JP2017183536A - Electronic component mounting machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress occurrence of a voltage lack error even in the case where power installation capacity of a plant is low.SOLUTION: An electronic component mounting machine (10) comprises multiple robots (15 and 16) which are moved in an XY direction by drive motors (37 and 38) for sucking electronic components that are supplied to component supply devices (13 and 14) and mounting them on a circuit board (PB). The electronic component mounting machine also comprises: a voltage monitoring device (58) for monitoring power supply voltages supplied to the drive motors (37 and 38) of the multiple robots (15 and 16); and a control device (20) for performing control to execute a safety mode operation which deviates operation timing of the multiple robots (15 and 16), thereby preventing current peaks from being overlapped, based on the power supply voltages monitored by the voltage monitoring device (58) becoming equal to or lower than a predetermined threshold with simultaneous operations of the multiple robots (15 and 16).SELECTED DRAWING: Figure 4

Description

  The present invention relates to an electronic component mounting machine including a plurality of robots that suck and mount electronic components supplied to a component supply device on a circuit board.

  In an electronic component mounting machine including two sets of robots that pick up electronic components supplied to a component supply device and mount them on a circuit board, each robot is driven when the two sets of robots are simultaneously driven at a high speed. The power supply voltage supplied to the drive motor decreases, and abnormal noise occurs due to a malfunction of the servo system during the production of the electronic component mounting machine, or an insufficient voltage error occurs, which adversely affects production. In particular, such a phenomenon is likely to occur when the power supply capacity of the factory facility is not sufficient, such as a shortage of the transformer capacity of the factory facility or a small supply wire size.

  Conventionally, in order to deal with such a problem, for example, as described in Patent Document 1, a power supply voltage is monitored, and when the power supply voltage is lowered, a low-load operation with reduced acceleration / deceleration is performed. This is known.

JP 2010-157622 A

  However, the above-described patent document 1 only describes that each drive motor is individually operated at a low load when the power supply voltage is lowered, and the operation timings of a plurality of robots are shifted. However, it is not considered until the operation of the electronic component mounting machine is continued.

  The present invention has been made in view of the above-described problems. By shifting the operation timings of a plurality of robots, electronic component mounting that can suppress the occurrence of an insufficient voltage error even when the power facility capacity of the factory is low. The purpose is to provide a machine.

  In order to solve the above-described problems, an electronic component mounting machine according to the present invention includes a plurality of robots that are moved in the X and Y directions by a drive motor, respectively, and suck and mount the electronic components supplied to the component supply device on the circuit board. The electronic component mounting machine was monitored by the voltage monitoring device for monitoring the power supply voltage supplied to the respective drive motors of the plurality of robots, and the voltage monitoring device in conjunction with the simultaneous operation of the plurality of robots. And a control device that controls to execute a safety mode operation in which current peaks do not overlap by shifting operation timings of the plurality of robots based on the power supply voltage being equal to or lower than a predetermined threshold value. It is what.

  According to the present invention, based on the fact that the power supply voltage monitored by the voltage monitoring device has become a predetermined threshold value or less, the operation timing of the plurality of robots is shifted to execute the safety mode operation in which the current peaks do not overlap. Therefore, even if the power equipment capacity of the factory is low, it is possible to continue the production of the electronic component mounting machine without causing an error of insufficient voltage, and to improve the operation rate of the electronic component mounting machine. it can.

It is a schematic plan view of the electronic component mounting machine provided with two sets of robots showing an embodiment of the invention. It is a figure which shows the control block which controls an electronic component mounting machine. It is a figure which shows the control circuit which controls the drive motor of a robot. It is a figure which shows the flowchart which controls an electronic component mounting machine.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. As shown in FIG. 1, an electronic component mounting machine 10 according to the present embodiment is disposed on a base 21 and is provided on both sides with a substrate transfer device 11 that transfers a circuit board PB and the substrate transfer device 11 in between. Two sets of component supply devices 13 and 14 that supply electronic components to be mounted on the circuit board PB, and an electronic component that is provided above the base 21 and is supplied by the component supply devices 13 and 14 Then, two sets of component mounting devices 15 and 16 that are transported and mounted on the circuit board PB, and a control device 20 that controls the substrate transport device 11, the component supply devices 13 and 14, the component mounting devices 15 and 16, and the like are provided. I have. In the following description, the conveyance direction of the circuit board PB is the X-axis direction, the horizontal direction perpendicular to the X-axis direction is the Y-axis direction, and the vertical direction perpendicular to the X-axis and the Y-axis is the Z-axis direction. .

  The board transport device 11 carries the circuit board PB into the component mounting position A and clamps it, and after mounting the electronic component on the circuit board PB, carries the circuit board PB out of the component mounting position A. The substrate transport device 11 is configured by a pair of conveyor belts (not shown) that transport the circuit board PB along a pair of guide rails 11a and 11b.

  The component supply devices 13 and 14 are respectively constituted by a plurality of tape feeders 23 and 24 that are mounted so as to be able to feed a carrier tape containing electronic components at a predetermined interval, and these tape feeders 23 and 24 are mounted on the base 21. Arranged in the X-axis direction so as to be detachable.

  The component mounting devices 15 and 16 are robots that can move horizontally in the X-axis direction and the Y-axis direction, respectively. The two sets of robots (part mounting devices) 15 and 16 are supported so as to be movable in the Y-axis direction across the pair of Y-axis rails 31 and 32 extending in the Y-axis direction. The two sets of Y-axis sliders 33 and 34, and two sets of mounting heads 35 and 36 supported by the two sets of Y-axis sliders 33 and 34 so as to be movable in the X-axis direction, respectively.

  The Y-axis sliders 33 and 34 are feed-driven via a feed screw mechanism (not shown) by Y-axis drive motors 37 and 38 installed on the Y-axis rails 31 and 32. The mounting heads 35 and 36 are feed-driven via a feed screw mechanism by an unillustrated X-axis drive motor installed on the Y-axis sliders 33 and 34.

  One or a plurality of suction nozzles 39 and 40 are supported on the mounting heads 35 and 36, respectively, so as to be vertically movable and rotatable. Although not illustrated in the mounting heads 35 and 36, a Z-axis drive motor for moving the suction nozzles 39 and 40 in the vertical direction (Z-axis direction) and the suction nozzles 39 and 40 around the vertical axis (θ axis). A θ-axis drive motor is installed for rotation.

  Component recognition cameras 41 and 42 are respectively disposed between the substrate transport device 11 and the two sets of component supply devices 13 and 14, and are sucked by the suction nozzles 39 and 40 by these component recognition cameras 41 and 42. The electronic component is imaged so that the positional deviation amount of the electronic component with respect to the suction nozzles 39 and 40 about the XY axis and about the θ axis can be detected.

  As shown in FIG. 2, the control device 20 that controls the electronic component mounting machine 10 includes a CPU 51, a ROM 52, a RAM 53, and an input / output interface 54 connected thereto. Connected to the input / output interface 54 is a controller 55 that controls the substrate transfer device 11, the component supply devices 13 and 14, the robots (component mounting devices) 15 and 16, and the like. The CPU 51 controls the electronic component mounting machine 10 according to the mounting program stored in the ROM 52. The RAM 53 stores various parameters for controlling the electronic component mounting machine 10 according to the mounting program, and a power supply voltage threshold value P0 when a safety mode operation described later is executed.

  As shown in FIG. 3, the controller 55 includes an unillustrated X-axis drive motor that moves the robots 15 and 16 in the X-axis direction and a Y-axis drive motor that moves in the Y-axis direction, respectively, via a servo amplifier 56. 37 and 38, and a Z-axis drive motor and a θ-axis drive motor (not shown) are controlled. Electric power is supplied to the servo amplifier 56 from a motor driving power source 57. A voltage monitoring device 58 that monitors the power supply voltage is connected to the servo amplifier 56, and the power supply voltage monitored by the voltage monitoring device 58 is input to the controller 55. The controller 55 sends a movement command to the servo amplifier 56 based on a command from the CPU 51. The servo amplifier 56 supplies a predetermined current to the Y-axis drive motors 37, 38, etc., and moves the robots 15, 16 in the X-axis direction. And move in the Y-axis direction.

  Note that the capacity of the Y-axis drive motors 37 and 38 for driving the heavy Y-axis sliders 33 and 34 is larger than that of the other drive motors, and the two Y-axis drive motors 37 and 38 have high acceleration or the like. In the case of simultaneous driving, a voltage shortage error due to a drop in the power supply voltage is likely to occur. Therefore, only the Y-axis drive motors 37 and 38 that greatly affect the voltage drop are shown in FIG.

  Next, based on the flowchart shown in FIG. 4, the processing program of the control device 20 that monitors the power supply voltage of the electronic component mounting machine 10 and executes the safety mode operation that shifts the operation timing of the two robots 15 and 16 is performed. explain.

  In step S100, the control device 20 determines whether or not the power supply voltage monitored by the voltage monitoring device 58 has decreased below a preset threshold value P0. If it is determined that the power supply voltage is not lower than the threshold value P0 (the determination result is NO), the process proceeds to step S102. In step S <b> 102, the control device 20 performs a normal mode operation on the electronic component mounting machine 10. That is, the electronic component mounting machine 10 is controlled in accordance with a pre-programmed mounting program.

  During the execution of the normal mode operation, when a drive command is simultaneously output from the servo amplifier 56 to the Y-axis drive motors 37 and 38 in order to move the Y-axis sliders 33 and 34 of the two robots 15 and 16 simultaneously, With the simultaneous operation of the shaft drive motors 37 and 38, the power supply voltage monitored by the voltage monitoring device 58 may decrease.

  In particular, when both of the two Y-axis drive motors 37 and 38 are driven with a high load such as high acceleration, the power supply voltage becomes lower than the threshold value P0. As a result, the determination result in step S100 is YES, and the process proceeds to step S104. In step S104, the control device 20 restricts a part of the normal mode operation of the electronic component mounting machine 10 so that the voltage shortage error occurs and the operation of the electronic component mounting machine 10 is not stopped. For example, the operation of one of the two robots 15 and 16 that has started moving later is stopped, and the power supply voltage is prevented from further lowering from the threshold value P0.

  Next, in step S106, the control device 20 notifies the operator that a power supply shortage has occurred and / or shifts to the safety mode operation, and warns the operator to take measures to improve the power supply facility. . Subsequently, in step S108, the control device 20 sets a flag indicating that the power supply is insufficient.

  Next, in step S110, the control device 20 shifts the operation of the electronic component mounting machine 10 from the normal mode operation to the safety mode operation, and executes the safety mode operation. In the safety mode operation, the Y-axis drive motors 37 and 38 are controlled so that current peaks do not overlap by shifting the operation timings of the two robots 15 and 16. Specifically, when one of the Y-axis sliders 33 and 34 of the two robots 15 and 16, for example, the Y-axis drive motor 37 of the Y-axis slider 33 is already operating, the other Even if an operation command is given to the Y-axis drive motor 38 of the Y-axis slider 34, the operation is not performed, and after the operation of the Y-axis drive motor 37 is completed, the operation of the Y-axis drive motor 38 is started.

  By performing such safety mode operation, it is possible to suppress the power supply voltage from falling below the threshold value P0, and it is possible to continuously operate the electronic component mounting machine 10 so that an insufficient voltage error does not occur.

  Next, in step S112, the control device 20 determines whether or not the flag set in step S108 has been reset. While the power supply facility warned in step S106 is not improved, the determination result in step S112 is NO, and the process returns to step S110 to continue the safety mode operation.

  However, when the operator implements the necessary improvement measures for the improvement warning of the power supply facility, the flag set in step S108 described above is reset, so that the determination result in step S112 becomes YES. Then, the processing program is returned, and it is possible to return to the normal mode operation.

  In the above-described embodiment, the electronic component mounting machine includes the voltage monitoring device 58 that monitors the power supply voltage supplied to the Y-axis drive motors 37 and 38 of the two robots 15 and 16, and the two robots 15. Based on the fact that the power supply voltage monitored by the voltage monitoring device 58 has become equal to or lower than the predetermined threshold value P0 with the simultaneous operation of 16, the operation timing of the two robots 15, 16 is shifted and the current peaks overlap. And a control device 20 that performs control so as to perform the safety mode operation that does not occur.

  Thereby, even when the power equipment capacity of the factory is low, the occurrence of an insufficient voltage error can be suppressed, the production of the electronic component mounting machine 10 can be continued, and the operating rate of the electronic component mounting machine 10 is improved. be able to.

  Further, in the above-described embodiment, when the power supply voltage monitored by the voltage monitoring device 58 becomes equal to or lower than the predetermined threshold value P0, the control device 20 informs the operator that the power supply is insufficient or the safety mode. Since the warning that the operation is being shifted is made, the improvement of the power supply facility can be promoted, and the return to the normal mode operation can be made possible.

  In the above-described embodiment, when the power supply voltage monitored by the voltage monitoring device 58 becomes equal to or lower than the predetermined threshold value P0, the control device 20 moves later from the two robots 15 and 16. Since the operation of one of the robots on the starting side is stopped and then the safety mode is executed, the operation of the two robots 15 and 16 is harmonized, without causing an error of insufficient voltage, Production of electronic component mounting machines can be continued.

  In the above-described embodiment, when the power supply voltage monitored by the voltage monitoring device 58 becomes equal to or lower than the predetermined threshold value P0, the operation of the one robot 15 (16) on the side that has started to move later is stopped. Later, an example of executing the safety mode operation was described. However, when the power supply voltage becomes equal to or lower than the predetermined threshold value P0, the operation speed of the robot 15 (16) on the side that has started to move later is set slower than the command speed. (For example, 50%) may be controlled, and then the safety mode operation may be executed.

  The present invention is not limited to the two robots 15 and 16, and can also be applied to an electronic component mounting machine including three or more robots capable of simultaneous operation. Also in this case, when the power supply voltage monitored by the voltage monitoring device 58 becomes equal to or lower than the predetermined threshold value P0, it is only necessary to stop the operation of the robot that has started most recently.

  Although the present invention has been described with reference to the embodiments, the present invention is not limited to the configurations described in the above embodiments, and does not depart from the gist of the present invention described in the claims. Various forms can be adopted within the range.

  DESCRIPTION OF SYMBOLS 10 ... Electronic component mounting machine, 13, 14 ... Component supply apparatus, 15, 16 ... Robot (component mounting apparatus), 20 ... Control apparatus, 37, 38 ... Y-axis drive motor, 57 ... Motor drive power supply, 58 ... Voltage Monitoring device.

Claims (4)

Each of the drive motors moves in the X and Y directions, sucks the electronic components supplied to the component supply device, and makes an electronic component mounting machine equipped with a plurality of robots that are mounted on a circuit board.
A voltage monitoring device for monitoring a power supply voltage supplied to each drive motor of the plurality of robots;
A safety mode in which current peaks are not overlapped by shifting the operation timing of the plurality of robots based on the fact that the power supply voltage monitored by the voltage monitoring device is equal to or lower than a predetermined threshold due to simultaneous operation of the plurality of robots. A control device that controls to execute the operation;
Electronic component mounting machine equipped with.   When the power supply voltage monitored by the voltage monitoring device falls below a predetermined threshold, the control device warns the operator that the power supply is insufficient or is in transition to the safety mode operation. The electronic component mounting machine according to claim 1.   When the power supply voltage monitored by the voltage monitoring device falls below a predetermined threshold, the control device stops the operation of one of the robots that has started to move later, and then executes the safety mode. The electronic component mounting machine according to claim 1 or 2.   When the power supply voltage monitored by the voltage monitoring device falls below a predetermined threshold, the control device controls the operation speed of one of the robots that has started moving later to be slower than the command speed. The electronic component mounting machine according to claim 1, wherein the safety mode is executed thereafter.

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