the step of setting the predetermined deceleration R in the control program as shown in FIG. 10, so only this difference will be described. When the setting of the deceleration is commanded in steps S2 and S9, the pulse motors 37 of the carry-in conveyor device 56 and the conveyor device 38 are driven synchronously, and as shown in FIG. Is driven in the positive direction (step S21), and when the front edge of the substrate PB passes the reference position, the sensor 39 changes from OFF to ON and sends out a detection signal (step S22). The conveyor device 38 is driven in the forward direction by the first feed amount y21 between the time when the detection signal is sent and the time when the deceleration is stopped (step S23), and is stopped for a predetermined time (step S24). The first feed amount y21 is set to be equal to or more than a feed amount necessary for the conveyor device 38 to move from the stopped state to a state where the substrate PB is transported at the transport speed V without slipping. In other words, while the conveyor device 38 is accelerated from the stopped state to the transport speed V at the acceleration A0 and is driven by the first feed amount y21, the substrate PB does not slip on the conveyor device 38 and the transport speed is reduced. V transported.
[0039]
After a lapse of a predetermined time, the conveyor device 38 is accelerated in the reverse direction to the transport speed V at an acceleration A0 at which the board PB does not slip with respect to the conveyor device 38 (step S25), and the sensor 39 is separated from the front edge of the board PB and turned on. It changes to OFF and sends out a detection signal (step S26). The conveyor device 38 is driven in the reverse direction by the second feed amount y22 from the time when the detection signal is sent to the time when the substrate PB decelerates and stops at the deceleration R0 at which the substrate PB does not slip from the transport speed V (step S27), The operation is stopped for a predetermined time (step S28). The second feed amount y22 is required until the conveyor device 38 is accelerated from the stopped state to the transfer speed V at an acceleration A0 at which the substrate PB does not slip, and is decelerated from the transfer speed V at the initial deceleration R0 to stop. The search feed amount is set to a value larger than the minimum feed amount.
[0040]
The conveyor device 38 is accelerated to the transport speed V at the acceleration A0, and decelerates from the transport speed V at the deceleration R1 slightly increased from the initial deceleration R0 to stop at the second feed amount y22 (exploration feed amount). ) In the positive direction (step S29). When the substrate PB slides with respect to the conveyor device 38 when the conveyor device 38 is decelerated and stopped at the deceleration R1, the sensor 39 outputs the signal until the required minute time elapses before the substrate PB stops (step S30). Is determined (step S31). If there is no detection signal even after the elapse of the minute time, the conveyor device 38 is accelerated in the reverse direction to the transport speed V at the acceleration A0, and decelerates from the transport speed V at the initial deceleration R0 to the second speed. It is driven in the reverse direction by the feed amount y22 (step S32). The search cycle including the forward drive of the search feed amount in step S29, the presence / absence determination of the detection signal in step S28, and the reverse drive of the search feed amount in step S32 sequentially increases the deceleration in the forward drive by a small amount. Then, the process is repeated until the detection signal is transmitted (step S33). The deceleration in the forward drive in the previous search cycle of the search cycle in which the detection signal is determined to be present is set to the predetermined deceleration R (step S34). The search feed amount is preferably constant in each search cycle, but may be changed if the search feed amount in the forward direction of the current cycle is equal to the search feed amount in the reverse direction of the previous cycle. Further, it is preferable that the acceleration A0 at which the article does not slip and the transport speed V be constant in each search cycle, but they may be slightly changed.
[Brief description of the drawings]
FIG. 1 is a perspective view showing an overall configuration of an electronic component mounting machine to which a first embodiment of a deceleration setting device in a transport device according to the present invention is applied.
FIG. 2 is a vertical cross-sectional view of the transport device taken along line AA of FIG. 1;
FIG. 3 is an enlarged cross-sectional view of a main part of the transport device taken along a line BB in FIG. 2;
FIG. 4 is an explanatory diagram for explaining a relative positional relationship in a transport direction between a portion on a substrate and various target positions on a transport device.
FIG. 5 is a block diagram showing a configuration of a control device of the electronic component mounting machine.
FIG. 6 is an explanatory diagram for explaining a board information table registered in the storage device shown in FIG. 5;
FIG. 7 is a flowchart showing a program for controlling an electronic component mounting machine to which the first embodiment of the deceleration setting device in the transport device is applied.
FIG. 8 is an explanatory diagram illustrating an operation for controlling the positioning of a substrate on a transfer device.
FIG. 9 is a diagram illustrating a method of setting a predetermined deceleration in the first embodiment.
FIG. 10 is a flowchart showing a program for setting a predetermined deceleration in the second embodiment.
FIG. 11 is a diagram illustrating a method for setting a predetermined deceleration in the second embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 ... Component supply apparatus, P ... Electronic component, 11 ... Mounting head device, 12 ... Substrate conveyance device (conveyance device), 15 ... Component extraction part, 16 ... Mounting head, 41 ... Substrate camera, PB ... 20, 21: guide rail (conveying path), 24, 25: conveyor belt, 38: conveyor device, 39: sensor, 40: component camera, BDT: board information table, 44: arithmetic processing unit, 47: storage device, 37 ... a pulse motor, 58 ... a carry-in conveyor, 59 ... a barcode reader, 62 ... a carry-out conveyor device.

Claims

The conveyor device that conveys the article along the conveyance path, the sensor detects that the specific part of the article is located at the reference position of the conveyance path, sends a detection signal, and then decelerates at a predetermined deceleration and stops. In the transport device that is driven by the set feed amount until the position is reached and is positioned at the target position, when the conveyor device is decelerated and stopped at a trial deceleration from a predetermined transport speed based on the detection signal, the Measuring the braking distance of the article from the start of deceleration to the stop of the conveyor apparatus, and setting the deceleration at which the conveyor apparatus is decelerated and stopped from the predetermined transport speed at the braking distance of the article as the predetermined deceleration. A deceleration setting method in a transfer device, characterized in that:

2. The method according to claim 1, wherein a forward feed amount of the conveyor device until the conveyor device decelerates and stops at the trial deceleration from the predetermined transport speed based on the detection signal is obtained, and after the conveyor device decelerates and stops. After the elapse of a minute time, the conveyor device is driven in the reverse direction at an acceleration at which the article does not slip, and the reverse feed amount of the conveyor device is determined until the reference sensor sends a detection signal, and the reverse feed is performed. Calculate the slip amount of the article by subtracting the forward feed amount from the amount, and set the distance between the start of the deceleration at the trial deceleration from the predetermined transport speed and the stop until the conveyor device stops. A method of setting a deceleration of a transport speed in a transport device, wherein a braking distance of the article is obtained by adding a slip amount.

The conveyor device that conveys the article along the conveyance path, the sensor detects that the specific part of the article is located at the reference position of the conveyance path, sends a detection signal, and then decelerates at a predetermined deceleration and stops. In the conveyance device that is driven by the set feed amount and positions the article at the target position until the article is accelerated, the conveyor apparatus accelerates at an acceleration at which the article does not slip, then stops at a deceleration, and determines whether the article slips after stopping. The search cycle for determining whether or not the article is not slipping is repeated by gradually increasing the deceleration by a small amount from the deceleration in which the article does not slip, and the deceleration in the previous search cycle of the search cycle in which it is determined that the article has slipped is the predetermined deceleration. A deceleration setting method for the transfer device, wherein

The conveyor device that conveys the article along the conveyance path, the sensor detects that the specific part of the article is located at the reference position of the conveyance path, sends a detection signal, and then decelerates at a predetermined deceleration and stops. In the conveying device driven by the set feed amount until the position is reached, the conveyor moves by the search feed amount after the detection signal is transmitted after the specific portion of the article is separated from the sensor and the detection signal is transmitted. After driving the apparatus in the reverse direction in a state where the article does not slip, the conveyor apparatus is accelerated at an acceleration at which the article does not slip from the stopped state, decelerated at a deceleration, and driven in the forward direction by the search feed amount and stopped. If it is determined that there is no detection signal even after a lapse of a short time after the conveyor device is stopped, an exploration system that drives the conveyor device in the reverse direction by the exploration feed amount in a state where the article does not slip. The deceleration in the forward drive is sequentially increased while the deceleration in the forward drive is sequentially increased until the detection signal is transmitted, and the deceleration in the forward drive in the previous search cycle of the search cycle in which the detection signal is determined to be present is determined. A deceleration setting method for a transport device, wherein the predetermined deceleration is set.

5. The deceleration setting in the transport device according to claim 1, wherein the article is a substrate, and the conveyor device is a belt conveyor having a conveyor belt driven by a pulse motor or a servomotor. 6. Method.

The conveyor device that conveys the article along the conveyance path, the sensor detects that the specific part of the article is located at the reference position of the conveyance path, sends a detection signal, and then decelerates at a predetermined deceleration and stops. In the transport device that is driven by the set feed amount until it is moved and positions the article at a target position, when the conveyor device is decelerated and stopped at a trial deceleration from a predetermined transport speed based on the detection signal, the conveyor Means for measuring the braking distance of the article from the start to the stop of deceleration of the apparatus, and a deceleration for decelerating and stopping the conveyor apparatus from the predetermined transport speed at the braking distance of the article as the predetermined deceleration. A deceleration setting device in a transport device, characterized in that a deceleration setting device is provided.