JP2016072268A - Controller, component transfer device, control method, component transfer method, and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a controller which provides the transfer conditions for reducing the possibility of poor mounting position of a component in a substrate, when the component holding force by a holder is reduced.SOLUTION: A controller has holding force measurement means for measuring the holding force, i.e., a force for holding a component, and outputting the holding force information indicating the holding force, and condition determination means for outputting transfer conditions, where the transfer setting was adjusted, depending on the holding force information and the air resistance that is received by the component at least when being transferred, based on the component information, i.e., the information about the component, and the transfer setting including the information of the provisions of transfer conditions that can be adjusted when transferring the component.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a control apparatus for conveying parts, an apparatus for conveying parts, and a method.

  In manufacturing an electronic device or the like, for example, the following procedure is performed when an electronic component is mounted on a substrate. First, an electronic component supplied by a component supply tool such as a feeder is held by a holder by suction or the like. Next, the electronic component is transported to a mounting position on the substrate while being held by the holder. Finally, after the electronic component is disposed at a predetermined position on the substrate, the holder is separated from the electronic component.

  In this mounting procedure, the force (holding force) for holding the component by the holder may decrease. For example, if the position of the electronic component supplied from the component supply tool varies, and the holder picks up the end of the electronic component or a portion with unevenness, there is a gap between the holding unit and the electronic component. May occur. Due to this gap, the holding force of the parts by the holder may be reduced. Note that the variation in the position of the electronic component supplied by the component supply tool is caused by various causes such as an error in the position when the component supply tool is attached to the manufacturing apparatus, or the vibration when the component is supplied. In addition, the holding force may be reduced during the conveyance due to a defect of the holder.

  When the holding force is reduced as described above, the position of the electronic component relative to the holder may be shifted during the transportation of the electronic component. As a result, there is a problem that the electronic component is not mounted at an appropriate position on the substrate.

  Therefore, for such a problem, Patent Document 1 discloses a component mounting apparatus that corrects the relative position between a suction nozzle and a component sucked by the suction nozzle. The apparatus described in Patent Document 1 includes a suction nozzle, a component recognition unit, and a control unit. The control unit determines whether the positional deviation amount between the center of the component and the nozzle center of the suction nozzle is within an allowable range based on the suction position of the component recognized by the component recognition unit. Then, when the amount of positional deviation exceeds the allowable range, the control unit lowers the transport speed than usual and corrects the position where the suction nozzle after that picks up the component. This component mounting apparatus prevents the position of the electronic component sucked by the suction nozzle from further shifting during the conveyance by reducing the conveyance speed in this way. Thereafter, the suction nozzle can suck the electronic component at the designed position.

  Patent Document 2 discloses a component mounting condition determining method for determining the moving speed of a mounting head having a suction nozzle in accordance with the suction force of the component by the suction nozzle in the component mounting machine. In the method disclosed in Patent Document 2, first, the adsorption force of a component at the time of component adsorption is obtained based on the shape of the component or the measured value of the adsorption pressure at the time of component adsorption. Then, when the suction force of the component at the time of suction of the component is lower than the suction force in the steady state by the suction nozzle, the moving speed of the mounting head is decreased from a predetermined moving speed. As a result, this method determines a mounting condition for mounting the component on the board with accurate positional accuracy even when the suction force of the component by the suction nozzle is reduced.

  Patent Document 3 discloses a circuit board movement control method for controlling acceleration and deceleration of a circuit board that moves while holding electronic circuit components. The method disclosed in Patent Document 3 includes a substrate moving device that holds a circuit board coated with a temporary fixing agent in a spot shape and moves the circuit board to an arbitrary position in a plane parallel to the surface of the circuit board. The acceleration / deceleration in the movement of the circuit board is the mass-related quantity related to the mass of each electronic circuit component temporarily fixed to the circuit board, and the height-related quantity which is the quantity related to the height of each electronic circuit component. , And an amount related to the bottom surface dimension, which is an amount related to the size of the bottom surface of each electronic component. In this way, the displacement of the electronic circuit component temporarily fixed to the circuit board during the movement of the circuit board is suppressed.

JP 2013-254887 A JP 2007-242818 A JP 2004-006530 A

  One cause of the positional deviation of the components during the conveyance of the components is an air resistance to the components that occurs during the conveyance.

  However, the devices and methods disclosed in Patent Documents 1 to 3 take into account the air resistance to the component, both in the evaluation of whether the component is misaligned during conveyance and in the determination of the speed at which the misalignment does not occur. do not do.

  Therefore, the devices and methods disclosed in Patent Documents 1 and 2 are components that are set at a low speed with a margin so as not to cause a displacement even if any air resistance is generated. It is thought that it is carrying. Further, the method disclosed in Patent Document 3 may set the moving speed and acceleration / deceleration lower or higher than necessary. When the value is set higher than necessary, this method may cause a displacement due to air resistance with respect to the components during conveyance.

  In other words, the apparatuses and methods disclosed in Patent Documents 1 to 3 have a problem that the accuracy of determining the possibility of occurrence of positional deviation of components and determining the conveyance conditions is low.

  One object of the present invention is to provide a control device capable of determining a conveyance condition such that the position of a component with respect to a holder does not shift according to information on the component holding force and the component conveyance including air resistance, The object is to provide a component conveying device, a component conveying method, and a program.

  In order to achieve the above object, a control device according to one aspect of the present invention is characterized by including the following configuration.

That is, the control device according to one aspect of the present invention
Holding force measuring means for measuring a holding force that is a force for holding a component and outputting holding force information representing the holding force;
Based on the component information that is information related to the component and the conveyance setting that includes information on the regulation of the conveyance condition that can be adjusted when the component is conveyed, the holding force information and at least the component when the component is conveyed And a condition determining means for outputting a conveyance condition in which the conveyance setting is adjusted according to the air resistance received by the apparatus.

Moreover, in order to achieve said same objective, the components conveying apparatus which concerns on 1 aspect of this invention is equipped with the control apparatus provided with the structure mentioned above,
And holding means for holding the component;
A conveying unit configured to convey the component held by the holding unit based on the conveying condition output from the control device.

In order to achieve the above object, a control method according to an aspect of the present invention is performed by an information processing device.
Measure the holding force, which is the force holding the part,
Based on the component information that is information on the component and the conveyance setting that includes information on the regulation of the conveyance condition that can be adjusted when the component is conveyed, the holding force and at least the component when the component is conveyed According to the received air resistance, a conveyance condition determination process for outputting a conveyance condition in which the conveyance setting is adjusted is executed.

In addition, in order to achieve the same object, a component conveying method according to an aspect of the present invention is performed by an information processing device.
Holding the parts,
The parts are transported based on the transport conditions output by the control method described above.

  Further, the same object is achieved by a computer readable computer storing a computer program that implements the control device, the component conveying device, and the corresponding method having the above-described configurations by a computer, and the computer program. This is also achieved by a storage medium.

  The present invention has an effect that it is possible to provide a conveyance condition that reduces the possibility that the mounting position of the component on the board becomes defective when the holding force of the component by the holder is reduced.

It is a block diagram which shows the structure of the control apparatus 1 which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the structure of the component mounting apparatus 100 which concerns on the 2nd Embodiment of this invention. It is a flowchart which shows the operation | movement which the component mounting apparatus 100 performs in 2nd Embodiment. It is the schematic explaining the force which acts with respect to the components 200 in the case of conveyance. It is the schematic explaining an example of the attitude | position control of the components in 2nd Embodiment. It is the schematic explaining an example of the attitude | position control of the components in 2nd Embodiment. It is a block diagram which shows the structure of the component mounting apparatus 300 which concerns on the 3rd Embodiment of this invention. It is a flowchart which shows the operation | movement which the component mounting apparatus 300 performs in 3rd Embodiment. It is a figure which illustrates the structure of the computer (information processing apparatus) applicable to each embodiment of this invention, and the control apparatus 1 and the component mounting apparatuses 100 and 300 which concern on the modification.

  Next, embodiments of the present invention will be described in detail with reference to the drawings.

  In the present invention, the “acceleration” of conveyance represents acceleration related to a change in speed in both acceleration and deceleration during conveyance. Further, unless otherwise specified in the following, the “speed” and “acceleration” of conveyance represent the highest speed and the highest acceleration, respectively, throughout the conveyance process.

<First Embodiment>
FIG. 1 is a block diagram showing a configuration of a control device 1 according to the first embodiment of the present invention. Referring to FIG. 1, the control device 1 according to the present embodiment includes a holding force measurement unit 2, a condition determination unit 3, and a storage device 4. The storage device 4 can store the component information 5 and the conveyance setting 6. The component information 5 and the conveyance setting 6 are also referred to as information related to component conveyance.

  Each unit of the control device 1 may be configured by a dedicated hardware device or a logic circuit. The control device 1 may be configured by a general information processing device (computer) that operates under the control of a computer program (software program) that is executed using a CPU (Central Processing Unit: not shown). good. A hardware configuration example in which the control device 1 is realized by a computer will be described later with reference to FIG.

  The storage device 4 is realized by, for example, a semiconductor memory device or a disk device.

  The part information 5 is information regarding parts. In the present embodiment, the component information 5 is information that is not changed when the component is conveyed, such as the mass of the component. In the present embodiment, the component information 5 is stored in the storage device 4 in advance.

  The conveyance setting 6 includes a prescribed speed information concerning a prescribed speed, a prescribed acceleration, and a posture of the part when the component is conveyed. In the present embodiment, the conveyance setting 6 is a setting that represents prescribed information for conveyance conditions that can be adjusted (changed) during conveyance. That is, the type of information included in the conveyance setting 6 can be determined according to the type of condition that can be adjusted during conveyance. In the present embodiment, the conveyance setting 6 is stored in the storage device 4 in advance.

  The holding force measuring unit 2 can measure a holding force, which is a force at which a part is held by a holding unit (not shown). The holding force measuring unit 2 outputs the holding force information representing the measured holding force to the condition determining unit 3. Note that the holding force measurement unit 2 may control an external measurement device (not shown) or the like instead of directly measuring the holding force and obtain information on the holding force from the measurement device or the like.

  Based on the component information 5 and the conveyance setting 6, the condition determination unit 3 receives the holding force information received from the holding force measurement unit 2, and at least the air resistance received by the component when being conveyed by a conveyance unit (not shown). The conveyance setting 6 is adjusted accordingly. The condition determination unit 3 determines a conveyance condition based on the adjusted conveyance setting 6.

  That is, when the condition determination unit 3 determines the conveyance conditions, the component having various specifications represented in the component information 5 is conveyed at the speed, acceleration, and posture represented in the conveyance setting 6. Consider the air resistance experienced by the component. Note that the air resistance received by the component is proportional to the square of the speed of the component. In addition, the condition determination unit 3 uses, as a conveyance condition, a conveyance setting 6 in which at least one (one or more) of speed, acceleration, or component posture is changed according to at least air resistance and measured holding force. Also good. In addition, the condition determination part 3 is good also as conveyance conditions, without changing the conveyance setting 6. FIG. The condition determination unit 3 obtains part information 5 and a conveyance setting 6 from the storage device 4.

  The condition determining unit 3 outputs the determined transport conditions to an external device (not shown) connected to the control device 1 by a signal line or the like.

  Thus, according to the present embodiment, even when the holding force is lower than expected, the conveyance condition can be adjusted (determined) according to the reduced holding force and the air resistance. Therefore, the control device 1 according to the present embodiment can control, for example, an external device that holds a component and conveys the held component to a predetermined mounting position.

  As described above, according to the present embodiment, according to information regarding the component holding force and the component conveyance including the air resistance, a conveyance condition that does not shift the position of the component with respect to the holder can be determined. There is an effect that can be done.

  The reason is that the holding force measuring unit 2 can measure the holding force when the component is actually held. Then, the condition determination unit 3 determines the conveyance condition based on the conveyance setting 6 adjusted so that the position of the component does not shift according to the measured holding force and the air resistance received by the component when being conveyed. Because it can.

<Second Embodiment>
Next, a second embodiment based on the above-described first embodiment will be described. In the following, the characteristic part according to the second embodiment will be mainly described, and the components of the second embodiment having the same configuration as the first embodiment are attached in the first embodiment. The same reference numerals as those of the reference numerals are attached, and the detailed description of the constituent elements is omitted.

  First, the configuration of this embodiment will be described below with reference to FIG. FIG. 2 is a block diagram showing a configuration of a component mounting apparatus 100 according to the second embodiment of the present invention. Referring to FIG. 2, the component mounting apparatus 100 according to the present embodiment includes a holding force measurement unit 2, a condition determination unit 103, a storage device 4, a holding unit 107, and a transport unit 108. The storage device 4 can store the component information 5 and the conveyance setting 6.

  The component mounting apparatus 100 according to the present embodiment includes a holding force measuring unit 2, a condition determining unit 103, and a storage device 4 that are based on the control device 1 according to the first embodiment. In addition, the component mounting apparatus 100 includes the holding unit 107 that holds the component and the transfer unit 108 that can transfer the component based on the transfer condition output by the condition determining unit 103. Different from the embodiment. That is, the component mounting apparatus 100 according to the present embodiment holds a component, and further moves the held component from the first position to the second position according to a conveyance condition adjusted so that the positional displacement of the component does not occur. It is a device that can be transported.

  Note that the configurations and operations of the holding force measurement unit 2, the condition determination unit 103, and the storage device 4 according to the present embodiment are examples of the corresponding units in the first embodiment, and thus, according to the first embodiment. The present invention can also be applied to the control device 1.

  Each part of the component mounting apparatus 100 may be configured by a dedicated hardware device or a logic circuit. In addition, each unit other than the holding unit 107 and the conveyance unit 108 in the component mounting apparatus 100 is generally operated by control of a computer program (software program) executed using a CPU (Central Processing Unit: not shown). A simple information processing apparatus (computer) may be used. A hardware configuration example in which the component conveying apparatus 100 is realized by a computer will be described later with reference to FIG.

  Since the structure of the storage device 4 is the same as that of the first embodiment, a detailed description thereof is omitted.

  The part information 5 is information regarding parts. Since the structure and content of the component information 5 are the same as those in the first embodiment, a detailed description thereof is omitted. In the present embodiment, the component information 5 includes, for example, mass information regarding the mass of the component, shape information regarding the outer shape of the component, conveyance direction information regarding the conveyance direction of the component, a friction coefficient between the holding unit 107 and the component, for each component. Include as information.

  The conveyance setting 6 includes information on the speed, acceleration, and component posture when the component is conveyed. Since the structure and contents of the transport setting 6 are the same as those in the first embodiment, a detailed description thereof will be omitted. In the present embodiment, the conveyance setting 6 includes, for example, a speed setting that represents a prescribed speed, an acceleration setting that represents a prescribed acceleration, and an attitude setting that represents a prescribed posture of the part with respect to the carrying direction as information for each part. .

  In the present embodiment, the holding force measuring unit 2 can measure the force with which the holding unit 107 holding the component holds the component. Since the structure and content of the holding force measuring unit 2 are the same as those in the first embodiment except for the points described above, a detailed description thereof is omitted.

  The condition determining unit 103 is based on the condition determining unit 3 in the first embodiment. The condition determining unit 103, based on the component information 5 and the conveyance setting 6, holds the holding force information received from the holding force measuring unit 2, the air resistance and inertial force received by the component when being conveyed by the conveying unit 108, The conveyance setting 6 is adjusted so that the relative position between the component and the holding unit 107 does not shift according to the frictional force acting between the component and the holding unit 107. The condition determination unit 3 determines a conveyance condition based on the adjusted conveyance setting 6. In this embodiment, the conveyance conditions include, for example, speed information indicating speed, acceleration information indicating acceleration, and posture information indicating the posture of the component with respect to the conveyance direction.

  The condition determining unit 103 outputs the determined transport condition to the transport unit 108. The condition determination unit 103 is the same as that of the first embodiment except for the points described above, and thus a detailed description thereof is omitted.

  The holding unit 107 can hold a component. There are various methods for holding the component by the holding unit 107, such as suction, gripping, and suction. The method by which the holding unit 107 holds the component is not limited. In the present embodiment, the holding unit 107 holds a component by suction as an example. That is, in this embodiment, the holding force is a suction force.

  The transport unit 108 transports the component held by the holding unit 107 from the first position to the second position. Further, the transport unit 108 can transport based on the transport conditions output by the condition determining unit 103. That is, in the present embodiment, the transport unit 108 can transport parts according to speed information, acceleration information, and posture information included in the transport conditions. In addition, the conveyance part 108 may have a structure divided into a plurality, such as a device that controls the speed and acceleration and another device that controls the posture of the component.

  Next, the operation of the present embodiment having the above-described configuration will be described in detail.

  FIG. 3 is a flowchart showing the operation of the component conveying apparatus 100 according to the second embodiment. Referring to FIG. 3, first, the holding unit 107 holds a component (step S10).

  Next, the holding force measuring unit 2 measures the holding force of the component by the holding unit 107 (step S11). Here, the holding force measurement unit 2 may control an external measurement device or the like (not shown) and obtain information on the holding force from the measurement device or the like. The holding force measuring unit 2 outputs holding force information representing the obtained holding force to the condition determining unit 103.

  Next, the condition determination unit 103 determines the conveyance unit 108 according to the holding force information obtained from the holding force measurement unit 2 and the air resistance, inertial force, and friction force based on the component information 5 and the conveyance setting 6. It is determined whether or not there is a possibility that the position of the component will be displaced when the component is conveyed by (step S12). Specifically, the condition determining unit 103 first reads out the part information 5 and the conveyance setting 6 from the storage device 4. Then, the condition determination unit 103 evaluates the possibility that the position of the component is shifted by a predetermined determination method.

In this embodiment, as an example of the determination method, the condition determining unit 103 evaluates that no positional deviation occurs when the holding force F ₃ obtained from the holding force measuring unit 2 satisfies the following expression 1. The basis of Equation 1 will be described later at the end of the description of the operation.

F ₃ > mg + (ma + αv ² S) / μ Formula 1
In Equation 1, m represents the mass of the part. g represents a gravitational acceleration. a represents the acceleration in conveyance. α represents a constant related to air resistance. v represents the speed in conveyance. S represents the projected area of the component with respect to the transport direction. That is, αv ² S represents air resistance. μ represents a friction coefficient between the component and the holding unit 107. In Equation 1 and the following equations, “/” is a symbol representing division.

  The condition determining unit 103 can obtain the mass m and the friction coefficient μ from the part information 5. Further, the condition determination unit 103 can obtain the acceleration a and the speed v from the conveyance setting 6. Furthermore, the condition determination unit 103 can calculate the projection area S based on the shape information included in the component information 5 and the conveyance direction information. The condition determining unit 103 may hold the expression 1, the gravitational acceleration g, and the constant α as predetermined information in advance, for example, in the storage device 4 or the like.

In step S12, the holding force F _3, when satisfying the formula 1, condition determining unit 103 determines that there is no possibility of positional deviation of the part be transported as a transport setting 6 is generated (in step S12 NO). In this case, the condition determination unit 103 may determine the conveyance condition as it is as a result of adjusting the conveyance setting 6. Then, the condition determining unit 103 outputs the determined transport condition to the transport unit 108 (step S14).

On the other hand, in step S12, the holding force F _3, is not satisfied Equation 1, condition determining unit 103 determines that the positional deviation of the part when carrying out as the transport setting 6 may occur (Step S12 YES) In this case, the condition determination unit 103 may change (adjust) at least one (one or more) of the settings included in the conveyance setting 6 and then use the changed conveyance setting 6 as the conveyance condition (step S13). That is, the condition determination unit 103 changes at least one of the acceleration a, the speed v, and the posture of the component (that is, the projection area S) so that the above-described Expression 1 is satisfied. Then, the condition determining unit 103 outputs the changed transport setting 6 to the transport unit 108 as a transport condition (step S14).

  After step S14, the transport unit 108 transports the parts based on the transport conditions received from the condition determining unit 3 (step S15).

In this way, the parts conveying apparatus 100 is considered air resistance, and by a suitable transport conditions in the holding force F _3, may carry part.

  Hereinafter, as an example, a description will be given of a case where the condition determination unit 103 determines the conveyance conditions for the part 200 having a rectangular parallelepiped shape shown in FIGS. 5 and 6. FIG. 5 and FIG. 6 are schematic diagrams for explaining an example of component posture control in the second embodiment.

First, as a premise, the mass m of the component is 6 × 10 ⁻⁶ [kg], the friction coefficient μ is 0.5, the air resistance constant α is 1, the gravitational acceleration g is 9.8 [m / s ² ], and the conveyance is performed. The velocity v is 4 [m / s] and the conveyance acceleration a is 10 [m / s ² ]. Further, as the shape information of the component 200, the length of the long side 201 of the component 200 is 1.6 × 10 ⁻³ [m], and the length of the short side 202 of the component 200 is 0.8 × 10 ⁻³ [m]. And the height of the component 200 (not shown) is assumed to be 0.8 × 10 ⁻³ [m].

  As shown in FIG. 5, when the component 200 is conveyed so that the long side 201 direction faces the parallel direction 210 (in parallel), the calculation result of Equation 1 is as shown in Equation 2 below. .

F ₃ > 2.20 × 10 ⁻⁴ formula 2
At this time, for example, if the holding force F ₃ is 3 × 10 ⁻⁴ [N], the condition determining unit 103 satisfies Expression 2, and therefore determines that there is no possibility that the position of the component is shifted during conveyance ( NO in step S12).

On the other hand, for example, when the holding force F ₃ is reduced to 2 × 10 ⁻⁴ [N], Expression 2 is not satisfied, and thus the condition determination unit 103 determines that there is a possibility that the position of the component may be displaced during the conveyance. (YES in step S12).

  Here, for example, as shown in FIG. 6, when the component 200 is transported so that the direction of the short side 202 faces the transport direction 210, the calculation result of Equation 1 is as shown in Equation 3 below. is there.

F ₃ > 1.20 × 10 ⁻⁴ formula 3
That is, Expression 3 is satisfied even when the holding force F ₃ is 2 × 10 ⁻⁴ [N]. Therefore, the condition determination unit 103 may change the posture information of the component 200 included in the conveyance setting 6 from the posture illustrated in FIG. 5 to the posture illustrated in FIG. 6 in step S13.

  In step S13, the condition determining unit 103 can obtain the same effect by changing either the acceleration information or the speed information in the conveyance of the parts in addition to the change of the posture information described above. . For example, as described in Japanese Patent Application No. 2014-073416 or Japanese Patent Application No. 2014-073418, the method by which the condition determining unit 103 changes the acceleration a, the speed v, and the posture of the component is not described above. There are also various methods.

  The types of information included in the component information 5 and the conveyance setting 6 are not limited to the above. For example, the information included in the component information 5 may be the projected area S for each conveyance direction instead of the shape information and the conveyance direction information. For example, if the posture of the component is not changed during the conveyance, the information regarding the posture of the component may be regarded as the component information 5 instead of the conveyance setting 6.

  When there are a plurality of parts, the condition determination unit 103 may obtain identification information for identifying the currently held parts from the holding unit 107 or the transport unit 108. Furthermore, identification information may be given to the component information 5 and the conveyance setting 6 for each component. Then, the condition determination unit 103 may extract the component information 5 and the conveyance setting 6 regarding the currently held component from the storage device 4 based on the identification information.

As the last description of the operation of the component conveying apparatus 100 in the present embodiment, the basis of the above-described formula 1 will be described below. FIG. 4 is a schematic diagram for explaining the force acting on the component 200 during conveyance. Referring to FIG. 4, in order to prevent positional displacement when the component 200 is conveyed, an inertial force ma 224 acting on the component 200 and a force F ₁ 221 acting on the air resistance are applied to the component 200 and the holding unit 107. The frictional force F ₂ 222 must be smaller than That is, in order to prevent a positional shift when the component 200 is conveyed, the following Expression 4 needs to be satisfied. The inertial force ma224 acts in the direction opposite to the acceleration (deceleration) direction during acceleration (deceleration).

ma + F ₁ <F ₂ Formula 4
Here, the frictional force _{F 2} is a μ friction coefficient, the holding force _F 3 223, is determined by the force mg225 acting by gravity. That is, Formula 4 can be expressed as Formula 5 below.

ma + F ₁ <μ (F ₃ −mg) Formula 5
Further, the force F ₁ 221 acting on the component 200 due to air resistance is considered to be proportional to the square of the conveyance speed v and the area S obtained by projecting the component 200 in the conveyance direction. This proportionality constant is the constant α related to the above-described air resistance. α is a numerical value related to an air density that depends on temperature and atmospheric pressure, and a resistance coefficient that depends on the shape and posture of the component. Since the air density is generally considered that the temperature and the atmospheric pressure do not change greatly during the conveyance, it may be regarded as a constant. Further, the resistance coefficient may be treated as a constant, assuming that the shape and orientation of the component are considered in the projected area S. Therefore, α is also treated as a constant here.

The force F ₁ 221 acting by air resistance can be expressed as αv ² S. That is, Expression 5 representing the condition for preventing the positional deviation when the component 200 is conveyed can be expressed as Expression 6 below.

ma + αv ² S <μ (F ₃ -mg) Formula 6
From this equation 6, if modified as the expression for the holding force F _3, Equation 1 described above is derived. That is, if equation 1 is satisfied with respect to the holding force F _3, positional deviation at the time of transporting the component 200 can be prevented.

  As described above, this embodiment has the same effects as those of the first embodiment described above.

  Furthermore, this embodiment also has an effect that parts can be conveyed.

The reason is that the component conveying apparatus 100 according to the present embodiment can convey the held component based on the holding unit 107 that can hold the component and the conveyance condition adjusted by the condition determining unit 103. This is because it includes the transport unit 108.
(Modification of the second embodiment)
In addition, the following can be considered as a modification of this embodiment.

For example, a threshold value related to the holding force may be set in advance, and the condition determination unit 3 may perform an evaluation (step S12) as to whether or not a positional deviation occurs when the threshold value is below the threshold value. . For example, when the threshold value is transported in the component information 5 and the transport setting 6 of the component 200 used in the calculation of Expression 2, the threshold value is slightly larger than 2.20 × 10 ⁻⁴ that is the value on the right side of Expression 2. You only have to set it. Thereby, since the process of the condition setting part 3 may become simple, the improvement of a processing speed can be anticipated.

  As another modification, for example, an evaluation formula for the holding force such as Formula 2 and Formula 3 described above is calculated in advance under a plurality of conveyance conditions, and the condition determination unit 3 selects them by selecting them. The conveyance setting may be changed (step S14). Thereby, since the process of the condition setting part 3 may become simple, the improvement of a processing speed can be anticipated.

  As another modification, for example, the processing after the measurement of the holding force (step S11) may be executed after the start of transport (that is, during transport). That is, when a new transport condition is output from the condition determining unit 103 during transport, the transport unit 108 changes the subsequent transport operation based on the new transport condition. The execution timing may be repeated a plurality of times, for example, periodically. Thereby, when holding force falls during conveyance, conveyance conditions can be changed.

<Third Embodiment>
Next, the first and second embodiments described above and a third embodiment based on the modification will be described. Below, it demonstrates centering on the characteristic part which concerns on 3rd Embodiment. That is, in the following, the same reference numerals as those in the above-described embodiment and its modifications are given to the constituent elements of the third embodiment having the same configurations as those of the above-described embodiment and its modifications. In addition, the detailed description that overlaps the constituent elements is omitted. In the following, “second embodiment and its modification examples” are also simply referred to as “second embodiment” in order to simplify the description.

  First, the configuration of the present embodiment will be described below with reference to FIG. FIG. 7 is a block diagram showing a configuration of a component mounting apparatus 300 according to the third embodiment of the present invention. Referring to FIG. 7, the component mounting apparatus 300 according to the present embodiment includes a holding force measurement unit 2, a condition determination unit 103, a storage device 4, a holding unit 107, a transport unit 108, and an information acquisition unit 309. The storage device 4 can store component information 305 and conveyance settings 306.

  In addition to the configuration according to the second embodiment, the component mounting apparatus 300 according to the present embodiment further includes an information acquisition unit 309 that can acquire information regarding components and regulation information regarding conveyance. That is, the component mounting apparatus 300 includes a holding force measurement unit 2, a condition determination unit 103, a storage device 4, a holding unit 107, and a transport unit 108 based on the component mounting apparatus 100 according to the second embodiment. In the present embodiment, the component information 305 and the conveyance setting 306 stored in the storage device 4 are at least by the information acquisition unit 309 among the component information 5 and the conveyance setting 6 according to the first and second embodiments. It has information excluding information to be acquired.

  Each unit of the component mounting apparatus 300 may be configured by a dedicated hardware device or a logic circuit. In addition, each unit other than the holding unit 107 and the conveyance unit 108 in the component mounting apparatus 300 is generally operated under the control of a computer program (software program) executed using a CPU (Central Processing Unit: not shown). A simple information processing apparatus (computer) may be used. A hardware configuration example in which the component conveying apparatus 300 is realized by a computer will be described later with reference to FIG.

  The configurations and contents of the holding force measuring unit 2, the condition determining unit 103, the storage device 4, the holding unit 107, and the transport unit 108 are the same as the corresponding units in the second embodiment except for the following points. Therefore, the detailed description which overlaps is abbreviate | omitted. The condition determination unit 103 according to the present embodiment determines component misalignment and transports based on information obtained from the information acquisition unit 309 in addition to the component information 305 and the transport setting 306 obtained from the storage device 4. Adjustment of setting 6 (that is, determination of conveyance conditions) is performed. Further, in the present embodiment, when the information acquisition unit 309 acquires information, the transport unit 108 moves the component to an appropriate position different from the transport to the second position that is the final transport destination. You may let them.

  For example, the information acquisition unit 309 can acquire at least one of information corresponding to the information included in the component information 5 and the conveyance setting 6 in the first and second embodiments. For example, the information acquisition unit 309 can acquire at least one of the position, posture, outer shape, dimensions, mass, and the like of the component held by the holding unit 107. The information acquisition unit 309 may have a plurality of configurations depending on the information to be acquired. The information acquisition unit 309 outputs the acquired information to the condition determination unit 103.

  Next, the operation of the present embodiment having the above-described configuration will be described in detail.

  FIG. 8 is a flowchart showing the operation of the component conveying apparatus 300 according to the third embodiment. Referring to FIG. 8, the operations in the first steps S20 and S21 are the same as those in steps S10 and S11 in FIG. 3 in the second embodiment, and thus detailed description thereof is omitted.

  Next, the information acquisition unit 309 acquires information (step S22). For example, the information acquisition unit 309 may measure the weight of a component with a weighing device that measures mass, and may acquire the mass information of the component based on the measured weight. Also, the information acquisition unit 309 acquires the current posture information of the held component by image recognition using a camera or the like, for example, and replaces the current posture information with the prescribed posture information in the transport setting 6. Also good. Note that the information acquisition unit 309 may move the component to an appropriate recognition position in the field of view of the camera, for example, by controlling the transport unit 108 during posture recognition.

  In addition, as long as the operation | movement of the information acquisition part 309 in step S22 is before the following step S23, you may perform it at any timing. In step S22, the information acquisition unit 309 may acquire information at a plurality of timings. For example, the information acquisition unit 309 may acquire the mass information of the component before holding the component (step S20), and may acquire the posture information of the component after holding the component. The information acquisition unit 309 outputs the acquired information to the condition determination unit 103.

Next, the condition determination unit 103 performs conveyance according to the holding force information and the air resistance obtained from the holding force measurement unit 2 based on the information obtained from the component information 305, the conveyance setting 306, and the information acquisition unit 309. In this case, it is determined whether or not there is a possibility that the position of the component is displaced (step S23). If it is determined that there is a possibility of misalignment (YES in step S23), the condition determining unit 103 changes at least one of the conveyance settings (step S24).
The operation of the information determination unit 103 in steps S23 and S24 is the same as steps S12 and S13 of FIG. 3 in the second embodiment, except that the acquisition source of the base information is different. Description is omitted.

  Thereafter, the operations in steps S25 and S26 are the same as those in steps S14 and S15 in FIG. 3 in the second embodiment, and thus a detailed description thereof is omitted.

In this way, the parts conveying apparatus 300, as in the first and second embodiments, are considered air resistance, and by a suitable transport conditions in the holding force F _3, may carry part. Furthermore, even when the holding unit 107 cannot hold the component in a prescribed posture, the component carrying device 300 can determine the carrying condition according to the current posture.

  In the above-described operation, it is assumed that the conveyance setting 306 does not include information acquired by the information acquisition unit 309, but is not limited thereto. For example, the conveyance setting 306 may have specified posture information even when the information acquisition unit 309 acquires the current posture information. At this time, the condition determining unit 103 determines the possibility of the component being misaligned based on the prescribed posture information (conveyance setting 306). If the condition determination unit 103 determines that there is no possibility of misalignment (NO in step S23), the condition determination unit 103 controls the transport unit 108 to control the current posture information acquired from the information acquisition unit 309 and the regulation. The posture may be changed so as to correct the difference from the posture information.

  As described above, in addition to the same effects as those of the above-described embodiments and modifications, the present embodiment has an effect that it is possible to determine an appropriate conveyance condition in accordance with the current state of parts. is there.

  The reason is that the information acquisition unit 309 can acquire at least one of component information and conveyance settings based on the current status of the component.

  In each of the above-described embodiments and modifications (hereinafter, also simply referred to as “each embodiment”), the units illustrated in FIGS. 1, 2, and 7 may be configured by independent hardware circuits. It can be understood as a function (processing) unit (software module) of the software program. However, the division of each part shown in these drawings is a configuration for convenience of explanation, and various configurations can be assumed for mounting. An example of the hardware environment in such a case will be described with reference to FIG.

  FIG. 9 is a diagram illustrating a configuration of a computer (information processing device) applicable to each embodiment of the present invention and the control device 1 and the component mounting devices 100 and 300 according to the modifications. That is, FIG. 9 shows a configuration of a computer capable of realizing at least one of the control device 1 and the component mounting apparatuses 100 and 300 in the above-described embodiments, and hardware capable of realizing each function in the above-described embodiments. Hardware environment.

  9 includes a CPU (Central Processing Unit) 901, a ROM (Read Only Memory) 902, a RAM (Random Access Memory) 903, a communication interface (I / F) 904, a display 905, and a hard disk device (HDD). ) 906, and these are connected via a bus 907. When the computer shown in FIG. 9 functions as the control device 1 and the component mounting devices 100 and 300, the display 905 does not need to be always provided.

  The communication interface 904 is a general communication unit that realizes communication between the computers in each of the above-described embodiments. The hard disk device 906 stores a program group 906A and various storage information 906B. The program group 906A is, for example, a computer program for realizing a function corresponding to each block (each unit) shown in FIG. 1, FIG. 2, and FIG. The various storage information 906B is, for example, the component information 5 and 305 and the conveyance settings 6 and 306 shown in FIGS. In such a hardware configuration, the CPU 901 governs the overall operation of the computer 900.

  The present invention described by taking each of the embodiments described above as an example realizes the functions of the block configuration diagrams (FIGS. 1, 2, and 7) or the flowcharts (FIGS. 3 and 8) referred to in the description of the embodiments. After supplying a possible computer program, the computer program is read out and executed by the CPU 901 of the hardware. The computer program supplied to the computer may be stored in a non-volatile storage device (storage medium) such as a readable / writable temporary storage memory 903 or a hard disk device 906.

  In the above-described case, the computer program can be supplied to each device by a method of installing in the device via various recording media such as a floppy disk (registered trademark) and CD-ROM, the Internet, etc. Currently, a general procedure can be employed, such as a method of downloading from the outside via the communication network 1000. In such a case, the present invention can be understood to be configured by a computer-readable storage medium in which the code constituting the computer program or the code is recorded.

  Note that a part or all of the above-described embodiment can be described as the following supplementary notes, but is not limited to the following supplementary notes.

(Appendix 1)
Holding force measuring means for measuring a holding force that is a force for holding a component and outputting holding force information representing the holding force;
Based on the component information that is information related to the component and the conveyance setting that includes information on the regulation of the conveyance condition that can be adjusted when the component is conveyed, the holding force information and at least the component when the component is conveyed A control device comprising: condition determining means for outputting a conveyance condition in which the conveyance setting is adjusted in accordance with an air resistance received by the apparatus.

(Appendix 2)
In addition to the holding force information and the air resistance, the condition determining unit further includes an inertial force that the component receives when being conveyed, and a frictional force that acts between the component and the holding unit. The control device according to supplementary note 1, wherein the transport condition in which the transport setting is adjusted is output according to the control.

(Appendix 3)
The control device according to appendix 1 or 2, wherein the condition determining means outputs the transport condition that satisfies Equation 1 based on the component information and the transport setting:
[Formula 1]
F ₃ > mg + (ma + αv ² S) / μ
Here, F ₃ is the holding force, m is the mass of the components, g is the gravitational acceleration, a is the acceleration in the transport, alpha is a constant relating to the air resistance, v is conveyed S is the projected area of the part in the transport direction.

(Appendix 4)
The control device according to any one of appendices 1 to 3, and
Holding means for holding the component;
A component conveying apparatus comprising: a conveying unit configured to convey a component held by the holding unit based on the conveying condition output from the control device.

(Appendix 5)
It further comprises information acquisition means for acquiring at least one of each information included in the component information and the conveyance setting, and outputting each acquired information to the condition determination means,
The component conveying apparatus according to appendix 4, wherein the condition determining means outputs the conveying condition in which the conveying setting is adjusted based on the acquired information in addition to the component information and the conveying setting.

(Appendix 6)
The transport setting includes a prescribed speed information relating to a prescribed speed, a prescribed acceleration, and a posture of the part when the part is conveyed,
The component conveying apparatus according to appendix 4 or 5, wherein the condition determining means outputs a conveying condition in which at least one of the specified speed, the specified acceleration, and the specified attitude information is changed.

(Appendix 7)
While the conveying means is conveying the parts,
The holding force measuring means measures the holding force and outputs the holding force information;
The condition determining means outputs a new conveyance condition in which the conveyance setting is adjusted,
The component conveying apparatus according to any one of appendices 4 to 6, wherein the conveying unit changes a subsequent conveying operation based on the new conveying condition.

(Appendix 8)
Measure the holding force, which is the force holding the part,
Based on the component information that is information on the component and the conveyance setting that includes information on the regulation of the conveyance condition that can be adjusted when the component is conveyed, the holding force and at least the component when the component is conveyed A control method for executing a conveyance condition determination process for outputting a conveyance condition in which the conveyance setting is adjusted according to an air resistance received.

(Appendix 9)
In the condition determination process, in addition to the holding force and the air resistance, an inertial force that the component receives when it is transported, and a frictional force that acts between the component and the holding means. 9. The control method according to appendix 8, wherein the transport condition is adjusted according to the transport setting.

(Appendix 10)
The control method according to appendix 8 or 9, wherein, in the condition determination process, based on the component information and the conveyance setting, the conveyance condition that satisfies Equation 1 is output:
[Formula 1]
F ₃ > mg + (ma + αv ² S) / μ
Here, F ₃ is the holding force, m is the mass of the components, g is the gravitational acceleration, a is the acceleration in the transport, alpha is a constant relating to the air resistance, v is conveyed S is the projected area of the part in the transport direction.

(Appendix 11)
Holding the parts,
A component transport method for transporting the component based on the transport condition output by the control method according to any one of appendices 8 to 10.

(Appendix 12)
At least one of the information included in the component information and the conveyance setting is acquired either before or during execution of the control method,
The component conveying method according to claim 11, wherein, in the condition determining process, in addition to the component information and the conveying setting, the conveying condition in which the conveying setting is adjusted is output based on the acquired information.

(Appendix 13)
The transport setting includes a prescribed speed information relating to a prescribed speed, a prescribed acceleration, and a posture of the part when the part is conveyed,
13. The component conveying method according to appendix 11 or 12, wherein, in the condition determining process, a conveying condition in which at least one of the prescribed speed, the prescribed acceleration, and the prescribed posture information is changed is output.

(Appendix 14)
During the transportation of the parts,
Measuring the holding force,
Output new transport conditions with adjusted transport settings,
14. The component transport method according to any one of appendices 11 to 13, wherein a subsequent transport operation is changed based on the new transport condition.

(Appendix 15)
A holding force measurement process for measuring a holding force, which is a force for holding a component, and outputting holding force information representing the holding force;
Based on the component information that is information related to the component and the conveyance setting that includes information on the regulation of the conveyance condition that can be adjusted when the component is conveyed, the holding force information and at least the component when the component is conveyed A computer program for causing a computer to execute condition determination processing for outputting a conveyance condition in which the conveyance setting is adjusted according to an air resistance received by the computer.

(Appendix 16)
In the condition determination process, in addition to the holding force information and the air resistance, an inertial force that the component receives when being conveyed, and a frictional force that acts between the component and the holding means, 15. The computer program according to supplementary note 15, wherein the computer program outputs the transport condition in which the transport setting is adjusted.

(Appendix 17)
The computer program according to appendix 15 or 16, wherein, in the condition determination process, the transport condition satisfying Equation 1 is output based on the component information and the transport setting:
[Formula 1]
F ₃ > mg + (ma + αv ² S) / μ
Here, F ₃ is the holding force, m is the mass of the components, g is the gravitational acceleration, a is the acceleration in the transport, alpha is a constant relating to the air resistance, v is conveyed S is the projected area of the part in the transport direction.

(Appendix 18)
A holding process for holding the component by controlling the holding means;
The computer program according to any one of appendices 15 to 17, wherein a part held by the holding unit is transported based on the transport condition output from the control device by controlling a transport unit.

(Appendix 19)
It further comprises information acquisition means for acquiring at least one of each information included in the component information and the conveyance setting, and outputting each acquired information to the condition determination means,
The condition determining means outputs the transport condition in which the transport setting is adjusted based on the acquired information in addition to the component information and the transport setting, either during execution of the control method, Or before execution, further execute an information acquisition process for acquiring at least one of the component information and each information included in the conveyance setting,
In the condition determination process, in addition to the component information and the conveyance setting, the conveyance condition in which the conveyance setting is adjusted based on each acquired information is output. Computer program.

(Appendix 20)
The transport setting includes a prescribed speed information relating to a prescribed speed, a prescribed acceleration, and a posture of the part when the part is conveyed,
The computer program according to any one of supplementary notes 15 to 19, wherein in the condition determination process, a conveying condition in which at least one of the prescribed speed, the prescribed acceleration, and the prescribed posture information is changed is output.

(Appendix 21)
During the transportation of the parts,
By executing the holding force measurement process and the condition determination process, a new conveyance condition in which the conveyance setting is adjusted is output,
The computer program according to any one of appendices 15 to 20, which executes the transport process based on the new transport condition.

DESCRIPTION OF SYMBOLS 1 Control apparatus 2 Holding power measurement part 3, 103 Condition determination part 4 Storage | storage device 5,305 Component information 6, 306 Conveyance setting 100, 300 Component mounting apparatus 107 Holding part 108 Conveyance part 200 Component 201 Long side 202 Short side 210 Conveyance direction 221 Force acting by air resistance 222 Friction force 223 Holding force 224 Inertial force 225 Force acting by gravity 309 Information acquisition unit 900 Information processing device (computer)
901 CPU
902 ROM
903 RAM
904 Communication interface (I / F)
905 Display 906 Hard disk device (HDD)
906A Program group 906B Various stored information 907 Bus 1000 Network (communication network)

Claims (10)

Holding force measuring means for measuring a holding force that is a force for holding a component and outputting holding force information representing the holding force;
Based on the component information that is information related to the component and the conveyance setting that includes information on the regulation of the conveyance condition that can be adjusted when the component is conveyed, the holding force information and at least the component when the component is conveyed A control device comprising: condition determining means for outputting a conveyance condition in which the conveyance setting is adjusted in accordance with an air resistance received by the apparatus. In addition to the holding force information and the air resistance, the condition determining unit further includes an inertial force that the component receives when being conveyed, and a frictional force that acts between the component and the holding unit. The control device according to claim 1, wherein the transport condition in which the transport setting is adjusted is output according to the control. The control device according to appendix 1 or 2, wherein the condition determining means outputs the transport condition that satisfies Equation 1 based on the component information and the transport setting:
[Formula 1]
F ₃ > mg + (ma + αv ² S) / μ
Here, F ₃ is the holding force, m is the mass of the components, g is the gravitational acceleration, a is the acceleration in the transport, alpha is a constant relating to the air resistance, v is conveyed S is the projected area of the part in the transport direction. A control device according to any one of claims 1 to 3,
Holding means for holding the component;
A component conveying apparatus comprising: a conveying unit configured to convey a component held by the holding unit based on the conveying condition output from the control device. It further comprises information acquisition means for acquiring at least one of each information included in the component information and the conveyance setting, and outputting each acquired information to the condition determination means,
The component conveying apparatus according to claim 4, wherein the condition determining unit outputs the conveying condition in which the conveying setting is adjusted based on the acquired information in addition to the component information and the conveying setting. The transport setting includes a prescribed speed information relating to a prescribed speed, a prescribed acceleration, and a posture of the part when the part is conveyed,
6. The component conveying apparatus according to claim 4, wherein the condition determining means outputs a conveying condition in which at least one of the prescribed speed, the prescribed acceleration, and the prescribed posture information is changed. While the conveying means is conveying the parts,
The holding force measuring means measures the holding force and outputs the holding force information;
The condition determining means outputs a new conveyance condition in which the conveyance setting is adjusted,
The component conveying apparatus according to any one of appendices 4 to 6, wherein the conveying unit changes a subsequent conveying operation based on the new conveying condition. Measure the holding force, which is the force holding the part,
Based on the component information that is information on the component and the conveyance setting that includes information on the regulation of the conveyance condition that can be adjusted when the component is conveyed, the holding force and at least the component when the component is conveyed A control method for executing a conveyance condition determination process for outputting a conveyance condition in which the conveyance setting is adjusted according to an air resistance received. In the condition determination process, in addition to the holding force and the air resistance, an inertial force that the component receives when it is transported, and a frictional force that acts between the component and the holding means. The control method according to claim 8, wherein the transport condition in which the transport setting is adjusted is output accordingly. A holding force measurement process for measuring a holding force, which is a force for holding a component, and outputting holding force information representing the holding force;
Based on the component information that is information related to the component and the conveyance setting that includes information on the regulation of the conveyance condition that can be adjusted when the component is conveyed, the holding force information and at least the component when the component is conveyed A computer program for causing a computer to execute condition determination processing for outputting a conveyance condition in which the conveyance setting is adjusted according to an air resistance received by the computer.

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