JP2020141005A - Component mounting device and component mounting method - Google Patents

Abstract

To provide a component mounting device, etc. that enable an air cylinder to safely recover and operate.SOLUTION: A component mounting device 1 includes a transfer arm 60, an air cylinder 70 having a piston 76 for driving the transfer arm 60, a first sensor 400 for detecting that the piston 76 is located at a dead end 73, a second sensor 410 for detecting the piston 76 is located at a return limit 74, and a control unit 100 for controlling the drive of the transfer arm 60. The control unit 100 cuts off supply of air to the air cylinder 70 to bring the inside of the air cylinder 70 to atmospheric pressure and stop the drive of the transfer arm 60, restarts the air supply to the air cylinder when the piston 76 is located at the end limit 73 or the return limit 74, and does not restart the air supply to the air cylinder 70 when the piston 76 is located at neither the end limit 73 nor the return limit 74.SELECTED DRAWING: Figure 6

Description

The present invention relates to a component mounting device and a component mounting method.

Conventionally, a component mounting device for mounting components on a display board, a circuit board, or the like has been widely used. Patent Document 1 discloses a component mounting device that drives a transport arm for transporting a substrate by using an air cylinder.

Japanese Patent No. 3275743

A component mounting device including a conventional air cylinder supplies air to the air cylinder to provide a piston of the air cylinder in a predetermined first direction and a second direction opposite to the first direction. To drive. Normally, the piston is driven to the respective ends of a predetermined first direction and a second direction which is a direction opposite to the first direction.

Here, for example, when the component mounting device urgently stops driving the piston due to a malfunction or the like, the piston has a predetermined first direction and a second direction which is a direction opposite to the first direction. It may not be driven to each end and may stop at an intermediate point between each end. Further, in this case, from the viewpoint of safety, the component mounting device may remove all the air (compressed air) in the air cylinder, that is, return the inside of the air cylinder to the atmospheric pressure. In such a case, when the driving of the piston is restarted, the rapidly compressed air is supplied to the air cylinder, so that the piston is driven at an abnormal speed and is held by the transport arm. Damage to the board, failure of the air cylinder, etc. may occur. Therefore, the component mounting device is required to safely restore and drive the air cylinder.

The present invention provides a component mounting device or the like capable of safely restoring and driving an air cylinder.

The component mounting device according to one aspect of the present invention includes a transfer arm, an air cylinder including a piston for driving the transfer arm, and a first sensor for detecting that the piston is located at a limit position in the first direction. The drive of the transfer arm is controlled by controlling the supply of air to the air cylinder and the second sensor that detects that the piston is located at the limit position in the second direction opposite to the first direction. When an emergency stop signal is received, the control unit is provided with a control unit that cuts off the supply of air to the air cylinder to bring the inside of the air cylinder to atmospheric pressure and to bring the transport arm. When the drive is stopped and the piston is located at the limit position in the first direction or the limit position in the second direction based on the detection results of the first sensor and the second sensor, the piston is moved to the air cylinder. When the air supply is restarted and the piston is not located at either the limit position in the first direction or the limit position in the second direction based on the detection results of the first sensor and the second sensor, The supply of air to the air cylinder is not restarted.

Further, the component mounting method according to one aspect of the present invention includes a drive step for driving a transfer arm connected to the piston by supplying air to the air cylinder and driving the piston included in the air cylinder. When a stop signal is received, a stop step is performed in which the supply of air to the air cylinder is cut off to bring the inside of the air cylinder to atmospheric pressure and the drive of the transfer arm is stopped, and after the stop step, a second step is performed. Based on the detection results of the 1st sensor and the 2nd sensor, a determination step of determining whether or not the piston is located at the limit position in the first direction or the limit position in the second direction, and in the determination step, the piston is said to be said. When it is determined that the piston is located at the limit position in the first direction or the limit position in the second direction, the supply of air to the air cylinder is restarted, and the piston is placed in the limit position in the first direction or in the determination step. When it is determined that the vehicle is not located at any of the limit positions in the second direction, the control step of not restarting the supply of air to the air cylinder is included.

Note that these comprehensive or specific embodiments may be realized in a recording medium such as a system, method, integrated circuit, computer program or computer-readable CD-ROM, and the system, method, integrated circuit, computer program. And any combination of recording media may be realized.

According to the component mounting device or the like according to one aspect of the present invention, the air cylinder can be safely restored and driven.

FIG. 1 is a schematic configuration diagram showing a component mounting device according to an embodiment. FIG. 2 is a schematic configuration diagram showing a first example of the operation of the component mounting device according to the embodiment. FIG. 3 is a schematic configuration diagram showing a second example of the operation of the component mounting device according to the embodiment. FIG. 4 is a schematic configuration diagram showing a third example of the operation of the component mounting device according to the embodiment. FIG. 5 is a schematic configuration diagram showing a fourth example of the operation of the component mounting device according to the embodiment. FIG. 6 is a schematic configuration diagram for explaining the details of the configuration for driving the air cylinder included in the component mounting device according to the embodiment. FIG. 7 is a table for explaining the operating state of the solenoid valve included in the component mounting device according to the embodiment. FIG. 8 is a flowchart for explaining an operation procedure when the operation of the component mounting apparatus according to the embodiment is stopped in an emergency. FIG. 9 is a flowchart for explaining an operation procedure when restoring the operation of the component mounting apparatus according to the embodiment. FIG. 10 is a schematic configuration diagram for explaining the details of the configuration for driving the air cylinder included in the component mounting device according to the modified example of the embodiment.

Hereinafter, the component mounting device and the like according to the embodiment of the present invention will be described in detail with reference to the drawings. It should be noted that all of the embodiments described below show a specific example of the present invention. Therefore, the numerical values, shapes, materials, components, arrangement and connection forms of the components, steps and the order of steps shown in the following embodiments are examples, and are not intended to limit the present invention. Therefore, among the components in the following embodiments, the components not described in the independent claims indicating the highest level concept of the present invention will be described as arbitrary components.

Further, each figure is a schematic view and is not necessarily exactly illustrated. The drawings are schematic views in which emphasis, omission, and ratio are adjusted as appropriate to show the present invention, and may differ from the actual shape, positional relationship, and ratio.

Further, in each figure, the same components are designated by the same reference numerals.

(Embodiment)
[Constitution]
First, the configuration of the component mounting device according to the embodiment of the present invention will be described with reference to FIGS. 1 to 7.

FIG. 1 is a schematic configuration diagram showing a component mounting device 1 according to an embodiment. Note that, in FIG. 1, the configuration for driving the air cylinder 70 shown in FIG. 6 is not shown.

The component mounting device 1 is one device of a component mounting line including a plurality of devices for performing a plurality of processes on a substrate 500 such as a liquid crystal panel. The component mounting line is the part that performs multiple tasks inline.

The component mounting line including the component mounting device 1 is a mounting system for mounting components such as flexible components (flexible printed circuit board / FPC: Flexible Printed Circuit) on a substrate 500 or the like. Specifically, in the component mounting line, an anisotropic conductive member (ACF) such as an ACF (Anisotropic Conductive Film) is attached to a substrate 500 on which an electrode portion composed of electrodes is formed, and the substrate is interposed via the ACF. This is a device that thermocompression-bonds the 500 and parts.

The component mounting device 1 includes a loader unit 10 on which a substrate 500 conveyed from the upstream is placed, an ACF pasting unit 20 for attaching ACF to the substrate 500, and a temporary crimping unit 30 for temporarily crimping components to the ACF. The main crimping portion 40 that thermocompression-bonds (main crimps) the parts together with the ACF to ensure electrical continuity between the substrate 500 and the parts, and the unloader portion 50 that carries out the substrate 500 that the parts are thermocompression-bonded downstream. Be prepared.

Further, the substrate 500 is sequentially transferred by the transport section 600 to each section in the order of the loader section 10, the ACF pasting section 20, the temporary crimping section 30, the main crimping section 40, and the unloader section 50.

The loader unit 10 is a device for carrying in the substrate 500 that has completed a predetermined operation in the upstream equipment arranged on the upstream side of the component mounting device 1. The loader unit 10 includes, for example, a stage on which the substrate 500 is placed. At the stage, the substrate 500 carried in from the upstream equipment is held.

The ACF sticking portion 20 is a kind of adhesive tape, and is a device for sticking an ACF made of an anisotropic conductive film into a tape to a substrate 500.

The temporary crimping portion 30 is a device for temporarily crimping parts onto the ACF attached to the substrate 500 by the ACF pasting portion 20.

The main crimping portion 40 is a device for thermocompression bonding (main crimping) a component temporarily crimped to the substrate 500 by the temporary crimping portion 30. This crimping takes a longer time than the pasting of ACF on the substrate 500 and the temporary crimping of parts to the substrate 500. Therefore, the component mounting device 1 may have a plurality of the crimping portions 40. In the present embodiment, the component mounting device 1 is a device for thermocompression bonding (main crimping) a component temporarily crimped to the substrate 500 by the temporary crimping portion 30, the first crimping portion 41 and the second crimping portion 41. A unit 42 is provided. When the operations of the first crimping portion 41 and the second crimping portion 42 are not distinguished, the first crimping portion 41 and the second crimping portion 42 may be collectively referred to as the main crimping portion 40. ..

The unloader unit 50 is a device on which the substrate 500 is placed when the substrate 500 whose parts are crimped by the crimping portion 40 is carried out to the downstream equipment arranged downstream of the component mounting device 1. For example, the unloader unit 50 includes a stage on which the substrate 500 is placed. The substrate 500 held on the stage is carried out to the downstream equipment by a carry-out device (not shown) capable of taking out the board 500 and carrying it out to the downstream side.

The loader portion 10, the ACF pasting portion 20, the temporary crimping portion 30, the first crimping portion 41, the second crimping portion 42, and the unloader portion 50 are arranged side by side in the first direction in this order.

Further, the component mounting device 1 includes a transport unit 600.

The transport section 600 is a device that transports the substrate 500 to the loader section 10, the ACF pasting section 20, the temporary crimp section 30, the first crimp section 41, the second crimp section 42, and the unloader section 50.

The transport unit 600 includes transport arms 61 to 64, air cylinders 71 and 72, a base 80, and an electric cylinder 90.

The transport arms 61 to 64 are arms for holding the substrate 500 and transporting the substrate 500 in the first direction. The transfer arms 61 to 64 have a function of grasping (holding) or releasing the substrate 500. The transport arms 61 to 64 include, for example, a suction pad for sucking and grasping the substrate 500, and a connecting portion connected to the base 80 or the air cylinders 71 and 72.

The transport arms 61 and 62 are connected to, for example, the base 80. The transport arms 61 and 62 are driven (that is, moved) according to the movement of the base 80.

Further, the transport arm 63 is connected to, for example, an air cylinder 71. The transfer arms 61 and 62 are driven according to the movement of the air cylinder 71.

Further, the transport arm 64 is connected to, for example, an air cylinder 72. The transfer arms 61 and 62 are driven according to the movement of the air cylinder 72.

The air cylinders 71 and 72 are air cylinders that are driven in a second direction, which is a direction opposite to the first direction or the first direction, by being supplied with air (compressed air). The air cylinders 71 and 72 include a piston 76 (see FIG. 6) that drives the transport arms 61 and 62. Further, the air cylinders 71 and 72 (specifically, the cylinder 75 (see FIG. 6) described later) are fixed to the base 80.

The first direction is the direction in which the air cylinders 71 and 72 are driven, and the direction in which the substrate 500 is conveyed by the transfer arms 61 to 64. The second direction is the direction in which the air cylinders 71 and 72 are driven, and is the direction opposite to the first direction.

The base 80 is a base to which the transfer arms 61 and 62 are connected and on which the air cylinders 71 and 72 are placed. The base 80 is connected to the electric cylinder 90, and is driven in the first direction or the second direction by driving the electric cylinder 90. Therefore, the transfer arms 61 and 62 and the air cylinders 71 and 72 are driven in the first direction or the second direction according to the drive of the electric cylinder 90.

The electric cylinder 90 is connected to the base 80 and is a cylinder for driving the base 80. The electric cylinder 90 includes, for example, an electric motor and is electrically driven by the electric motor.

In this way, the transfer arms 61 to 64 are driven in the first direction or the second direction by driving the air cylinders 71 and 72 and the electric cylinder 90.

Further, the component mounting device 1 includes a control unit 100, a storage unit 110, a notification unit 120, and an acquisition unit 130.

The control unit 100 is a control device that controls the operation of each component included in the component mounting device 1. The control unit 100 is communicably connected to each component included in the component mounting device 1 by a control line or the like, and controls the operation of each component, the timing of the operation, and the like.

For example, the control unit 100 controls the transport unit 600, so that the loader unit 10, the ACF sticking unit 20, the temporary crimping unit 30, the first crimping unit 41, the second crimping unit 42, Then, the substrate 500 is conveyed between the unloader units 50. Specifically, the control unit 100 controls the drive of the transfer arms 63 and 64 by controlling the supply of air to the air cylinders 71 and 72.

Subsequently, a specific example of the transfer operation of the substrate 500 by the transfer unit 600 will be described with reference to FIGS. 2 to 5. Note that FIGS. 2 to 5 omit some of the components included in the component mounting device 1 such as the storage unit 110.

FIG. 2 is a schematic configuration diagram showing a first example of the operation of the component mounting device 1 according to the embodiment.

For example, assume that the substrate 500 located in the temporary crimping portion 30 is conveyed to the first crimping portion 41. In this case, as shown in FIG. 2A, the control unit 100 holds the substrate 500 located at the temporary crimping unit 30 by the transfer arm 63.

Next, as shown in FIG. 2B, the control unit 100 controls the electric cylinder 90 to drive the base 80 in the first direction, whereby the transfer arm 63 presses the substrate 500 for the first time. Move to unit 41.

FIG. 3 is a schematic configuration diagram showing a second example of the operation of the component mounting device 1 according to the embodiment.

For example, assume that the substrate 500 located in the temporary crimping portion 30 is conveyed to the second crimping portion 42. In this case, as shown in FIG. 3A, the control unit 100 holds the substrate 500 located at the temporary crimping unit 30 by the transfer arm 63.

Next, as shown in FIG. 3B, the control unit 100 controls the electric cylinder 90 to drive the base 80 in the first direction, and controls the air cylinder 71 to move in the first direction. By driving, the transfer arm 63 moves the substrate 500 to the second crimping portion 42. Further, when the control unit 100 drives the air cylinder 71, the control unit 100 also drives the air cylinder 72. When the air cylinder 71 and the air cylinder 72 are located at the same height, they interfere with (contact) the air cylinder 72 when only the air cylinder 71 is driven in the first direction. In order to prevent such interference, when the control unit 100 drives the air cylinder 71 in the first direction, the control unit 100 also drives the air cylinder in the first direction.

FIG. 4 is a schematic configuration diagram showing a third example of the operation of the component mounting device 1 according to the embodiment.

For example, assume that the substrate 500 located in the first crimping portion 41 is conveyed to the unloader portion 50. In this case, as shown in FIG. 4A, the control unit 100 holds the substrate 500 located at the first crimping unit 41 by the transfer arm 64.

Next, as shown in FIG. 4B, the control unit 100 controls the electric cylinder 90 to drive the base 80 in the first direction, and controls the air cylinder 72 to move in the first direction. By driving, the transfer arm 64 moves the substrate 500 to the unloader section 50.

FIG. 5 is a schematic configuration diagram showing a fourth example of the operation of the component mounting device 1 according to the embodiment.

For example, assume that the substrate 500 located at the second crimping portion 42 is conveyed to the unloader portion 50. In this case, as shown in FIG. 5A, the control unit 100 first controls the air cylinder 72 and drives it in the first direction to convey the substrate 500 located in the second crimping unit 42. It is held by the arm 64.

Next, as shown in FIG. 5B, the control unit 100 controls the electric cylinder 90 to drive the base 80 in the first direction, so that the transfer arm 64 transfers the substrate 500 to the unloader unit 50. Move it.

As described above, the control unit 100 controls and drives the air cylinders 71 and 72 and the electric cylinder 90 to drive the transfer arms 61 to 64 holding the substrate 500 in the first direction to drive the substrate. Transport 500.

Further, when the control unit 100 receives the emergency stop signal, the control unit 100 cuts off the supply of air to the air cylinders 71 and 72 to make the inside of the air cylinders 71 and 72 atmospheric pressure so that the transport arms 63 and 64 Stop driving.

Here, the emergency stop signal is a signal including an instruction to stop the operation of the component mounting device 1. The control unit 100 receives, for example, a signal from the operator for stopping the operation of the component mounting device 1 by the acquisition unit 130.

Further, the control unit 100 has the piston 76 (see FIG. 6) at the limit position in the first direction or the second direction based on the detection results of the first sensor 400 (see FIG. 6) and the second sensor 410 (see FIG. 6). When it is located at the limit position of, the supply of air to the air cylinders 71 and 72 is restarted. On the other hand, the control unit 100 is an air cylinder when the piston 76 is not located at either the limit position in the first direction or the limit position in the second direction based on the detection results of the first sensor 400 and the second sensor 410. Do not restart the supply of air to 71 and 72.

The control unit 100 is realized by, for example, a control program stored in the storage unit 110 shown in FIG. 1 and a processor such as a CPU (Central Processing Unit) that executes the control program.

With reference to FIG. 1 again, the storage unit 110 is a storage device that stores the control program executed by the control unit 100. The storage unit 110 is realized by, for example, a memory such as a ROM (Read Only Memory) or a RAM (Random Access Memory).

The notification unit 120 is a device for notifying an operator (user) or the like who uses the component mounting device 1 of the operating state of the component mounting device 1. The notification unit 120 may be able to notify the operating state of the component mounting device 1, and may be, for example, a display that displays an image or a speaker that emits sound.

For example, when the control unit 100 receives the emergency stop signal, the control unit 100 cuts off the supply of air to the air cylinders 71 and 72 to bring the inside of the air cylinders 71 and 72 to atmospheric pressure and drive the transport arm 60. Stop it. Further, for example, in the control unit 100, based on the detection results of the first sensor 400 (see FIG. 6) and the second sensor 410 (see FIG. 6), the piston 76 (see FIG. 6) is at the limit position in the first direction or the first position. If it is not located at any of the limit positions in the two directions, the notification unit 120 is notified that the piston 76 is not located at either the limit position in the first direction or the limit position in the second direction.

The acquisition unit 130 acquires an emergency stop signal which is a signal including an instruction to stop the operation of the component mounting device 1, a reset signal including an instruction to restart the operation of the component mounting device 1 which has been emergency stopped, and the like.

The acquisition unit 130 may be a button for transmitting an emergency stop signal, a reset signal, or the like to the control unit 100 by being operated by the operator. Further, for example, the loader portion 10, the ACF pasting portion 20, the temporary crimping portion 30, the first crimping portion 41, the second crimping portion 42, and the unloader portion 50 can each open and close a door portion and the door. When a sensor unit that detects whether or not the unit is opened and transmits an emergency stop signal, a reset signal, or the like is provided, the acquisition unit 130 receives an emergency stop signal, a reset signal, or the like from the sensor unit. It may be a communication interface for.

When, for example, the control unit 100 receives an emergency stop signal via the acquisition unit 130, the control unit 100 stops the operation of each device included in the component mounting device 1 such as the transport unit 600 that is being driven. Further, for example, when the control unit 100 receives the reset signal via the acquisition unit 130, the control unit 100 operates each device included in the component mounting device 1 such as the transport unit 600 which is stopped only when a predetermined condition is satisfied. Resume.

Subsequently, the details of the configuration for driving the air cylinders 71 and 72 will be described.

FIG. 6 is a schematic configuration diagram for explaining the details of the configuration for driving the air cylinder 70 included in the component mounting device 1 according to the embodiment. Note that FIG. 6 omits some of the components such as the loader unit 10 and the ACF pasting unit 20 included in the component mounting device 1 shown in FIG. Further, in FIG. 6, the air cylinders 71 and 72 shown in FIG. 1 are collectively referred to as an air cylinder 70. Further, in FIG. 6, the transport arms 63 and 64 shown in FIG. 1 are collectively referred to as a transport arm 60.

As shown in FIG. 6, the component mounting device 1 includes a transfer arm 60, an air cylinder 70, an air source 200, a first solenoid valve 210, a second solenoid valve 220, a third solenoid valve 230, and a speed. It includes a control valve 250, a speed control valve 251, a first air pipe 300, a second air pipe 310, a third air pipe 320, a first sensor 400, and a second sensor 410.

The air cylinder 70 drives a transport arm 60 for transporting the substrate 500. The air cylinder 70 includes a cylinder 75 and a piston 76.

The cylinder 75 is a cylinder long in the first direction. The cylinder 75 is hermetically sealed so that the air supplied inside is not discharged to the outside.

The piston 76 is connected to the transport arm 60 and drives in the first or second direction. Specifically, the piston 76 has an end portion 77 that divides the space in the cylinder 75 so that air cannot move. When air is supplied to the end limit 73 side of the cylinder 75, the end portion 77 is driven to the return limit 74 side, that is, in the second direction by the pressure of the air, so that the entire piston 76 is driven in the second direction. Will be done. Further, when air is supplied to the return limit 74 side of the cylinder 75, the end portion 77 is driven to the end limit 73 side, that is, in the first direction by the pressure of the air, so that the entire piston 76 is driven in the first direction. Driven by.

The end 77 is located within the cylinder 75 and is part of a piston 76 that is driven by the pressure of the air to the end 73 or return 74 when air is supplied into the cylinder 75.

The end limit 73 is a limit position where the piston 76 (specifically, the end portion 77 of the piston 76) can move in the first direction in the cylinder 75.

The return limit 74 is a limit position where the piston 76 (specifically, the end portion 77 of the piston 76) can move in the second direction in the cylinder 75.

The air source 200 is an air supply source for supplying air to the air cylinder 70. The air source 200 is, for example, an air tank filled with air supplied to the air cylinder 70.

The first solenoid valve 210 is provided in the middle of the first air pipe 300 and is a solenoid valve for switching between supply and stop of air from the air source 200. Specifically, the first solenoid valve 210 is provided between the air source 200 and the air cylinder 70 in the first air pipe 300, and supplies and stops the air from the air source 200 to the air cylinder 70 (air). It is a solenoid valve for controlling (cutting off the supply of).

The first solenoid valve 210 includes a first supply valve 211 and a first exhaust valve 212.

The first supply valve 211 is provided between the air source 200 and the air cylinder 70 in the first air pipe 300, and is an electromagnetic valve for switching between supplying and stopping the air from the air source 200 to the air cylinder 70. Is.

The first exhaust valve 212 is a solenoid valve for bleeding air in the first air pipe 300 and the air cylinder 70, that is, returning the inside of the first air pipe 300 and the air cylinder 70 to atmospheric pressure.

The second solenoid valve 220 is provided in the middle of the second air pipe 310 and is a solenoid valve for switching between supply and stop of air from the air source 200. Specifically, the second solenoid valve 220 is provided between the air source 200 (specifically, the first air pipe 300) and the air cylinder 70 in the second air pipe 310, and the first air pipe 300 is provided. It is a solenoid valve for switching between supply and stop of air from the air to the air cylinder 70.

The second solenoid valve 220 includes a second supply valve 221 and a second exhaust valve 222.

The second supply valve 221 is provided between the first air pipe 300 and the air cylinder 70 in the second air pipe 310, and switches between supplying and stopping the air from the first air pipe 300 to the air cylinder 70. It is an electromagnetic valve for.

The second exhaust valve 222 is a solenoid valve for bleeding air in the second air pipe 310 and the air cylinder 70, that is, returning the inside of the second air pipe 310 and the air cylinder 70 to atmospheric pressure.

The third solenoid valve 230 is provided in the middle of the third air pipe 320, and is a solenoid valve for switching between supply and stop of air from the air source 200. Specifically, the third solenoid valve 230 is provided between the air source 200 (specifically, the first air pipe 300) and the air cylinder 70 in the third air pipe 320, and the first air pipe 300 is provided. It is a solenoid valve for switching between supply and stop of air from the air to the air cylinder 70.

The third solenoid valve 230 includes a third supply valve 231 and a third exhaust valve 232.

The third supply valve 231 is provided between the first air pipe 300 and the air cylinder 70 in the third air pipe 320, and switches between supplying and stopping the air from the first air pipe 300 to the air cylinder 70. It is a solenoid valve for.

The third exhaust valve 232 is a solenoid valve for bleeding air in the third air pipe 320 and the air cylinder 70, that is, returning the inside of the third air pipe 320 and the air cylinder 70 to atmospheric pressure.

The control unit 100 opens one of the second solenoid valve 220 (more specifically, the second supply valve 221) or the third solenoid valve 230 (more specifically, the third supply valve 231), and By closing the other, the piston 76 is driven (that is, moved) in the first direction or the second direction.

The speed control valve 250 is provided in the middle of the second air pipe 310 and is a valve for controlling the moving speed of the piston 76. Specifically, the speed control valve 250 is provided between the second solenoid valve 220 and the air cylinder 70, and has a structure in which a check valve and a throttle valve are combined in parallel. The speed control valve 250 controls the moving speed of the piston 76 by controlling the amount of air discharged from the first space 78, which is the space on the return limit 74 side in the air cylinder 70, with the throttle valve. The speed control valve 250 controls the moving speed of the piston 76 by controlling the amount of air supplied to the first space 78, which is the space on the return limit 74 side in the air cylinder 70, by the throttle valve. May be good.

The speed control valve 251 is provided in the middle of the third air pipe 320 and is a valve for controlling the moving speed of the piston 76. Specifically, the speed control valve 251 is provided between the third solenoid valve 230 and the air cylinder 70, and has a structure in which a check valve and a throttle valve are combined in parallel. The speed control valve 251 controls the moving speed of the piston 76 by controlling the amount of air discharged from the second space 79, which is the space on the end limit 73 side in the air cylinder 70, with the throttle valve. The speed control valve 251 controls the moving speed of the piston 76 by controlling the amount of air supplied to the second space 79, which is the space on the end limit 73 side in the air cylinder 70, by the throttle valve. May be good.

The first air pipe 300, the second air pipe 310, and the third air pipe 320 are pipes through which the air supplied from the air source 200 passes. The first air pipe 300 is connected to the air source 200. Specifically, one end of the first air pipe 300 is connected to the air source 200, and the other end is branched and connected to the second air pipe 310 and the third air pipe 320.

One end of the second air pipe 310 is connected to the air source 200 via the first air pipe 300, and the other end is connected to the air cylinder 70 (specifically, the first space 78). The second air pipe 310 is a pipe that is branched on the downstream side of the first solenoid valve 210 of the first air pipe 300 and supplies air for moving the piston 76 in the first direction to the air cylinder 70.

One end of the third air pipe 320 is connected to the air source 200 via the first air pipe 300, and the other end is connected to the air cylinder 70 (specifically, the second space 79). The third air pipe 320 is a pipe that is branched on the downstream side of the first solenoid valve 210 of the first air pipe 300 and supplies air for moving the piston 76 in the second direction to the air cylinder 70.

The first sensor 400 and the second sensor 410 are sensors for detecting the position of the piston 76 in the air cylinder 70, respectively.

Specifically, the first sensor 400 is a sensor for detecting that the piston 76 is located at the limit position in the first direction. More specifically, the first sensor 400 is a sensor for detecting whether or not the end portion 77 of the piston 76 is located at the dead end 73. The type of sensor used in the first sensor 400 is not particularly limited as long as it can detect whether or not the end 77 of the piston 76 is located at the deadline 73. For example, the type of sensor used in the first sensor 400 is a magnetic sensor.

The second sensor 410 is a sensor for detecting that the piston 76 is located at a limit position in the second direction opposite to the first direction. More specifically, the second sensor 410 is a sensor for detecting whether or not the end portion 77 of the piston 76 is located at the return limit 74. The type of sensor used in the second sensor 410 is not particularly limited as long as it can detect whether or not the end 77 of the piston 76 is located at the return limit 74. For example, the type of sensor used in the second sensor 410 is a magnetic sensor.

The control unit 100 opens and closes the first solenoid valve 210, the second solenoid valve 220, the third solenoid valve 230, and the speed control valves 250 and 251 based on the detection results of the first sensor 400 and the second sensor 410. By controlling, the supply of air from the air source 200 to the air cylinder 70 is controlled, thereby controlling the drive of the transport arm 60 connected to the piston 76.

For example, when the control unit 100 receives the emergency stop signal, the control unit 100 controls the first solenoid valve 210 to cut off the supply of air to the air cylinder 70, thereby carrying the air pressure inside the air cylinder 70 to atmospheric pressure. The drive of the arm 60 is stopped. Further, for example, the control unit 100 determines the second solenoid valve 220 and the third solenoid valve when the piston 76 is located at the limit 73 or the return limit 74 based on the detection results of the first sensor 400 and the second sensor 410. The state of 230 is controlled so as to correspond to the position of the piston 76.

Here, "controlling so as to correspond to the position of the piston 76" means, for example, that when the control unit 100 restarts the driving of the transfer arm 60 and the piston 76 is in the deadline 73, the second solenoid is used. It is a control that turns the valve 220 into an ON state in which air can be supplied to the air cylinder 70 and turns the third solenoid valve 230 into an OFF state in which air cannot be supplied to the air cylinder 70. Further, "controlling so as to correspond to the position of the piston 76" means, for example, that when the control unit 100 restarts the driving of the transfer arm 60 and the piston 76 is in the return limit 74, the second solenoid valve The control is to turn 220 into an OFF state in which air cannot be supplied to the air cylinder 70, and to turn the third solenoid valve 230 into an ON state in which air can be supplied to the air cylinder 70. By doing so, when the control unit 100 starts supplying air to the air cylinder 70, the control unit 100 drives the piston 76 located at the end limit 73 or the return limit 74 in the direction in which the piston 76 is located. Control. Therefore, the piston 76 is not driven immediately after the air supply to the air cylinder 70 is started. Therefore, the inside of the air cylinder 70 can be filled with air (compressed air) without driving the piston 76.

FIG. 7 is a table for explaining the operating states of the first solenoid valve 210, the second solenoid valve 220, and the third solenoid valve 230 included in the component mounting device 1 according to the embodiment.

As shown in FIG. 7, when the transport arm 60 is driven in the first direction, the control unit 100 opens the first supply valve 211 in the first solenoid valve 210 and opens the first exhaust valve. By closing the 212 (closed state), the first solenoid valve 210 is turned on so that air can be supplied from the air source 200 to the air cylinder 70. By doing so, the air is supplied from the air source 200 to the first air pipe 300 and passes through the inside of the first air pipe 300. Further, for example, the control unit 100 opens the second supply valve 221 of the second solenoid valve 220 and closes the second exhaust valve 222 to air the second solenoid valve 220. The ON state is set so that the air cylinder 70 can be supplied from the source 200. By doing so, the air is supplied from the first air pipe 300 to the second air pipe 310, passes through the second air pipe 310, and is further supplied to the first space 78 in the air cylinder 70. On the other hand, for example, the control unit 100 closes the third supply valve 231 of the third solenoid valve 230 and opens the third exhaust valve 232 to air the third solenoid valve 230. The OFF state is set so that the source 200 cannot supply the air cylinder 70. By doing so, air is not supplied to the second space 79 of the air cylinder 70. Therefore, the piston 76 is driven in the first direction. As a result, the transport arm 60 is driven in the first direction.

Further, when the transfer arm 60 is driven in the second direction, the control unit 100 opens the first supply valve 211, closes the first exhaust valve 212, closes the second supply valve 221 and sets the second supply valve 221. 2 The exhaust valve 222 is opened, the third supply valve 231 is opened, and the third exhaust valve 232 is closed. By doing so, the air is supplied to the second space 79 of the air cylinder 70 and is not supplied to the first space 78. Therefore, the piston 76 is driven in the second direction. As a result, the transport arm 60 is driven in the second direction.

Further, when the transport arm 60 is stopped while being driven in the first direction, the control unit 100 closes the first supply valve 211 and opens the first exhaust valve 212. By doing so, the control unit 100 makes the air cylinder 70 in a state where air is not supplied from the air source 200. Further, the control unit 100 opens the second supply valve 221, closes the second exhaust valve 222, closes the third supply valve 231 and opens the third exhaust valve 232. By doing so, when the drive of the air cylinder 70 is restarted, the control unit 100 immediately controls only the first solenoid valve 210 without controlling the second solenoid valve 220 and the third solenoid valve 230. The transfer arm 60 can be driven in the first direction as in the case of stopping.

Further, when the transport arm 60 is stopped while being driven in the second direction, the control unit 100 closes the first supply valve 211 and opens the first exhaust valve 212 to open the first solenoid valve 210. Is an OFF state in which air cannot be supplied from the air source 200 to the air cylinder 70. By doing so, the control unit 100 makes the air cylinder 70 in a state where air is not supplied from the air source 200. Further, the control unit 100 closes the second supply valve 221, opens the second exhaust valve 222, opens the third supply valve 231 and closes the third exhaust valve 232. By doing so, when the drive of the air cylinder 70 is restarted, the control unit 100 immediately controls only the first solenoid valve 210 without controlling the second solenoid valve 220 and the third solenoid valve 230. The transfer arm 60 can be driven in the same second direction as before the supply of air to the air cylinder 70 is stopped.

As described above, the control unit 100 controls the first supply valve 211 and the first exhaust valve 212 so as to be in opposite open / closed states. Further, the control unit 100 controls the second supply valve 221 and the second exhaust valve 222 so as to be in opposite open / closed states. Further, the control unit 100 controls the second supply valve 221 and the third supply valve 231 so as to be in opposite open / closed states. Further, the control unit 100 controls the second exhaust valve 222 and the third exhaust valve 232 so as to be in opposite open / closed states. Further, the control unit 100 controls the third supply valve 231 and the third exhaust valve 232 so as to be in opposite open / closed states.

[Processing procedure]
Subsequently, the operation procedure of the component mounting apparatus 1 according to the embodiment will be described in detail with reference to FIGS. 8 and 9.

<Emergency stop operation>
FIG. 8 is a flowchart for explaining an operation procedure when the operation of the component mounting device 1 according to the embodiment is stopped in an emergency.

First, the control unit 100 drives the transfer arm 60 using the air cylinder 70 to cause the transfer arm 60 to transfer the substrate 500 (step S101).

Next, the control unit 100 determines whether or not an emergency stop signal has been received (step S102). In step S102, for example, the control unit 100 determines whether or not the acquisition unit 130 has acquired the emergency stop signal.

When the control unit 100 has not received the emergency stop signal (No in step S102), the process returns to step S101, and the transfer arm 60 is driven by using the air cylinder 70 to transfer the substrate 500 to the transfer arm. Keep 60 running.

On the other hand, when the control unit 100 receives the emergency stop signal (Yes in step S102), the first solenoid valve 210 is in the OFF state (that is, the first supply valve 211 is in the closed state and the first exhaust valve 212 is in the open state). (Step S103), the supply of air to the air cylinder 70 is stopped, the air is evacuated from the inside of the air cylinder 70 to an atmospheric pressure, and the transfer arm 60 is stopped (step S103).

<Recovery operation>
FIG. 9 is a flowchart for explaining an operation procedure when restoring the operation of the component mounting device 1 according to the embodiment.

The flowchart of FIG. 9 is, for example, an operation procedure executed after step S103 shown in FIG.

As shown in FIG. 9, first, it is assumed that the control unit 100 receives the reset signal (step S201). Specifically, in step S201, it is assumed that the control unit 100 receives the reset signal via the acquisition unit 130.

Next, the control unit 100 determines whether or not the emergency stop signal still exists (step S202). Specifically, for example, in step S202, the control unit 100 determines whether or not the emergency stop signal is still being received. For example, when the acquisition unit 130 is a button that transmits an emergency stop signal to the control unit 100 when the acquisition unit 130 is pressed by the operator, the control unit 100 determines whether or not the button is still pressed.

When the control unit 100 determines that the emergency stop signal still exists (Yes in step S202), the control unit 100 does not restart the supply of air to the air cylinder 70, and causes the notification unit 120 to notify the first error notification (step S203). ). For example, in step S203, when the notification unit 120 is a display device such as a display, the control unit 100 notifies the image including characters such as "cannot start because the emergency stop signal has not disappeared" as the first error display. It is displayed on the unit 120.

On the other hand, when the control unit 100 determines that there is no emergency stop signal (No in step S202), the first sensor 400 is ON, that is, the first sensor 400 detects the end 77 of the piston 76. It is determined whether or not (step S204). Specifically, in step S204, the control unit 100 determines whether or not the end portion 77 of the piston 76 is located at the deadline 73 based on the detection result of the first sensor 400.

When the first sensor 400 is not ON (No in step S204), the control unit 100 has the second sensor 410 turned ON, that is, the second sensor 410 detects the end 77 of the piston 76. It is determined whether or not the sensor (step S205). Specifically, in step S205, the control unit 100 determines whether or not the end portion 77 of the piston 76 is located at the return limit 74 based on the detection result of the second sensor 410.

When the second sensor 410 is not turned on (No in step S205), the control unit 100 does not restart the supply of air to the air cylinder 70, and causes the notification unit 120 to notify the second error notification (step S206). ). For example, in step S205, when the notification unit 120 is a display device such as a display, the control unit 100 notifies the image including characters such as "The transport arm is in the intermediate position and cannot be activated" as the second error display. It is displayed on the unit 120.

In this way, when the control unit 100 receives the emergency stop signal, the control unit 100 shuts off the supply of air to the air cylinder 70 to bring the inside of the air cylinder 70 to atmospheric pressure and stop the drive of the transport arm 60. , Based on the detection results of the first sensor 400 and the second sensor 410, the piston 76 (specifically, the end 77 of the piston) is at the limit position in the first direction (bound limit 73) or the limit position in the second direction (specifically, the limit position 77). If it is not located in any of the return limits 74), the notification unit 120 is notified that the piston 76 is not located in either the destination limit 73 or the return limit 74).

On the other hand, when the second sensor 410 is ON (Yes in step S205), the control unit 100 sets the second solenoid valve 220 and the third solenoid valve 230 to the return limit control state (step S207). Here, the return limit control state is a state in which the second solenoid valve 220 is turned off and the third solenoid valve 230 is turned on. That is, in step S207, the control unit 100 controls the second solenoid valve 220 to be in the OFF state and the third solenoid valve 230 to be in the ON state.

Next, the control unit 100 turns on the first solenoid valve 210 (step S209) to start supplying air to the air cylinder 70.

Further, when the first sensor 400 is ON (Yes in step S204), the control unit 100 sets the second solenoid valve 220 and the third solenoid valve 230 to the limit control state (step S208). Here, the limit control state is a state in which the second solenoid valve 220 is turned on and the third solenoid valve 230 is turned off. That is, in step S208, the control unit 100 controls to turn the second solenoid valve 220 into the ON state and the third solenoid valve 230 to the OFF state.

Next, the control unit 100 turns on the first solenoid valve 210 (step S209) to start supplying air to the air cylinder 70.

[Effects, etc.]
As described above, the component mounting device 1 according to the present embodiment detects that the transfer arm 60, the air cylinder 70 including the piston 76 for driving the transfer arm 60, and the piston 76 are located at the deadline 73. A control unit that controls the drive of the transfer arm 60 by controlling the supply of air to the first sensor 400, the second sensor 410 that detects that the piston 76 is located at the return limit 74, and the air cylinder 70. With 100 and. When the control unit 100 receives the emergency stop signal, the control unit 100 shuts off the supply of air to the air cylinder 70 to bring the inside of the air cylinder 70 to atmospheric pressure and stop the drive of the transport arm 60. Further, the control unit 100 restarts the supply of air to the air cylinder when the piston 76 is located at the end limit 73 or the return limit 74 based on the detection results of the first sensor 400 and the second sensor 410. .. On the other hand, based on the detection results of the first sensor 400 and the second sensor 410, the control unit 100 supplies air to the air cylinder 70 when the piston 76 is not located at either the end limit 73 or the return limit 74. Do not restart.

According to such a configuration, the control unit 100 restarts the supply of air to the air cylinder 70 when the piston 76 (specifically, the end portion 77) is not located at the end limit 73 or the return limit 74. do not do. Therefore, when the supply of air to the air cylinder 70 is restarted, the piston 76 is driven at an abnormal speed, resulting in damage to the substrate 500 held by the transfer arm 60, failure of the air cylinder 70, and the like. Occurrence is suppressed. As a result, according to the component mounting device 1, the air cylinder 70 can be safely restored and driven.

Further, for example, the component mounting device 1 is provided in the first air pipe 300 connected to the air source 200 and the first air pipe 300 for switching between supply and stop of air from the air source 200. The solenoid valve 210, the second air pipe 310 for supplying air to the air cylinder 70 for moving the piston 76 in the first direction, and the second air pipe 310, which are branched on the downstream side of the first solenoid valve 210 in the first air pipe 300. , A third air pipe 320 for supplying air for moving the piston 76 in the second direction to the air cylinder 70, a second solenoid valve 220 provided in the second air pipe 310, and a third air pipe 320. A third solenoid valve 230 is further provided. In this case, for example, when the control unit 100 receives an emergency stop signal, the control unit 100 controls the first solenoid valve 210 to cut off the supply of air to the air cylinder 70, thereby causing the air pressure inside the air cylinder 70 to be atmospheric pressure. To stop the drive of the transport arm 60. Further, the control unit 100 determines, for example, based on the detection results of the first sensor 400 and the second sensor 410, when the piston 76 is located at the end limit 73 or the return limit 74, the second solenoid valve 220 and the third solenoid valve The state of 230 is controlled so as to correspond to the position of the piston.

According to such a configuration, for example, when the piston 76 is located at the deadline 73, the control unit 100 restarts the driving of the air cylinder 70 by supplying air to the first space 78. .. Further, for example, when the piston 76 (specifically, the end portion 77) is located at the return limit 74, the control unit 100 supplies air to the second space 79 to cause the air cylinder 70. Resume driving. Therefore, the control unit 100 restarts the supply of air to the air cylinder 70 so that the piston 76 resumes driving in the direction closer to the end limit 73 or the return limit 74. Therefore, when the supply of air to the air cylinder 70 is restarted, the piston 76 is further suppressed from being driven at an abnormal speed.

Further, for example, the component mounting device 1 according to the present embodiment further includes a notification unit 120. In this case, for example, when the control unit 100 receives an emergency stop signal, the control unit 100 shuts off the supply of air to the air cylinder 70 to bring the inside of the air cylinder 70 to atmospheric pressure and stop driving the transport arm 60. Let me. Further, for example, in the control unit 100, when the piston 76 is not located in either the deadline 73 or the return limit 74 based on the detection results of the first sensor 400 and the second sensor 410, the piston 76 moves to the deadline 73. Alternatively, the notification unit 120 is notified that it is not located in any of the return limits 74.

According to such a configuration, the control unit 100 can notify the operator by the notification unit 120 that the piston 76 is not located at the end limit 73 or the return limit 74. Therefore, even though the piston 76 is not located at the end limit 73 or the return limit 74, it is possible to prevent the operator from accidentally restarting the component mounting device 1.

Further, in the component mounting method according to the present embodiment, air is supplied to the air cylinder 70 to drive the piston 76 included in the air cylinder 70, thereby receiving a drive step for driving the transfer arm 60 and an emergency stop signal. In this case, the first sensor 400 and the first sensor 400 and the first sensor 400 and the first sensor 400 and the first sensor 400 and the first sensor 400 and the first sensor 400 and the first sensor 400 2 Based on the detection result of the sensor 410, it is determined in the determination step of determining whether the piston 76 is located in the limit 73 or the return limit 74, and in the determination step that the piston 76 is located in the limit 73 or the return limit 74. If this is the case, the supply of air to the air cylinder 70 is restarted, and if it is determined in the determination step that the piston 76 is not located in either the end limit 73 or the return limit 74, the air to the air cylinder 70 is released. Includes a control step that does not resume supply.

According to such a method, the same effect as that of the component mounting device 1 is obtained.

Note that these comprehensive or specific embodiments may be realized in a recording medium such as a system, method, integrated circuit, computer program or computer-readable CD-ROM, and the system, method, integrated circuit, computer program. And any combination of recording media may be realized.

[Modification example]
Subsequently, the component mounting device according to the modified example of the embodiment will be described.

In the description of the component mounting device according to the modified example of the embodiment described below, the differences from the component mounting device 1 according to the embodiment will be mainly described. Therefore, in the description of the component mounting device according to the modified example of the embodiment, the same components as those of the component mounting device 1 according to the embodiment are designated by the same reference numerals, and the description may be omitted or simplified. is there.

FIG. 10 is a schematic configuration diagram for explaining the details of the configuration for driving the air cylinder 70 included in the component mounting device 2 according to the modified example of the embodiment. Note that FIG. 10 is a diagram corresponding to the component mounting device 1 shown in FIG.

The component mounting device 2 differs from the component mounting device 1 in the control content of the control unit 101 and the transport unit 600a.

The control unit 101 is a control device that controls the operation of each device included in the component mounting device 2.

The transport unit 600a includes a transport arm 60, an air cylinder 70, an air source 200, a first solenoid valve 210a, a fourth solenoid valve 240, a fifth solenoid valve 241 and a speed control valve 250, and a speed control valve. 251, a first air pipe 300a, a second air pipe 310a, a third air pipe 320a, a first sensor 400, and a second sensor 410 are provided.

The first solenoid valve 210a is a solenoid valve in which the first supply valve 211 and the second exhaust valve 222 of the first solenoid valve 210 are integrated. As described above, the type of solenoid valve included in the component mounting device according to the present invention is not particularly limited.

Further, the fourth solenoid valve 240 is provided in the middle of the first air pipe 300a and is a solenoid valve for supplying or shutting off the air from the air source 200. Specifically, the fourth solenoid valve 240 is provided between the first solenoid valve 210a and the air cylinder 70 in the first air pipe 300a, and supplies air from the air source 200 to the air cylinder 70, or , A solenoid valve for controlling shutoff.

Here, the control unit 101 causes the air cylinder 70 to be supplied with air from the air source 200 by opening both the first solenoid valve 210a and the fourth solenoid valve 240. For example, when at least one of the first solenoid valve 210a and the fourth solenoid valve 240 is in the closed state, air is not supplied from the air source 200 to the air cylinder 70.

According to such a configuration, when the drive of the air cylinder 70 is stopped, it is possible to suppress the supply of air to the air cylinder 70 due to a malfunction due to, for example, a failure of the first solenoid valve 210a.

In particular, the component mounting device 2 including a plurality of air cylinders 70 is provided with a plurality of fifth solenoid valves 241 for controlling the supply of air to the first space 78 and the second space 79 of the air cylinder 70. In the case of this modification, the reliability of the circuit (air drive circuit) for driving the piston 76 of the air cylinder 70 by supplying and discharging the air constituting the transport unit 600a to the air cylinder 70 at a relatively low cost. It becomes possible to enhance the sex. As a method of improving the reliability of the air drive circuit, for example, it is conceivable to multiplex each of the plurality of fifth solenoid valves 241 for driving each of the plurality of air cylinders 70. In this case, the component mounting device The number of the fifth solenoid valve 241 obtained by multiplying the number of the air cylinders 70 included in the number 2 by the degree of multiplexing (for example, 2 in the case of duplication) is required, which increases the cost. On the other hand, in the case of this modification, there are a plurality of solenoid valves (specifically, the first solenoid valve) provided on the upstream side of the fifth solenoid valve 241 to control the supply of air from the air source 200 to the fifth solenoid valve 241. 1 Solenoid valve 210a and 4th solenoid valve 240) are provided and multiplexed. Therefore, a highly reliable air drive circuit can be realized at low cost without multiplexing the fifth solenoid valve 241.

Further, the first air pipe is branched via the fifth solenoid valve 241 and is connected to the second air pipe 310a and the third air pipe 320a.

The fifth solenoid valve 241 is a solenoid valve provided in the middle of the second air pipe 310a and the third air pipe 320a for supplying or shutting off the air from the air source 200. Specifically, the fifth solenoid valve 241 is provided between the air source 200, specifically, the first air pipe 300a and the air cylinder 70 in the second air pipe 310a, and the third air pipe is provided. The air source 200 in 320a, specifically, is provided between the first air pipe 300a and the air cylinder 70, and supplies or shuts off the air from the first air pipe 300 to the air cylinder 70. It is a solenoid valve for control. That is, the fifth solenoid valve 241 has the functions of both the second solenoid valve 220 and the third solenoid valve 230 shown in FIG.

As described above, the second solenoid valve 220 and the third solenoid valve 230 shown in FIG. 6 may be separate as shown in FIG. 6, or may be integrally formed like the fifth solenoid valve 241 shown in FIG. You may be.

The control unit 101 controls the supply of air to the first space 78 and the second space 79 of the air cylinder 70 by controlling the fifth solenoid valve 241.

(Other embodiments)
Although the component mounting device and the like according to the present embodiment have been described above based on the above-described embodiment and modification, the present invention is not limited to the above-described embodiment and modification.

For example, in the above embodiment, all or a part of the components of the processing unit such as the control unit may be configured by dedicated hardware, or by executing a software program suitable for each component. It may be realized. Each component of the processing unit is realized by a program execution unit such as a CPU (Central Processing Unit) or a processor reading and executing a software program recorded on a recording medium such as an HDD (Hard Disk Drive) or a semiconductor memory. May be done.

Further, the component of the processing unit may be composed of one or a plurality of electronic circuits. The one or more electronic circuits may be general-purpose circuits or dedicated circuits, respectively.

The one or more electronic circuits may include, for example, a semiconductor device, an IC (Integrated Circuit), an LSI (Large Scale Integration), or the like. The IC or LSI may be integrated on one chip or may be integrated on a plurality of chips. Here, it is called an IC or an LSI, but the name changes depending on the degree of integration, and it may be called a system LSI, a VLSI (Very Large Scale Integration), or a ULSI (Ultra Large Scale Integration). Further, an FPGA (Field Programmable Gate Array) programmed after manufacturing the LSI can also be used for the same purpose.

In addition, it is realized by arbitrarily combining the components and functions in each embodiment within the range obtained by applying various modifications to each embodiment and the gist of the present invention. Forms are also included in the present invention.

According to the component mounting device according to the present invention, it is possible to safely restore and drive the air cylinder, and the component mounting method according to the present invention is a component mounting device for mounting a component using the air cylinder. It is useful.

1, 2 Parts mounting device 10 Loader part 20 ACF pasting part 30 Temporary crimping part 40 Crimping part 41 1st crimping part 42 2nd crimping part 50 Unloader part 60, 61, 62, 63, 64 Conveyor arm 70, 71, 72 Air cylinder 73 Destination limit 74 Return limit 75 Cylinder 76 Piston 77 End part 78 First space 79 Second space 80 Base 90 Electric cylinder 100, 101 Control unit 110 Storage unit 120 Notification unit 130 Acquisition unit 200 Air source 210 , 210a 1st solenoid valve 211 1st supply valve 212 1st solenoid valve 220 2nd solenoid valve 221 2nd solenoid valve 222 2nd solenoid valve 230 3rd solenoid valve 231 3rd supply valve 232 3rd solenoid valve 240 4th solenoid Valve 241 5th solenoid valve 250, 251 Speed control valve 300, 300a 1st air piping 310, 310a 2nd air piping 320, 320a 3rd air piping 400 1st sensor 410 2nd sensor 500 Board 600, 600a Conveyor

Claims (5)

With the transport arm
An air cylinder including a piston that drives the transfer arm,
A first sensor that detects that the piston is located at the limit position in the first direction,
A second sensor that detects that the piston is located at a limit position in the second direction opposite to the first direction,
A control unit that controls the drive of the transfer arm by controlling the supply of air to the air cylinder is provided.
The control unit
When an emergency stop signal is received, the supply of air to the air cylinder is cut off to bring the inside of the air cylinder to atmospheric pressure and stop the drive of the transport arm.
Based on the detection results of the first sensor and the second sensor, when the piston is located at the limit position in the first direction or the limit position in the second direction, the supply of air to the air cylinder is restarted. Let me
Based on the detection results of the first sensor and the second sensor, if the piston is not located at either the limit position in the first direction or the limit position in the second direction, air to the air cylinder is released. Do not resume supply,
Component mounting device. The first air pipe connected to the air source and
A first solenoid valve provided in the first air pipe for switching between supply and stop of air from the air source, and
A second air pipe that is branched on the downstream side of the first solenoid valve in the first air pipe and supplies air for moving the piston in the first direction to the air cylinder, and the piston are provided. A third air pipe for supplying air for moving in the second direction to the air cylinder, and
The second solenoid valve provided in the second air pipe and
A third solenoid valve provided in the third air pipe is further provided.
The control unit
When the emergency stop signal is received, the first solenoid valve is controlled to cut off the supply of air to the air cylinder to bring the inside of the air cylinder to atmospheric pressure and stop driving the transport arm. Let me
Based on the detection results of the first sensor and the second sensor, when the piston is located at the limit position in the first direction or the limit position in the second direction, the second solenoid valve and the third solenoid valve Is controlled so as to correspond to the position of the piston.
The component mounting device according to claim 1. Further, a fourth solenoid valve provided in the first air pipe is provided.
The control unit
By opening both the first solenoid valve and the fourth solenoid valve, air is supplied to the air cylinder from the air source.
The component mounting device according to claim 2. With more notifications
The control unit
When an emergency stop signal is received, the supply of air to the air cylinder is cut off to bring the inside of the air cylinder to atmospheric pressure and stop the drive of the transport arm.
Based on the detection results of the first sensor and the second sensor, if the piston is not located at either the limit position in the first direction or the limit position in the second direction, the piston is in the first direction. Notify the notification unit that it is not located at either the limit position of the above or the limit position of the second direction.
The component mounting device according to any one of claims 1 to 3. A drive step that drives a transfer arm connected to the piston by supplying air to the air cylinder to drive the piston included in the air cylinder.
When an emergency stop signal is received, a stop step is performed in which the supply of air to the air cylinder is cut off to bring the inside of the air cylinder to atmospheric pressure and stop driving the transport arm.
After the stop step, a determination step of determining whether or not the piston is located at the limit position in the first direction or the limit position in the second direction based on the detection results of the first sensor and the second sensor.
When it is determined in the determination step that the piston is located at the limit position in the first direction or the limit position in the second direction, the supply of air to the air cylinder is restarted, and the piston moves in the determination step. A control step that does not restart the supply of air to the air cylinder when it is determined that the vehicle is not located at either the limit position in the first direction or the limit position in the second direction is included.
Component mounting method.

Images