JP2008091684A - Servo amplifier and surface mounting machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a servo amplifier that achieves improvement in maintenanceability while achieving its compactification, and a surface mounting machine. <P>SOLUTION: The servo amplifier 22 is used for the surface mounting machine that is provided with a plurality of motors 14, 15 and the servo amplifier 22 including a servo control part and a drive circuit part so as to control each motor 14 or the like. The servo amplifier 22 is composed of a plurality of sub-substrates 22b, respectively, in which the servo control part and the drive circuit part corresponding to each of the two motors 14 (15) are arranged, and a base substrate 22a to which the sub-substrates 22b are attachably/detachably assembled. The base substrate 22a is connected with a head-unit-side power cable for driving a motor and a head-unit-side cable or the like via connectors and formed with a bus circuit for wire-connecting each of the cables with each sub-substrate 22b. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a servo amplifier that controls a motor in an automatic machine and a surface mounter that is an automatic machine to which the servo amplifier is applied.

  For example, a surface mounter for mounting electronic components on a printed board as an automatic machine is generally known. This surface mounter has a head unit that can move with respect to a printed circuit board positioned at a mounting work position, and a plurality of mounting heads mounted on the head unit absorb and convey components onto the printed circuit board. Configured to be implemented.

Conventionally, the head unit is equipped with a plurality of motors for driving the mounting head, and a servo amplifier for controlling the motor is mounted for each motor. In a head unit having a large number of mounting heads, There was a tendency to increase the size mechanically because the servo amplifier was installed. Therefore, in recent years, in view of such problems, it has been considered to consolidate servo amplifiers by arranging servo amplifiers (servo control unit and drive circuit unit) corresponding to each motor on a single substrate (patents). Reference 1).
JP 2005-203682 A

  According to the configuration disclosed in Patent Document 1, the servo amplifier can be made compact, and there are many merits such as efficient wiring between the servo amplifier and each motor. However, since the servo control unit and the drive circuit unit for each motor are arranged on a common board, even if a part of the servo control unit etc. fails, all wiring connected to the board (motor wiring) , Signal lines, power lines) must be removed and the board must be taken out. Although this type of failure is rare, once it occurs, it takes time to replace and repair it. Therefore, it is desirable to improve this point and make it more practical.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to improve maintainability while reducing the size of a servo amplifier that controls a motor in an automatic machine such as a surface mounter.

  The present invention has been made in view of the above circumstances, and is a servo amplifier for an automatic machine that includes a plurality of motors and a servo amplifier that includes a servo control unit and a drive circuit unit and controls the motors. The servo control unit and the drive circuit unit corresponding to one to a plurality of motors, respectively, and a plurality of sub-substrates, and a base substrate to which these sub-substrates are detachably assembled. A power line and a signal line for driving the motor are connected, and wirings for connecting the power line and the signal line to the sub-board are formed.

  According to the configuration of this servo amplifier, a servo control unit and a drive circuit unit corresponding to each motor are arranged on a common substrate called a base substrate using a sub substrate as a medium. In addition, it is possible to substantially enjoy the configuration of the conventional servo amplifier in which the drive circuit unit is disposed on a single substrate. In addition, since each sub board is detachably assembled to the base board, if the servo control unit (or drive circuit unit) corresponding to any motor fails, the wiring of the motor is removed, If only the sub-board related to the failure is removed from the base board, the sub-board can be easily removed, repaired and replaced without removing any other wiring.

  In this servo amplifier, the connector is fixed to the sub-board, and this connector is connected to the mating connector fixed to the base board, so that each sub-board is detachably assembled to the base board. It is suitable. According to this configuration, the sub-substrate can be easily detached from the base substrate. In other words, a slot may be provided in the base board, and the sub board may be inserted, and the sub board and the base board may be connected by a connector separately from this, but in this case, when removing the sub board, It takes time and effort to remove itself and the trunk line. On the other hand, according to the said structure, these work can be performed at once and work becomes easy.

  In addition, it is preferable that the plurality of sub-substrates are connected to the base substrate in a state of being arranged in parallel to each other. According to this configuration, since the sub-boards are arranged in order with respect to the base board, it is difficult to form a useless space on the base board, and the entire servo amplifier becomes compact.

  On the other hand, the surface mounter according to the present invention is provided so as to be movable relative to the mounter main body and the mounter main body, and moves between the component supply unit of the electronic component and the installation position of the mounted substrate. A plurality of mounting heads mounted on the head unit, and a motor mounted on the head unit and provided corresponding to each of the mounting heads. Is driven by the servo amplifier mounted on the head unit.

  According to such a configuration, the head unit can be reduced in size through the advantage of the servo amplifier that the servo amplifier can be made compact. In addition, as described above, the servo amplifier can be easily removed, repaired, and replaced only from the sub-board corresponding to each of the plurality of motors, so that maintainability is improved.

  More specifically, the motor is a motor that is provided for each mounting head and drives the mounting head to move up and down relative to the head unit. Each of the plurality of sub-boards of the servo amplifier includes one or more motors. A servo control unit and a drive circuit unit corresponding to the motor are arranged.

  In other words, since the motor that drives the mounting head to move up and down is usually provided for each mounting head, the increase in the number of mounting heads promotes an increase in the size of the head unit. Thus, it is advantageous for suppressing such an increase in the size of the head unit, and it is possible to improve maintainability.

  The servo amplifier is detachably mounted on the head unit via the main board, and is connected to the control device mounted on the mounter body for controlling the mounting operation of the components via the signal line. Are preferably connected.

  According to this configuration, apart from the control device, only the servo amplifier can be detached from the device alone.

  In this surface mounting machine, the servo amplifier is accessible from the front side or the rear side of the mounting machine body that is the worker's standing position side, and each sub-board is viewed from the standing position side. It is preferable that the head units are mounted in parallel.

  According to this configuration, the operator can easily access the servo amplifier from the standing position side, and any of the sub-boards can be easily attached and detached without being inferior.

  In this case, the front side and the rear side of the mounting machine main body are the operator's standing positions, the component supply units are provided on the front side and the rear side of the device, respectively, and the head unit is connected to the component supply unit on the front side of the device. In a so-called two-head unit type surface mounter in which a front unit that moves between a mounting substrate and a rear unit that moves between a component supply unit on the rear side of the apparatus and a mounted substrate is provided, The servo amplifier mounted on the unit is mounted on the front unit while being accessible from the front side of the mounting machine body, while the servo amplifier mounted on the rear unit is accessible from the rear side of the mounting machine body It is preferable that the rear unit is mounted in such a state.

  According to this configuration, in both the front unit and the rear unit, the operator can easily access the servo amplifier from the standing position side, and any of the sub-boards can be easily attached and detached without being inferior.

  The servo amplifier according to the present invention substantially enjoys the configuration of the conventional servo amplifier in which the servo control unit and the drive circuit unit corresponding to a plurality of motors are arranged on one substrate as described above. In addition, it is possible to easily remove and repair or replace only the sub-board on which the servo control unit or the like in which the failure has occurred is arranged. Therefore, it is possible to improve the maintainability while reducing the size of the servo amplifier.

  Further, according to the surface mounter according to the present invention, since the servo amplifier as described above is mounted as a servo amplifier for driving a plurality of motors provided corresponding to a plurality of mounting heads, the size of the head unit is small. Can be effectively advanced and maintainability can be improved.

  A preferred embodiment of the present invention will be described with reference to the drawings.

  1 and 2 show an outline of a surface mounter according to the present invention, FIG. 1 is a plan view, and FIG. 2 is a front view showing the surface mounter.

  As shown in these drawings, a surface mounter (hereinafter abbreviated as a mounter) 10 is an automatic machine that mounts electronic components (not shown) on a printed circuit board P. The mounter body 1 and the mounter body 1 are The head unit 2 is provided so as to be relatively movable.

  The mounting machine main body 1 has a base 3, and a pair of conveyors 4 for transporting the printed circuit board P is disposed on the base 3, and the printed circuit board P is transported on the conveyor 4. It stops at the illustrated mounting work position.

  In addition, component supply units 5 are respectively arranged on both sides of the conveyor 4, and these component supply units 5 are provided with multiple rows of tape feeders 5 a. Each tape feeder 5a is configured such that small chip components such as ICs, transistors, capacitors, etc. are stored at predetermined intervals, and the held tape is led out from the reel. The electronic head is taken out of the tape feeder 5a by the head 13 for use.

  The head unit 2 is provided above the base 3 so as to be movable relative to the mounting machine main body 1, and in the X-axis direction (left-right direction in FIG. 1) and Y-axis direction (up-down direction in FIG. 1). The electronic component can be transported from the component supply unit 5 to the printed board P.

  More specifically, the base 3 of the mounting machine body 1 is provided with a fixed rail 6, and a support member 7 of the head unit 2 is arranged along the fixed rail 6 so as to be movable in the Y-axis direction. The movement of the member 7 in the Y-axis direction is performed by an X-axis servo motor 9 via a ball screw 8. The head unit 2 is supported so as to be movable in the X-axis direction along a fixed rail 7 a (see FIG. 3) disposed on the support member 7, and this movement in the X-axis direction is via a ball screw 11. This is performed by the Y-axis servo motor 12.

  A plurality of mounting heads 13 are mounted on the head unit 2, and in this embodiment, eight mounting heads 13 are arranged in a row in the X-axis direction.

  As shown in FIG. 2 and FIG. 3, these mounting heads 13 have suction nozzles 13a at their tips, and can suck electronic components by suction force due to negative pressure supplied to the suction nozzles 13a. Yes. The suction nozzle 13a is provided so as to be relatively movable with respect to the main body of the head unit 2, and is moved up and down (moved in the Z-axis direction) and the nozzle central axis (R-axis) with respect to the frame 2a of the head unit 2. ) Although it is possible to rotate around, although not shown in detail, the suction posture for sucking the electronic component from the component supply portion of the electronic component, the holding posture for lifting and holding the electronic component in the sucked state, and the printed circuit board P It is comprised so that it may move between each with the supply attitude | position which mounts an electronic component.

  The head unit 2 also has a plurality of motors 14 and 15 for driving the mounting head 13 so that the mounting head 13 can be moved between the above-described postures with respect to each of the plurality of mounting heads 13, that is, driving up and down for each head. The eight Z-axis motors 14 that perform the above and the two R-axis motors 15 that simultaneously rotate the heads 13 by half are arranged in a line. Note that servo motors are employed for these motors 14 and 15 so that the mounting head 13 can be driven with high accuracy.

  Further, as shown in FIG. 3, the mounting head 13, the suction nozzle 13 a, the Z-axis motor 14, the R-axis motor 15 and the like mounted on the head unit 2 are arranged on the front side of the apparatus with respect to the support member 17. The layout is convenient for the operator to perform maintenance and inspection after stopping the mounting machine 10. The front side of the apparatus is the operator's standing position side of the mounting machine 10, that is, the side where the operation panel, monitor, etc. of the mounting machine 10 are arranged, and corresponds to the left side (lower side in FIG. 1) in FIG.

  Here, a motor control device that controls the plurality of motors 14 and 15 will be described with reference to FIGS. 4 and 5 are block diagrams showing an outline of the servo amplifier 22 (servo amplifier according to the present invention) included in the motor control device.

  First, as shown in FIG. 2, the motor control device has a main controller 21, a servo amplifier 22, and a communication path 23.

  The main controller 21 is a control circuit provided on the mounting machine main body 1 side. The main computer unit 24 controls the surface mounting machine 10 as a whole, and each of the plurality of mounting heads 13 based on a command from the main computer unit 24. And an NC circuit 25 for numerically calculating a target position for each unit time.

  The NC circuit 25 includes a communication unit 25b for exchanging data related to the drive control of the motors 14 and 15 with the servo amplifier 22. Through this communication unit 25b, the NC circuit 25 receives the target position data calculated numerically. It is configured to transmit to the servo amplifier 22.

  The servo amplifier 22 controls the driving of the motors 14 and 15 so as to move the mounting heads 13 to the target positions of the mounting heads 13 calculated by the NC circuit 25 of the main controller 21. It is provided in the head unit 2.

  The communication path 23 is provided between the main controller 21 and the servo amplifier 22 and exchanges data related to the drive control of the motors 14 and 15 between the main controller 21 and the servo amplifier 22. is there.

  The communication path 23 is a serial communication path, and exchanges target position data and other data between the main controller 21 and the servo amplifier 22 as data related to the drive control of the motors 14 and 15. In the present embodiment, the communication path 23 includes a bundled mounter main body side cable 23a, a head unit side cable 23b, and a connector 23c that connects between them.

  A power supply path 50 is provided in parallel with the communication path 23. The power supply path 50 is bundled with the mounting machine main body side cable 23a, and the mounting unit main body side power cable 50a from the DC power source provided in the base 3 and the head unit side power cable bundled with the head unit side cable 23b. 50b and a connector 50c for connecting between them.

  The head unit side cable 23 b and the head unit side power cable 50 b are routed along the support member 7 as shown in the figure, and are servoed through the bendable cable duct 51 that connects the support member 7 and the head unit 2. Guided by the amplifier 22.

  As shown in FIG. 4, the servo amplifier 22 according to the present invention includes a base substrate 22a and a plurality of sub-substrates 22b that are detachably incorporated therein.

  The sub board 22b is a central part of the servo amplifier 22, and as shown in FIG. 5, the servo control unit 26, the drive circuit unit 27, etc. for the one or more motors 14 and 15 are arranged on the same board. It is configured. In this embodiment, the servo control unit 26 and the like for the two motors 14 (or 15) are arranged on the same substrate.

  The servo control unit 26 is a circuit for processing the target position data from the NC circuit 25 and the encoder signals from the motors 14 and 15 by a local CPU. In the vicinity of the servo control unit 26, a bus data input / output circuit 28a is provided. An output circuit 28b and the like are arranged.

  In addition, the drive circuit unit 27 includes a motor current amplification circuit that supplies power controlled by the servo control unit 26 to the motors 14 and 15, and an encoder that converts the encoder signal into a digital signal and inputs the digital signal to the servo control unit 26. It comprises a signal input circuit or the like, and is configured to directly control the driving of the motors 14 and 15 and feed back rotation information of the motors 14 and 15 to the servo control unit 26. A power line 29 a and an encoder signal line 29 b from the motors 14 and 15 are connected to the drive circuit unit 27 via a connector 30.

  The connector is composed of two connectors that are fitted to each other (for example, in the case of the connector 30 described above, it is composed of a connector on the motor wiring side and a connector on the board side). The connectors are illustrated as one connector without distinction.

  As shown in the drawing, one servo control unit 26 and two drive circuit units 27 are arranged on the sub-board 22b. Thus, in this embodiment, one servo control unit 26 uses two servo control units 26. The motors 14 and 15 are configured to be controlled.

  Also, the sub-board 22b is formed with a so-called card edge connector 32 with the bus bar wiring exposed to the outside at the edge thereof, and this card edge connector is connected to the mating connector 42 mounted on the base board 22a. 32 is inserted, the sub board 22b is detachably assembled to the base board 22a, and the circuit such as the servo control unit 26 is connected to the bus circuit 35 described later by this assembly. . In addition, each sub board | substrate 22b is assembled | attached on the base board | substrate 22a in the state arranged in parallel with each other by being inserted from the direction orthogonal to the base board | substrate 22a with respect to the said connector 42 (refer FIG. 6).

  On the other hand, the base substrate 22a functions as a patch board (wiring board) of each sub-substrate 22b. As shown in FIG. 4, the base substrate 22a includes a serial communication circuit 36 for controlling input / output of serial data, converter circuits 37a and 37b for converting a power supply voltage to a voltage for the sub-board 22b, and a motor power supply control circuit. 38 etc. are arranged. A head unit side cable 23 b is connected to the serial communication circuit 36 via a connector 40. A head unit side power cable 50b is connected to the converter circuits 37a and 37b and the motor power control circuit 38 via a connector 41.

  A plurality of connectors 42 for mounting the sub-board 22b into the base board 22a are mounted side by side on the base board 22a, and the card edge connector 32 of each sub-board 22b is inserted into the connectors 42 as described above. ing. Each connector 42 is connected to the serial communication circuit 36, the converter circuits 37a and 37b, the motor power control circuit 38, and the like via a bus circuit 35 disposed on the base substrate 22a.

  In addition, signal lines 61 from various position sensors and signal lines 62 from negative pressure sensors provided corresponding to the mounting heads 13 are connected to the bus circuit 35 via connectors 44 and 45, respectively. In addition, a signal line 60 from a valve control unit that controls supply of negative pressure to the mounting head 13 is connected to the bus circuit 35 via a connector 43.

  The outline of the servo amplifier 22 has been described above with reference to the block diagrams of FIGS. 4 and 5. Here, a more specific configuration of the servo amplifier 22 and a servo for the head unit 2 will be described with reference to FIGS. A specific assembly structure of the amplifier 22 will be described. 6 and 7 are perspective views of the servo amplifier 22 assembled to the servo amplifier 22.

  As shown in FIGS. 3 and 6, the servo amplifier 22 is assembled to the fixing board 65 by fixing the base substrate 22a via a spacer on a fixing board 65 made of an insulating board or an aluminum plate. The board 65 is detachably fixed to the support member 17 of the cable duct 51 provided at the top of the head unit. More specifically, the base substrate 22a is horizontal, and the sub-substrates 22b are fixed to the support member 17 with bolts or the like so as to be positioned on the front side of the apparatus with respect to the cable duct 51 in a state where they are aligned in the X-axis direction. Has been.

  Each sub-board 22b is assembled to a holder 70 as shown in FIG. The holder 70 has a substantially inverted U shape so as to cover the upper side of the sub-board 22b assembled to the base board 22a. Bent portions 70a and 70b are formed at the front lower end and the rear lower end of the holder 70, respectively, and the front side bent portion 70a (the front side in FIG. 6) is formed on the fixing board 65 and the rear side bent portion 70b. Are fixed to the fan cover 18 by bolts B1 and B2, respectively. The fan cover 18 covers a cooling fan (not shown) for cooling the servo amplifier 22 and is fixed to the support member 17.

  Although only a part is shown in FIG. 6, a reinforcing bar 72 extending in the X-axis direction is fixed to the fixing board 65 via the side plate 19 (see FIG. 3), and the holder of each sub-board 22b. 70 is fixed to the reinforcing bar 72 via the fixing metal 73 by fastening the front surface portion thereof to the fixing metal 73 with a bolt B3. That is, by fixing each base substrate 22a to the fixing board 65 and the fan cover 18 through the holder 70 in this way, each sub substrate 22b can be moved to the base substrate 22a while the head unit 2 is driven at high speed. The connector 42 is reliably prevented from coming off, and the assembled state of the sub board 22b with respect to the base board 22a is stably maintained.

  6 denotes an opening formed in the holder 70 for connecting the connectors of the power lines 29a and encoder signal lines 29b of the motors 14 and 15 to the sub-board 22b.

  In such a motor control device of the mounting machine 10, the NC circuit 25 of the main controller 21 provided on the mounting machine body 1 side sets the target position of each mounting head 13 for each unit time of the entire mounting machine. Numerical calculation is performed as a control. Next, the NC circuit 25 transmits the target position data as serial data to the servo amplifier 22 via the communication path 23.

  The servo amplifier 22 controls each of the motors 14 and 15. At this time, the servo control unit 26 outputs the target position data from the NC circuit 25 and the encoder signals from the motors 14 and 15 in each sub-board 22 b. Then, a command is sent to the drive circuit unit 27 to control the current supplied to the motors 14 and 15 so as to move each mounting head 13 to each target position.

  As a result, in the head unit 2, each mounting head 13 sucks the electronic component from the component supply unit of the electronic component, holds the electronic component in the sucked state, and holds the electronic component on the printed circuit board. Each of them moves between the supply postures for mounting the components.

  According to the mounting machine 10 as described above, since the servo amplifier 22 that constitutes the motor control device is configured as described above, the head unit 2 can be reduced in size while the maintainability can be effectively improved. There is an effect that can be done.

  That is, the servo amplifier 22 has a configuration in which the servo control unit 26 and the drive circuit unit 27 corresponding to the motors 14 and 15 are arranged on the common substrate called the base substrate 22a using the sub substrate 22b as a medium. For this reason, the servo control units 26 corresponding to the plurality of motors 14 and 15 are integrated, thereby making the servo amplifier compact.

  In addition, the servo amplifier 22 includes, for each of the two motors 14 and 15, elements that are considered to be more likely to fail than other devices such as the servo control unit 26 and the drive circuit unit 27. Since the sub-boards 22b are divided and arranged on the sub-boards 22b, and the sub-boards 22b are detachably assembled to the base board 22a by connector connection, the servo control unit 26 corresponding to any one of the motors 14 and 15 or the drive circuit Even when the unit 27 or the like fails, the sub board 22b related to the failure is removed from the base board 22a, and the wires (power lines 29a and encoder signal lines 29b) of the motors 14 and 15 connected to the sub board 22b are removed. Then, the sub-board 22b can be easily removed and replaced or repaired without removing any other wiring. Kill. That is, there is no need to remove the head unit side cable 23b, the head unit side power cable 50b, the various signal lines 60 to 62, and the wirings of the other motors 14 and 15 connected to the servo amplifier 22. Therefore, even if the servo control unit of some motors 14 and 15 breaks down, the maintenance performance is greatly improved compared to the conventional servo amplifier that required removing all wiring and removing the servo amplifier (board). To do.

  The sub board 22b can be easily removed by removing the bolts B1 to B3 fixing the holder 70 of the sub board 22b and pulling out the sub board 22b from the connector 42 as shown in FIG. it can. In particular, the servo amplifier 22 is fixed to the upper part of the head unit 2 so that the sub-boards 22b are arranged in a line in the X-axis direction so as to be positioned on the front side of the apparatus with respect to the cable duct 51. In addition, the operator can easily access any of the sub-boards 22b from the front side of the apparatus without any inferiority and perform the detaching operation. Accordingly, maintainability is also good in this respect.

  The above-described embodiment is merely an example of a preferable specific example of the present invention, and the servo amplifier and the surface mounter according to the present invention are not limited to the above-described embodiment.

  For example, in the servo amplifier 22 of the embodiment, the sub-board 22b is configured by arranging the servo control unit 26 and the drive circuit unit 27 for the two motors 14 (15). Of course, one motor 14 (15 ) May be arranged for each of the servo control units 26, and conversely, the servo control unit 26 may be arranged for every three or more motors 14, 15.

  In the embodiment, the servo amplifier 22 is configured such that the card edge connector 32 is formed on the sub-board 22b, and the card edge connector 32 is inserted into the connector 42 mounted on the base board 22a. However, the present invention is not limited to this, and various connector structures can be applied as long as the sub board 22b can be detachably incorporated into the base board 22a.

  The assembly structure of the sub board 22b to the base board 22a is not limited to the structure in which the connector 32 provided on the sub board 22b is connected to the connector 42 provided on the base board 22a as in the embodiment. Alternatively, the sub-board 22b may be inserted by providing a slot, and separately from this, the base board 22a and the sub-board 22b may be separately connected by a relay line having a connector.

  As the surface mounter, two support members 7 holding the head unit 2 movably in the X-axis direction are arranged in the Y-axis direction, and alternately from the component supply units 5 before and after the apparatus while avoiding mutual interference. There is one that mounts electronic components on a substrate P that is picked up and held on the conveyor 4. In this type of surface mounter, the mounting head 13, the suction nozzle 13a, the Z-axis motor 14, the R-axis motor 15 and the like of the head unit 2 on the front side of the apparatus (corresponding to the front unit according to the present invention) are supported by the support member 7. The mounting head 13 and the like of the head unit 2 on the apparatus rear side (corresponding to the rear unit according to the present invention) are disposed on the apparatus rear side with respect to the support member 7. The servo amplifier 22 is the same as that of both head units 2 and is mounted on the head unit 2 in a state of being positioned above the support member 7. In short, the head unit 2 on the rear side of the apparatus has a configuration in which the front side of the apparatus is replaced with the rear side of the apparatus as shown in parentheses in FIGS. 3, 6, and 7. The configuration is generally symmetrical with respect to the boundary. In this case, the front side of the apparatus and the rear side of the apparatus are respectively set as the worker standing positions.

  According to this configuration, even in the surface mounter as described above, in which the head unit 2 can be individually driven in the X-axis and Y-axis directions, the maintenance inspection performance is excellent. That is, of the two head units 2, the head unit 2 that is located on the front side of the apparatus has the mounting head 13, the suction nozzle 13 a, the Z-axis motor 14, and the R-axis motor 15 from the front side of the apparatus that is the worker's standing position side. In addition to the above, the sub-board 22b can be easily accessed to perform maintenance and inspection work. On the other hand, for the head unit 2 located on the rear side of the apparatus, the rear side of the apparatus on the worker standing position side Therefore, in addition to the mounting head 13, the suction nozzle 13a, the Z-axis motor 14 and the R-axis motor 15 mounted on the head unit 2, the sub-board 22b can be easily accessed for maintenance and inspection work.

  The servo amplifier according to the present invention does not necessarily have to be applied to a surface mounter that mounts electronic components as described above on a printed board. The servo amplifier according to the present invention can be applied to various automatic machines as long as it is an automatic machine including a plurality of motors and a servo amplifier that controls each motor.

  Further, the base 3, the conveyor 4, the component supply unit 5, the fixed rail 6, the support member 7, the main controller 21, the communication path 23, the NC circuit 25, and the like of the mounting machine 10 are not necessarily limited to the surface mounting machine according to the present invention. Not what you want. As the surface mounter according to the present invention, various design changes are possible as long as the surface mounter includes a mounter body, a head unit, a plurality of mounting heads, and a plurality of motors.

It is a top view which shows the outline of the surface mounting machine (surface mounting machine to which the servo amplifier which concerns on this invention is applied) concerning this invention. It is a front view which shows the outline of a surface mounting machine. It is a side view which shows the outline of a head unit. It is a block diagram which shows the outline of the servo amplifier (servo amplifier which concerns on this invention) which comprises a motor control apparatus. It is a block diagram which shows the outline of the sub board | substrate which comprises a servo amplifier. It is a perspective view which shows the outline of a servo amplifier. It is a perspective view of the servo amplifier which shows the state which removed the sub board | substrate.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Mounting machine main body 2 Head unit 5 Component supply part 10 Surface mounting machine 13 Mounting head 14,15 Motor 22 Servo amplifier 22a Base board 22b Sub board 26 Servo control part 27 Drive circuit part P Printed circuit board

Claims (6)

A servo amplifier for an automatic machine comprising a plurality of motors, a servo control unit and a drive circuit unit, and a servo amplifier for controlling each motor,
A plurality of sub-boards each having a servo control unit and a drive circuit unit corresponding to one or more motors, and a base board to which these sub-boards are detachably assembled;
A servo amplifier, wherein a power line and a signal line for driving a motor are connected to the base substrate, and a wiring for connecting the power line and the signal line to the sub-board is formed. A mounting machine main body, a head unit that is provided so as to be movable relative to the mounting machine main body, and moves between a component supply part of an electronic component and an installation position of a mounting board, and is mounted on the head unit. In a surface mounting machine comprising a plurality of mounting heads and motors mounted on the head unit and corresponding to the mounting heads,
The surface mounter according to claim 1, wherein the plurality of motors are driven by the servo amplifier according to claim 1 mounted on a head unit. In the surface mounting machine according to claim 2,
The motor is provided for each mounting head and drives the mounting head to move up and down with respect to the head unit. The plurality of sub-boards of the servo amplifier correspond to one to a plurality of the motors, respectively. A surface mounting machine, wherein a servo control unit and a driving circuit unit are arranged. In the surface mounting machine according to claim 2 or 3,
The servo amplifier is detachably mounted on the head unit via the main board, and connected to the control device mounted on the mounter body via the signal line in order to control the mounting operation of components. Surface mounter characterized by being made. In the surface mounting machine according to any one of claims 2 to 4,
The servo amplifier is assembled to the base substrate in a state where the plurality of sub-substrates are arranged in parallel to each other, and the front side of the mounting machine main body that is the operator's standing position side with respect to the head unit, or A surface-mounting machine, wherein the sub-boards are mounted in a state accessible from the rear side and in a state where the sub-boards are arranged in parallel as viewed from the standing position side. In the surface mounting machine according to claim 5,
The front side and the rear side of the mounting machine main body are the standing positions of the workers, the component supply units are provided on the front side and the rear side of the device, respectively, and the component supply unit on the front side of the device and the mounted substrate as the head unit A front unit that moves between, and a rear unit that moves between a component supply unit on the rear side of the apparatus and the mounted substrate,
The servo amplifier mounted on the front unit is mounted on the front unit in a state accessible from the front side of the mounting machine body, while the servo amplifier mounted on the rear unit is mounted from the rear side of the mounting machine body. A surface mounter mounted on the rear unit in an accessible state.

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