JP2024014469A - parts mounting machine - Google Patents

Abstract

An object of the present invention is to provide a component mounting machine that can improve the accuracy of determining whether or not a suction nozzle is suctioning a component. [Solution] A suction nozzle mounted on a component mounting machine, a suction process that suctions the component to the suction nozzle by supplying negative pressure air from an air flow path, and a mounting process that mounts the component on a board. and a measuring section that is installed in an air flow path and that measures the pressure or flow rate of negative pressure air to obtain a measured value, the control section controlling the control section during suction processing of the suction nozzle. A determination unit that compares the measured value and a determination value to determine whether or not the suction nozzle is suctioning a component, and a measurement value when the suction nozzle is open, which is a measured value when the suction nozzle is not suctioning a component. , a reference value calculation unit that calculates a reference value based on a measurement value during suction, which is a measurement value when the suction nozzle is suctioning a component; and a reference value calculation unit that calculates a reference value based on and a determination value changing section that changes the determination value. [Selection diagram] Figure 1

Description

The present specification relates to a component mounting machine that performs suction processing and mounting processing of components using a suction nozzle.

2. Description of the Related Art A technique for mass-producing board products by performing board-to-board work on a board on which a circuit pattern has been formed is becoming widespread. A typical example of a board-to-board work machine that performs board-to-board work is a component mounting machine that performs component mounting work. Many component mounting machines use suction nozzles that perform suction processing on components by supplying negative pressure air. During the suction process, a measured value of the pressure or flow rate of negative pressure air is compared with a determination value to determine whether or not the suction nozzle is suctioning a component. Technical examples related to measuring negative pressure air and determining whether a suction nozzle is suctioning a component are disclosed in Patent Documents 1 to 3.

The chip component suction failure detection device disclosed in Patent Document 1 includes a vacuum sensor that detects the magnitude of negative pressure within a suction nozzle, and amplifies an extraction signal obtained by subtracting a reference value from the detection signal output from the vacuum sensor. and an amplifying means for outputting. According to this, it is possible to measure the negative pressure inside the suction nozzle with high precision, detect minute air leaks, and detect an abnormal posture in which a chip component is suctioned in an upright position. According to the description of the embodiment, it is assumed that the negative pressure value when the chip component is normally attracted is stored in advance, and the stored negative pressure value is compared with the measured negative pressure value. Calculates and detects posture abnormalities.

Furthermore, in the component mounting condition determination method disclosed in Patent Document 2, when mounting a component using a mounting head equipped with a plurality of suction nozzles, the component suction force of the plurality of suction nozzles increases when the mounting head moves. The method includes the step of determining the maximum number of parts to be attracted so that the attraction force is equal to or higher than the movable suction force that does not cause the parts to fall. According to this, the maximum number of parts to be picked up is determined by taking into account the reduction in part suction force due to air leaks, so it is possible to determine tasks that have accurate positioning accuracy and short mounting time. ing.

Further, the electronic component mounting apparatus disclosed in Patent Document 3 includes a vacuum sensor that measures the degree of vacuum inside a vacuum suction circuit that connects a vacuum suction source and a suction nozzle, and a vacuum sensor that measures the degree of vacuum inside a vacuum suction circuit that connects a vacuum suction source and a suction nozzle. and a storage unit that stores nozzle characteristic data indicating the correspondence relationship between the nozzle characteristics and the nozzle characteristic data. Furthermore, the electronic component mounting equipment compares the vacuum degree measurement results with the nozzle characteristic data during operation and determines whether there is no suction nozzle, suction nozzle is normally attached, filter is clogged, no component is present, component is normally suctioned, and suction surface is in contact. and a determination means for determining the state of the. According to this, when the electronic component mounting apparatus is in operation, an abnormality in the vacuum suction state can be easily detected without requiring the effort of removing the suction nozzle.

Japanese Patent Application Publication No. 7-212099 Japanese Patent Application Publication No. 2007-281432 Patent No. 3965995

Incidentally, various components mounted on a board often have flat surfaces (top surfaces) to be attracted, such as square chip components and IC lead components. When a suction nozzle with a flat suction surface (tip) suctions these parts by supplying negative pressure air, gaps are unlikely to form between the parts and the suction nozzle. Therefore, atmospheric air is less likely to flow into the suction nozzle (negative pressure air is less likely to leak). However, among the various components, there are, for example, irregularly shaped components such as switch components and connector components that have holes or uneven shapes on the surface to be attracted, and components that have a bulging surface shape such as square chip components. When the suction nozzle suctions these parts, a gap is created between the odd-shaped part and the suction nozzle. Therefore, even in a normal suction posture, atmospheric air tends to flow into the suction nozzle (negative pressure air tends to leak). Furthermore, as described in Patent Document 2, even if the suction surface of the component is flat, the size of the opening at the tip of the suction nozzle is larger than the suction surface of the component, so that atmospheric air flows into the suction nozzle. may flow into the interior. When atmospheric air flows into the suction nozzle, the negative pressure decreases, resulting in a decrease in the holding force for holding the suctioned parts.

The above-mentioned condition of atmospheric air flowing into the suction nozzle changes depending on the combination of the component and the suction nozzle. For this reason, if a predetermined determination value is used without considering the combination, there is a risk of erroneous determination as to whether or not the suction nozzle is suctioning a component. For example, assume that the determination value is set based on a combination of a component with a flat suction target surface and a suction nozzle with a flat tip. In this case, if the part to be picked up is changed to an odd-shaped part, even if the suction nozzle successfully picks up the odd-shaped part, the amount of inflow (leakage) will increase, so it will be incorrectly determined that the odd-shaped part is not being picked up. There may be cases where this occurs.

In addition, in Patent Document 1, if a predetermined negative pressure value is stored in advance, when an irregularly shaped part is suctioned with a suction nozzle with a flat tip, the inflow amount of atmospheric air ( Because the amount of negative pressure air leaked is large, there is a risk that it will be erroneously determined to be an abnormal posture. Furthermore, in Patent Document 3, if the state of atmospheric air flowing into the suction nozzle is not taken into consideration, the accuracy of determining the vacuum suction state of the suction nozzle may decrease, or there is a risk that one of the six states will be incorrectly determined.

Therefore, in this specification, an object to be solved is to provide a component mounting machine that can improve the accuracy of determining whether or not a suction nozzle is suctioning a component.

This specification describes a suction nozzle that is removably mounted on a component mounting machine that mounts components on a board, and a suction process that suctions the component to the suction nozzle by supplying negative pressure air from an air flow path. and a control unit that performs a mounting process to mount the component on the board, and a measurement unit that is provided in the air flow path and that measures the pressure or flow rate of the negative pressure air to obtain a measured value. The control unit compares the measured value of the suction nozzle during the suction process with a predetermined determination value to determine whether the suction nozzle is suctioning the component. a determination unit that determines whether or not the suction nozzle is suctioning the component; a reference value calculation unit that calculates a reference value based on a certain measured value during suction; and a judgment value change unit that changes the judgment value to the reference value calculated by the reference value calculation unit. Disclose the mounting machine.

In the disclosed component mounting machine, the reference value calculation unit is capable of calculating a reference value suitable for the combination of the component and the suction nozzle, based on the open measurement value and the suction measurement value that change depending on the combination of the component and the suction nozzle. , the determination value changing unit changes the determination value to the calculated reference value. Therefore, compared to the conventional technology that uses a fixed determination value determined in advance, the determination unit uses a determination value suitable for the combination in question, which improves the accuracy of determining whether or not the suction nozzle is suctioning a component. can be increased.

FIG. 1 is a perspective view showing the overall configuration of a component mounting machine according to a first embodiment. FIG. 2 is a diagram schematically showing an air supply system that selectively supplies negative pressure air and positive pressure air to a suction nozzle. FIG. 6 is a diagram illustrating an open measurement value, an adsorption measurement value, and a reference value when no leakage of negative pressure air occurs. FIG. 6 is a diagram illustrating an open measurement value, an adsorption measurement value, and a reference value when a leak of negative pressure air occurs. FIG. 3 is an operation flow diagram illustrating operations during adjustment of the component mounting machine. It is a figure of the operation flow explaining operation at the time of operation of a component placement machine. It is a perspective view showing the whole composition of a component mounting machine of a 2nd embodiment. FIG. 3 is a diagram schematically showing an air supply system that supplies negative pressure air to a plurality of suction nozzles. FIG. 6 is a diagram illustrating an example in which a determination value changing unit sets different determination values for each of a plurality of suction nozzles. It is a figure explaining the function of an adsorption component change part. It is a figure explaining the function of an upper limit change part.

1. Overall configuration of component mounting machine 1 according to the first embodiment The overall configuration of the component mounting machine 1 according to the first embodiment will be described with reference to FIG. 1. In the example shown in FIG. 1, two component mounting machines 1 are arranged adjacently on a common base 11. The direction in which the two component mounting machines 1 are lined up corresponds to the X-axis direction in which the board is transported, and the horizontal direction perpendicular to the X-axis direction is the Y-axis direction. The component mounting machine 1 includes a mounting machine housing 20, a substrate transport device 22, a head moving device 24, a mounting head 26, a component supply device 28, a nozzle station 30, a component camera 32, a control section 34, and the like.

The mounting machine housing 20 includes a frame section 201 and a beam section 202 extending over the frame section 201 . Furthermore, a cover 203 that can be opened and closed is provided above the beam section 202. The cover 203 is shown on the component mounting machine 1 on the left side, and is omitted from the illustration on the component mounting machine 1 on the right side.

The substrate transport device 22 includes two sets of conveyor devices (221, 222) and a substrate holding mechanism (not shown). The two conveyor devices (221, 222) are provided on the frame portion 201 so as to be parallel to each other and extend in the X-axis direction. Each of the conveyor devices (221, 222) is rotatably driven by a motor (not shown) and conveys the supported substrate in the X-axis direction. Each of the two substrate holding mechanisms is located approximately at the bottom of each of the conveyor devices (221, 222). The substrate holding mechanism holds the substrate at a predetermined mounting position.

The component supply device 28 includes a plurality of tape feeders 29 arranged in the X-axis direction. Each tape feeder 29 rotatably holds a tape reel. A tape reel is wound with a carrier tape in which components are housed in storage pockets arranged in a row. Each of the tape feeders 29 feeds the carrier tape to a feeding position by pitch feeding by a tape feeding mechanism (not shown). Thereby, the tape feeder 29 supplies the parts at the supply position. Note that the reel holding mechanism that rotatably holds the tape reel may be configured separately from the tape feeder 29.

The head moving device 24 is an XY robot type device. The head moving device 24 includes an unillustrated X-axis motor that slides the slider 25 in the X-axis direction, and an unillustrated Y-axis motor that slides the slider 25 in the Y-axis direction. A mounting head 26 is attached to the side surface of the slider 25 in the negative direction of the Y axis. The mounting head 26 is driven by an X-axis motor and a Y-axis motor to move to an arbitrary position on the frame section 201. The suction nozzle 4 or the nozzle tool 7 is removably mounted on the lower side of the mounting head 26. The nozzle tool 7 will be explained in a second embodiment.

The suction nozzle 4 is driven up and down by a Z-axis motor (not shown), and rotates around an axis by being driven by an R-axis motor (not shown). The suction nozzle 4 is further selectively supplied with negative pressure air and positive pressure air from an air supply system 5, which will be described later. The suction nozzle 4 performs a suction process of suctioning a component from the supply position of the tape feeder 29, and a mounting process of mounting the component at a mounting coordinate position set on the board.

An unillustrated substrate camera having a downward optical axis is provided below the slider 25 or the mounting head 26 . The board camera captures an image of a position reference mark attached to a board held at a mounting work position to obtain image data. The acquired image data is subjected to image processing to accurately determine the mounting position of the board. As a result, the relative positional relationship between the first XY coordinate system of the head moving device 24 and the second XY coordinate system representing the mounting coordinate position of the component on the board is calibrated.

Nozzle station 30 is provided adjacent to component supply device 28 . The nozzle station 30 accommodates a plurality of suction nozzles 4 in a replaceable manner. The suction nozzle 4 housed in the nozzle station 30 and the suction nozzle 4 mounted on the mounting head 26 are automatically replaced as necessary. For example, a plurality of types of suction nozzles 4 having different shapes and sizes are replaced depending on differences in shape, size, and weight of a plurality of types of parts to be subjected to suction processing. In addition, the suction nozzle 4, which requires maintenance by performing suction processing and mounting processing a predetermined number of times or more, is replaced.

The component camera 32 is provided between the board transfer device 22 and the component supply device 28. The component camera 32 is arranged so that its optical axis faces upward. The component camera 32 images the suction nozzle 4 holding the component to obtain image data. The component camera 32 captures an image while the mounting head 26 is temporarily stopped above it. Alternatively, the component camera 32 may increase the shutter speed and take an image at the moment the mounting head 26 passes above it. By image processing the image data, the relative positional relationship between the suction nozzle 4 and the held component is detected and reflected in the mounting process. As the component camera 32, a digital imaging device having an imaging element such as a CCD or CMOS can be exemplified.

2. Production information server 9
Next, the production information server 9, which is a higher-level control device of the component mounting machine 1, will be explained. The production information server 9 is configured using a computer device. The production information server 9 comprehensively manages the production work of a board-to-board work line consisting of a plurality of board-to-board work machines including the component mounting machine 1. The production information server 9 is communicatively connected to the component mounting machine 1 and other board-related work machines using a communication path or wirelessly. The production information server 9 exchanges information with the component mounting machine 1 and other board-related working machines as necessary. The production information server 9 stores parts data 92, equipment data 93, job data 94, and operation history data 95 in an attached memory 91, and updates them sequentially.

The component data 92 is data that stores information regarding various types of components mounted on the board. The component data 92 includes component external shape information indicating the shape, mass, external shape, dimensions of electrodes, etc., and external color of various components. Further, the parts data 92 includes information such as electrical characteristics, manufacturers, packaging forms, handling conditions, etc. of various parts. The equipment data 93 is data that stores the structure, performance, etc. of the component mounting machine 1 and other board-oriented working machines. The equipment data 93 includes information regarding instruments used by the component mounting machine 1 and other board-oriented working machines. For example, the device data 93 includes information such as the structure and dimensions of each part of the suction nozzle 4, the dimensional range of parts that the suction nozzle 4 can suction, the maximum mass, and how to use the suction nozzle 4.

The job data 94 is data that stores the contents of the board-related work to be performed on the board. Job data 94 includes design data representing the type of board, the type of component to be mounted, and the mounting coordinate position. Further, the job data 94 includes production data that defines the mounting order of a plurality of components in the component mounting machine 1 and the type of suction nozzle 4 to be used. Furthermore, the job data 94 defines the contents of the board work (job) of other board work machines. Job data 94 is created for each type of board product. The operation history data 95 is data that stores the operation history when the component mounting machine 1 and other board-facing working machines are operated.

The production information server 9 distributes job data 94 to the component mounting machine 1 and other board-related work machines, respectively, when producing board products. The component mounting machine 1 and other board-related work machines perform board-related work according to the received job data 94. The component mounting machine 1 and other board-related working machines refer to the component data 92 and the equipment data 93 as necessary based on the specified contents of the job data 94. The component mounting machine 1 and other board-related work machines convert their operations into data and transmit the data to the production information server 9. The production information server 9 sequentially updates the operation history data 95 using the received data.

3. Air supply system 5
Next, the air supply system 5 that selectively supplies negative pressure air and positive pressure air to the suction nozzle 4 will be described with reference to FIG. 2. The suction nozzle 4 has a base end 41 that extends in the vertical direction and is disposed on the upper side when in use, a distal end 43 that is disposed on the lower side and has an opening 44 for suctioning parts, and a proximal end 41 side and a distal end 43 side. It has an internal flow path 42 communicating with. The air supply system 5 includes a negative pressure source 51, a negative pressure valve 52, a positive pressure source 53, a positive pressure valve 54, an air flow path 55, a pressure sensor 56, a flow rate sensor 57, and the like.

The negative pressure source 51 generates negative pressure air to be supplied to the suction nozzle 4 . "Supplying negative pressure air to the suction nozzle 4" means sucking the air in the internal flow path 42 of the suction nozzle 4 to bring the internal pressure from the atmospheric pressure value side to the vacuum value side. For example, a vacuum pump can be used as the negative pressure source 51. Note that the negative pressure source 51 may include a negative pressure air supply path that supplies negative pressure air into the machine from a negative pressure source located outside the machine. The negative pressure valve 52 opens and closes between the negative pressure source 51 and one end of the air flow path 55.

The positive pressure source 53 generates positive pressure air to be supplied to the suction nozzle 4 . As the positive pressure source 53, for example, a compressor or a pressure storage tank in which positive pressure air is accumulated by the compressor can be used. The positive pressure source 53 may further include a regulator that optimizes the positive pressure value of the positive pressure air or maintains it at a constant value. Note that the positive pressure source 53 may include a positive pressure air supply path that supplies positive pressure air into the machine from a positive pressure source located outside the machine. The positive pressure valve 54 opens and closes between the positive pressure source 53 and one end of the air flow path 55. As the negative pressure valve 52 and the positive pressure valve 54, a solenoid valve or a mechanical valve driven by a mechanical opening/closing mechanism can be used. The other end of the air flow path 55 is communicated with the base end 41 side of the internal flow path 42 of the suction nozzle 4 .

A pressure sensor 56 and a flow rate sensor 57 as measurement units are provided in the middle of the air flow path 55. The pressure sensor 56 measures the pressure of negative pressure air flowing through the air flow path 55 and obtains a measured value (negative pressure value). The flow rate sensor 57 measures the flow rate of negative pressure air flowing through the air flow path 55 and obtains a measured value. Here, assume a closed state in which the negative pressure source 51 is operated, the negative pressure valve 52 is opened, and the opening 44 of the suction nozzle 4 is closed. In the closed state, the flow rate of negative pressure air flowing through the air flow path 55 decreases, and the negative pressure value at that time approaches the vacuum value side.

Next, assume an open state in which the negative pressure source 51 is operated, the negative pressure valve 52 is opened, and the opening 44 is opened. In the open state, atmospheric air flows into the internal flow path 42 through the opening 44 . Since the inflow of atmospheric air corresponds to leakage of negative pressure air to the outside from the opening 44, this inflow of atmospheric air is referred to as "leakage of negative pressure air." Due to the leakage of the negative pressure air, the flow rate of the negative pressure air flowing into the air passage 55 increases, and the negative pressure value at that time approaches the atmospheric pressure value from the vacuum value side. This way in which the negative pressure value of the negative pressure air approaches the atmospheric pressure value from the vacuum value side is referred to as a "decrease in negative pressure." Furthermore, assuming a state in which the negative pressure source 51 is operated, the negative pressure valve 52 is opened, and the opening 44 is half-open, the flow rate and pressure of the negative pressure air will be values between the closed state and the open state. .

As can be seen from the above, the measured value of the pressure sensor 56 and the measured value of the flow rate sensor 57 serve as indicators representing the state of leakage of negative pressure air at the opening 44 . Moreover, the measured value of the pressure sensor 56 and the measured value of the flow rate sensor 57 have a correlation and can be converted into each other. Therefore, both measured values are not necessary to recognize the leakage situation of negative pressure air, and even if one of the pressure sensor 56 and the flow rate sensor 57 is omitted, or even if only one of the measured values is used, even if one of the pressure sensor 56 and the flow sensor 57 is omitted. good. Hereinafter, a case will be mainly described in which a measured value of pressure (negative pressure value) detected by the pressure sensor 56 is used.

4. Types of Parts and Presence of Leakage Next, the types of parts that the suction nozzle 4 suctions and the presence or absence of leakage of negative pressure air at the opening 44 of the suction nozzle 4 will be described with reference to FIG. In this embodiment, the tip 43 of the suction nozzle 4 has a circular outer shape that is flat in the horizontal direction. Further, the opening 44 has a circular opening shape with a diameter D and is flat in the horizontal direction. The shape of the opening 44 is not limited to this, and the shape of the opening 44 may be an oval, an ellipse, a gourd shape, or the like.

The parts that the suction nozzle 4 picks up include square electronic parts and IC lead parts, which have flat surfaces and are difficult to leak, and irregularly shaped parts, such as switch parts and connector parts, which have uneven surfaces. It is broadly divided into parts that are prone to leaks. For example, the square electronic component PF has a flat surface to be attracted, and the length L1 of the short side of the surface to be attracted is larger than the diameter D of the opening 44. When the suction nozzle 4 performs suction processing on the square electronic component PF, if the mutual positional relationship is properly controlled, there will be a gap between the suction surface of the square electronic component PF and the opening 44 of the suction nozzle 4. There are no gaps. Therefore, leakage of negative pressure air does not occur, and even if it does occur, it is minimal.

Parts that are prone to leaks have uneven surfaces to be attracted. In other words, negative pressure air leaks are likely to occur in parts that have holes or uneven shapes on the surface to be attracted, or parts that have a semicircular shape even if they have a large capacity relative to their size and are square. The hypothetical odd-shaped part PV illustrated in FIG. 2 has a V-shaped recess in the suction surface when viewed from the front. When the suction nozzle 4 performs suction processing on the irregularly shaped part PV, a gap is generated between the suction target surface of the irregularly shaped part PV and the opening 44 of the suction nozzle 4 even if the mutual positional relationship is properly controlled. Therefore, leakage of negative pressure air occurs significantly. Note that the irregularly shaped part PV has various shapes other than those imagined.

Note that whether leakage of negative pressure air occurs is not determined only by the shape of the component, but is related to the compatibility of the combination of the type of component and the type of suction nozzle 4. For example, in a square electronic component PS where the short side length L2 of the suction surface is smaller than the diameter D of the opening 44 of the suction nozzle 4, a gap is created between the suction surface and the opening 44 of the suction nozzle 4. , negative pressure air leaks. Furthermore, it is possible to manufacture and use an irregularly shaped suction nozzle whose tip is deformed in accordance with the uneven shape of the suction target surface of the irregularly shaped part PV. When the irregularly shaped suction nozzle performs the suction process on the irregularly shaped part PV, leakage of negative pressure air is suppressed.

5. Configuration Regarding Control of Component Mounting Machine 1 The control section 34 is assembled to the frame section 201, and its position is not particularly limited. The control unit 34 is configured using a computer device having a CPU, a memory, an input/output unit, and the like. Note that the control unit 34 may be configured by a plurality of CPUs distributed within the machine and communicatively connected. The control section 34 is communicatively connected to an input display section 204 arranged on the front surface of the cover 203. The input display section 204 receives input operations of commands and settings from an operator, and displays the operating status of the component mounting machine 1 and the like. As the input display section 204, a configuration combining operation keys and a display panel, a touch panel, etc. can be used.

Further, the control unit 34 is communicatively connected to the production information server 9 using an in-house LAN or the like. The control unit 34 controls the substrate transport device 22, the component supply device 28, the head moving device 24, the component camera 32, the air supply system 5, etc. based on the job data 94 distributed from the production information server 9. The control unit 34 performs mode switching between an operating mode during actual operation and an adjustment mode. The control unit 34 can be set to the adjustment mode at times other than during actual operation, for example, when changing the board type or when the component mounting machine 1 temporarily suspends mounting work. Become.

The control unit 34 mainly includes six functional units configured using software, namely, a suction attachment control unit 61, a determination unit 62, a preliminary acquisition unit 63, a reference value calculation unit 64, a determination value change unit 65, and an abnormality detection unit. A section 66 is provided. The suction attachment control section 61, the determination section 62, and the abnormality detection section 66 operate in the operation mode, and the preliminary acquisition section 63, the reference value calculation section 64, and the determination value change section 65 operate in the adjustment mode.

The suction mounting control unit 61 controls execution of suction processing and mounting processing of the suction nozzle 4 . More specifically, the suction mounting control section 61 first horizontally moves the suction nozzle 4 to the supply position of the tape feeder 29. Next, the suction mounting control unit 61 lowers the suction nozzle 4 and opens the negative pressure valve 52 with the positive pressure valve 54 closed to supply negative pressure air. As a result, the internal flow path 42 of the suction nozzle 4 enters a negative pressure state, and the opening 44 suctions the component (suction processing). Next, the suction mounting control unit 61 moves the suction nozzle 4 holding the component to above the component camera 32 and causes the component camera 32 to take an image.

Next, the suction mounting control section 61 horizontally moves the suction nozzle 4 to the mounting coordinate position on the substrate. Next, the suction mounting control section 61 lowers the suction nozzle 4, closes the negative pressure valve 52, and opens the positive pressure valve 54 to supply positive pressure air. As a result, the internal flow path 42 of the suction nozzle 4 becomes in a positive pressure state, and the component held in the opening 44 is mounted at the mounting coordinate position (mounting process). Next, the suction mounting control section 61 horizontally moves the suction nozzle 4 toward the tape feeder 29 again. This completes one cycle of the suction mounting cycle using the suction nozzle 4. The suction mounting control unit 61 repeatedly controls the suction mounting cycle for a plurality of parts specified in the job data 94.

The determination unit 62 compares the measurement value (negative pressure value) measured by the pressure sensor 56 during the suction process of the suction nozzle 4 with a predetermined determination value, and determines whether the suction nozzle 4 is suctioning the component. Determine whether That is, the determination unit 62 determines that the suction nozzle 4 is suctioning the component when the measured negative pressure value is closer to the vacuum value than the determination value. Further, the determination unit 62 determines that the suction nozzle 4 is not suctioning the component when the measured negative pressure value is closer to the atmospheric pressure value than the determination value.

If the determining unit 62 determines that the component has been suctioned, the suction mounting control unit 61 determines that the suction processing has been successfully completed, and moves the suction nozzle 4 above the component camera 32. If the determining unit 62 determines that the component is not picked up, the suction mounting control unit 61 either retries the suction process or interrupts the operation. If the retry is successful, the suction mounting control unit 61 continues to control the suction mounting cycle. When the suction mounting control unit 61 interrupts the operation due to a failure after a predetermined number of retries, or when the operation is interrupted from the beginning, the suction attachment control unit 61 displays the fact that the operation has been interrupted on the input display unit 204, or notifies the operator by another means. Notice. Thereafter, the suction mounting control unit 61 temporarily stops controlling the suction mounting cycle.

The preliminary acquisition unit 63, the reference value calculation unit 64, and the determination value change unit 65 operate when an operation command is input to the input display unit 204 in the adjustment mode, for example. The preliminary acquisition unit 63 uses the pressure sensor 56 to obtain an open measurement value PA1, which is a measurement value when the suction nozzle 4 is not suctioning a component, and a measurement value when the suction nozzle 4 is suctioning a component. Obtain measurement values (PB1, PB2) during adsorption that are (see FIGS. 3 and 4). That is, the preliminary acquisition unit 63 sets conditions that determine whether or not parts are being sucked, unlike during actual operation, and performs actual measurement using the pressure sensor 56. At this time, the setup change of the tape feeder 29 is not necessarily completed. The suction nozzle 4 suctions a component from the tape feeder 29 for which setup has been completed, or a component prepared by an operator using tweezers or the like or a component placed on the palm of the operator (manual attachment of components).

The preliminary acquisition unit 63 refers to the job data 94, sets a combination of the type of component for which a reference value (described later) is to be calculated, and the type of the suction nozzle 4, and acquires the measured value when opening and the measured value when suctioning. be able to. Further, the preliminary acquisition unit 63 can acquire the open measurement value and the suction measurement value using a selected part of the plurality of parts defined in the job data 94 as the reference value calculation target part. Preferably, the preliminary acquisition unit 63 selects the component as the calculation target component when negative pressure air leaks between the component and the suction nozzle 4 that is sucking the component.

Note that the calculation target component may be selected by the operator using the input display section 204. Furthermore, the preliminary acquisition unit 63 may set all the parts specified in the job data 94 as calculation target parts. Further, the pre-acquisition unit 63 operates in advance using multiple types of parts where negative pressure air leaks occur as calculation target parts, regardless of the job data 94, and calculates the calculation target parts when any of the parts is specified in the job data 94. The operation may be omitted.

Further, the preliminary acquisition unit 63 may acquire a plurality of at least one of the measured value at the time of opening and the measured value at the time of suction. Here, since the state at the time of measurement is generally constant, the open measurement value has small variations when measurements are performed a plurality of times. On the other hand, the measured value during suction cannot be said to be constant every time the component is suctioned, and tends to vary when measurements are performed multiple times. In particular, if the combination is such that negative pressure air leaks, the condition of the gap created between the component and the suction nozzle 4 changes each time, and variations are likely to occur. Therefore, it is preferable that the preliminary acquisition unit 63 acquires at least a plurality of measured values during adsorption.

Examples of the open measurement value PA1 and the adsorption measurement value (PB1, PB2) acquired by the preliminary acquisition unit 63 are shown in FIGS. 3 and 4. FIG. 3 exemplifies the combination of the square electronic component PF and the suction nozzle 4, that is, the case where negative pressure air does not leak. FIG. 4 exemplifies the combination of the odd-shaped part PV or the rectangular electronic part PS and the suction nozzle 4, that is, the case where leakage of negative pressure air occurs. Note that FIGS. 3 and 4 qualitatively display the magnitude relationship of various negative pressure values, and do not necessarily display accurate scales (the same applies to FIGS. 9 to 11). In FIGS. 3 and 4, P0 indicates a vacuum pressure value, and P1 indicates an atmospheric pressure value. Further, Smax indicates an upper limit reference value, and Smin indicates a lower limit reference value. In the following description, the negative pressure value of the negative pressure air is expressed as a negative gauge pressure value with the atmospheric pressure value P1 being zero.

The upper limit reference value Smax and the lower limit reference value Smin are determined in advance for each type of suction nozzle 4. The upper limit reference value Smax is the minimum negative pressure value necessary for the suction nozzle 4 to suction the component. The upper limit reference value Smax is set under the condition that the suction nozzle 4 can stably suction the parts, and furthermore, the parts do not fall or skid horizontally when acceleration in the horizontal and vertical directions is applied. determined. Further, the upper limit reference value Smax is determined in consideration of the component having the largest mass (maximum mass) among the components that are subjected to suction processing by the suction nozzle 4 in question.

The lower limit reference value Smin is a negative pressure value at which it can be determined that the suction nozzle 4 is sufficiently suctioning the component. The lower limit reference value Smin is set, for example, to a negative pressure value detected by the pressure sensor 56 when the opening 44 of the suction nozzle 4 is completely closed. A negative pressure value between the upper limit reference value Smax and the lower limit reference value Smin falls within the normal range. If the negative pressure value measured by the pressure sensor 56 deviates from the normal range, it is determined that the negative pressure is abnormal, and the component mounting machine 1 temporarily stops. As a numerical example, the upper limit reference value Smax is about -15 kPa to -30 kPa, and the lower limit reference value Smin is about -75 kPa to -90 kPa.

In the case of FIG. 3 in which no leakage of negative pressure air occurs, the measured value PA1 at the time of opening is a negative pressure value relatively close to the atmospheric pressure value P1. On the other hand, the measured value PB1 during adsorption is a negative pressure value that is close to the lower limit reference value Smin. In FIG. 4, where a negative pressure air leak occurs, the open measurement value PA1 is naturally the same as in FIG. 3. On the other hand, when compared with the measured value PB1 during adsorption in FIG. It is approaching the value PA1. Note that the performance of the negative pressure source 51 and the amount of leakage within the air supply system 5 affect the measured value PA1 at the time of opening and the measured value at the time of adsorption (PB1, PB2).

The reference value calculation unit 64 calculates a reference value between the measured value at the time of opening and the measured value at the time of suction. For example, as shown in FIG. 3, the reference value calculation unit 64 calculates a reference value SV1 that divides the difference between the open measurement value PA1 and the adsorption measurement value PB1 into k: (1-k). . In a mathematical formula, it is expressed as (Formula 1) below. Note that the value of k can be changed.
SV1=k(PB1-PA1)+PA1 where: 0<k<1...(Formula 1)
As a numerical example, when the measured value PA1 when opened is -30 kPa, the measured value PB1 when sucked is -90 kPa, and k=0.6, the reference value SV1 is -66 kPa.

Here, in many combinations (combinations of parts and suction nozzles 4) in which leakage of negative pressure air does not occur, a situation similar to that shown in FIG. 3 occurs. Therefore, in the prior art, a predetermined judgment value J1 that is close to or coincides with the reference value SV1 is determined in advance. Furthermore, the determination unit in the prior art uniformly uses a predetermined determination value J1 to determine whether or not the suction nozzle 4 is suctioning a component.

In the case of FIG. 4 where a negative pressure air leak occurs, the reference value calculation unit 64 calculates a reference value SV2 between the open measurement value PA1 and the adsorption measurement value PB2. The reference value calculation unit 64 may use the above (Formula 1) and the same value of k, or may use a different formula. As an example of numerical values when using (Formula 1), when the measured value PA1 when opened is -30 kPa, the measured value PB2 when adsorbed is -40 kPa, and k=0.6, the reference value SV2 is -36 kPa.

As described above, the reference value calculation unit 64 calculates different reference values (SV1, SV2) depending on the combination of the type of component and the type of suction nozzle 4. Furthermore, in the above example, the reference value calculation unit 64 calculates a different reference value depending on whether or not negative pressure air leaks between the component and the suction nozzle 4 that is sucking the component. (SV1, SV2) is calculated. Further, the reference value calculation unit 64 may calculate different reference values depending on the measured value during suction when it is estimated that leakage of negative pressure air will occur. In other words, the measured value during suction changes depending on the difference between the shape of the suction surface of the component and the shape of the tip 43 of the suction nozzle 4, and the larger the gap between the two, the closer the value is to the atmospheric pressure value P1. Change. Therefore, the reference value calculation unit 64 calculates different reference values for parts with a relatively large amount of leakage and parts with a relatively small amount of leakage.

The calculated reference values (SV1, SV2) normally fall between the upper limit reference value Smax and the lower limit reference value Smin. That is, the reference value calculation unit 64 calculates reference values (SV1, SV2) between the upper limit reference value Smax and the lower limit reference value Smin. If the calculated reference value does not fall between the upper limit reference value Smax and the lower limit reference value Smin, the reference value calculation unit 64 displays on the input display unit 204 that a calculation abnormality has occurred, or displays another Notify the operator by means.

Further, when the preliminary acquisition unit 63 acquires a plurality of at least one of the measured value at the time of opening and the measured value at the time of adsorption, the reference value calculation unit 64 performs statistical processing on the plurality of acquired values. . Examples of statistical processing include averaging processing to obtain an average value, maximum value selection processing, minimum value selection processing, and the like. As a result, at least one of the measured value at the time of opening and the measured value at the time of suction is made highly accurate or optimized to the safe side that suppresses misjudgment. The reference value calculation unit 64 calculates a reference value after performing statistical processing.

The determination value changing unit 65 changes the predetermined determination value J1 to the calculated reference value (SV1, SV2). In other words, the determination value changing unit 65 changes the determination value when the suction nozzle 4 suctions the square electronic component PF to the reference value SV1, and when the suction nozzle 4 suctions the odd-shaped component PV or the square electronic component PS. The judgment value is changed to the reference value SV2.

In this way, the reference values (SV1, SV2) suitable for the combination of the component and the suction nozzle 4 are calculated, and the determination values are changed to the reference values (SV1, SV2). Therefore, the determination unit 62 can correctly determine whether or not the suction nozzle 4 is suctioning a component, regardless of the type of component. In contrast, in the conventional technology that uniformly uses a predetermined judgment value J1, there is a risk of erroneous judgment. Referring to the examples of FIGS. 3 and 4, it is assumed that the measured value when the suction nozzle 4 performs the suction process on the odd-shaped component PV or the square electronic component PS is approximately equal to the measured value during suction PB2. In other words, the measured value when performing the adsorption process is approximately -40 kPa, which is closer to the atmospheric pressure value P1 than the determination value J1 (≈S1=-66 kPa). Therefore, in the conventional technology, even if the suction nozzle 4 successfully suctions the odd-shaped component PV or the square electronic component PS, it is incorrectly determined that the suction nozzle 4 has not suctioned the odd-shaped component PV or the square electronic component PS.

Further, the determination value changing unit 65 associates the determination value used in the past with the combination based on the combination of the type of component and the type of suction nozzle 4 and sets it as adjustment performance data. This adjustment performance data is transmitted to the production information server 9 and accumulated in the operation history data 95. At the time of setup change in which the type of board is changed from the current board type to the next board type, the judgment value changing unit 65 determines the combination of the type of components and the type of the suction nozzle 4 in the next board type based on the accumulated adjustment results. Verify whether it exists in the data. If there is, the determination value changing unit 65 sets the determination value for the next board type by referring to the determination value associated with the combination. Normally, the determination value changing unit 65 sets the determination value for which there is a track record of adjustment as the determination value for the next board type.

Note that the determination value changing unit 65 treats a plurality of parts having the same external shape, dimensions, and weight as the same type. For example, two resistance parts with different resistance values (electrical characteristics) are usually treated as different types, but if they have the same appearance and weight, their behavior and state regarding the suction process of the suction nozzle 4 will be the same. . Therefore, the determination value changing unit 65 treats two resistance components having the same appearance and weight as the same type even if the resistance values are different.

The abnormality detection unit 66 detects an abnormality in the suction nozzle 4 when the measured value of the suction nozzle 4 during the suction process deviates from the range between the open measurement value PA1 and the suction measurement value (PB1, PB2). When the measured value (negative pressure value) during the adsorption process is closer to the atmospheric pressure value P1 than the measured value PA1 during the open state, it can be seen that the leakage of negative pressure air is excessive. Therefore, it is possible to assume an abnormality in which the opening 44 of the suction nozzle 4 has expanded, or an abnormality in which a hole has occurred in a region other than the opening 44.

On the other hand, when the measured value (negative pressure value) during adsorption processing is closer to the vacuum value P0 than the measured value during adsorption (PB1, PB2), it can be seen that the leakage of negative pressure air is too small. Therefore, it is possible to assume that the internal flow path 42 of the suction nozzle 4 is clogged or abnormally constricted or deformed. According to the abnormality detection unit 66, compared to conventional abnormality detection technology in which the normal range is between the upper limit reference value Smax and the lower limit reference value Smin, the normal range can be set narrower, and the abnormality can be detected at a minor stage. detection becomes possible.

6. Operation of the component mounting machine 1 Next, the operation of the component mounting machine 1 of the first embodiment will be described with reference to the operation flow during adjustment in FIG. 5 and the operation flow during operation in FIG. 6. Before the start of the operation flow shown in FIG. 5, production of the current type of board has been completed, and the control unit 34 is set to the adjustment mode. In step S1, the control unit 34 acquires job data 94 for the next board type from the production information server 9. Based on the job data 94, the control unit 34 recognizes the type and order of parts to be mounted on the board, and the type of suction nozzle 4 to be used.

In the next step S2, the determination value changing unit 65 checks whether the combination of the component type and the suction nozzle 4 type for the next board type exists in the accumulated adjustment performance data. In the next step S3, the determination value changing unit 65 advances the operational flow to step S4 if there is a verification result, and advances the operational flow to step S5 if there is no verification result. In step S4 when there is a matching result, the judgment value changing unit 65 eliminates the judgment value J1 for at least some combinations (combinations of the component and the suction nozzle 4), and uses the judgment values with adjustment results as they are. Set as the judgment value for the next board type. Note that it is also acceptable that a judgment value with a track record of adjustment is the judgment value J1. After step S4 ends, the operation flow is merged into step S5.

In step S5, the preliminary acquisition unit 63 selects some of the plurality of parts defined in the job data 94 as parts for which reference values are to be calculated. In this operation flow, the pre-acquisition unit 63 selects a component for which a judgment value has not been set in step S4 and that causes a leak of negative pressure air during suction processing by the suction nozzle 4 as a calculation target component. do. The quantity of components to be calculated may be zero, one, or multiple. Steps S6 to S10 are executed for the calculation target component. If the number of parts to be calculated is zero, steps S6 to S10 are omitted.

In step S6 when one or more calculation target parts are selected, the preliminary acquisition unit 63 acquires the open measurement value PA1. In the next step S7, the preliminary acquisition unit 63 acquires the measurement values (PB1, PB2) during adsorption, preferably a plurality of values. In the next step S8, the reference value calculation unit 64 calculates reference values (SV1, SV2). In the next step S9, the determination value changing unit 65 changes the predetermined determination value J1 to the calculated reference values (SV1, SV2). In the next step S10, the determination value changing unit 65 determines whether or not all the calculation target parts have been processed. If not completed, the operation loop from step S6 to step S10 is repeated.

When all the calculation target parts have been processed, the operation flow exits the operation loop and proceeds to step S11. In step S11, the judgment value changing unit 65 associates the judgment values set, changed, and not changed in the operation flow with the combination of the type of component and the type of the suction nozzle 4, and sets the adjustment result data. and is stored in the operation history data 95. The content of the adjustment performance data includes the determination value set by eliminating the determination value J1 in step S4, and the determination value corresponding to the reference value (SV1, SV2) changed in step S9. Furthermore, the content of the adjustment performance data includes a determination value J1 used for parts in which steps S4 and S9 are not executed and negative pressure air leaks do not occur. This completes the operation flow during adjustment.

Next, in step S21 of FIG. 6, the control section 34 is set to the operating mode, and the suction mounting control section 61 starts control. As a result, the component mounting machine 1 starts operating and first carries in the board. In the next step S22, the suction mounting control section 61 causes the suction nozzle 4 to perform suction processing. At the same time, the pressure sensor 56 acquires a measured value (negative pressure value) during the adsorption process. In the next step S23, the determination unit 62 investigates whether there is a determination value changed from the determination value J1 regarding the component to be subjected to the suction process. In step S24 when there is a change, the determination unit 62 selects the changed determination value. In step S25 when there is no determination value J1, the determination unit 62 selects a predetermined determination value J1. After step S24 or step S25 is executed, the operation flow merges to step S26.

In step S26, first, the abnormality detection unit 66 makes a determination. To be more specific, the abnormality detection unit 66 determines whether the suction nozzle 4 Detected as abnormal. In addition, the abnormality detection unit 66 detects parts whose measured value (negative pressure value) is between the upper limit reference value Smax and the lower limit reference value Smin ( (normal range), it is detected that the suction nozzle 4 is abnormal. In step S27 when an abnormality is detected, the abnormality detection unit 66 executes abnormality processing, such as processing to notify the operator that an abnormality has occurred, or processing to temporarily stop the suction mounting cycle.

If the abnormality detection unit 66 does not detect an abnormality, the determination unit 62 makes a determination. The determination unit 62 compares the measured value (negative pressure value) acquired in step S22 with the determination value selected in step S24 or the determination value J1 selected in step S25, and determines whether the suction nozzle 4 has suctioned the component. Determine whether or not there is. If the determination unit 62 determines that the component is not picked up, the suction mounting control unit 61 returns the operation flow to step S22 and retries the suction processing.

In step S28 when the determination unit 62 determines that the component should be suctioned, the suction mounting control unit 61 causes the suction nozzle 4 to perform a mounting process. In the next step S29, the suction mounting control unit 61 determines whether the mounting process for all parts specified in the job data 94 has been completed. If not completed, the operation loop from step S22 to step S28 is repeated. During the repetition, the suction nozzle 4 is automatically replaced as necessary, and the determination value is changed in accordance with the suction nozzle 4 mounted on the mounting head 26. When the mounting process for all components is completed, the operational flow for one board ends. Subsequently, the board in question is carried out, the next board is carried in, and steps S22 and subsequent steps are repeated. Note that the determination unit detects that the suctioned component has fallen if the negative pressure value measured by the pressure sensor 56 exceeds the determination value between the completion of the suction process and the execution of the mounting process. However, the operator may be notified.

In the component mounting machine 1 of the first embodiment, the reference value calculation unit 64 calculates the value of the relevant value based on the measured value PA1 during opening and the measured value during suction (PB1, PB2), which change depending on the combination of the component and the suction nozzle 4. Reference values (SV1, SV2) suitable for the combination can be calculated. The determination value changing unit 65 changes the determination value to the calculated reference value (SV1, SV2). Therefore, compared to the conventional technology that uses a fixed determination value J1 determined in advance, the determination unit 62 uses determination values (determination value J1, reference value SV1, reference value SV2) suitable for the combination in question. The accuracy of determining whether or not the suction nozzle 4 is suctioning a component can be improved.

In addition, the preliminary acquisition unit 63 sets a part of the combination of the suction nozzle 4 and the component where negative pressure air leaks, and acquires the measured value at the time of opening and the measured value at the time of suction. Therefore, in combinations where negative pressure air leaks occur, the determination value can be changed with high accuracy based on actual measurement results. Further, for combinations in which negative pressure air leaks do not occur, preliminary acquisition by actual measurement is omitted, and actual measurement is also omitted even when there is adjustment performance data, so the effort and time required for actual measurement are reduced.

7. Configuration of the component mounting machine 1A of the second embodiment Next, the configuration of the component mounting machine 1A of the second embodiment will be described with reference to FIGS. 7 and 8. In the second embodiment, a nozzle tool 7 having a plurality of suction nozzles 4 is used. Furthermore, in order to accommodate the plurality of suction nozzles 4, the air supply system 5A is modified, and the functions of the six functional sections of the control section 34 are modified. Furthermore, the control unit 34 includes two additional functional units, namely, an adsorption component changing unit 67 and an upper limit changing unit 68.

The nozzle tool 7 is removably mounted on the lower side of the mounting head 26. The nozzle tool 7 has a substantially cylindrical outer shape and is formed into a rotating body that rotates about a vertical central axis. The nozzle tool 7 is driven by an unillustrated R-axis rotation drive mechanism to rotate. The nozzle tool 7 has a plurality of (eight in the example of FIG. 8) suction nozzles 4 that are removably or fixedly revolve around a vertical central axis due to its own rotation. The suction nozzle 4 is driven up and down by a Z-axis motor (not shown), and rotates about its axis by being driven by a Q-axis motor (not shown). Note that the mounting head 26 may be a rotary head on which the nozzle tool 7 is fixedly mounted. Further, the shape of the nozzle tool 7 is not limited to the above-mentioned shape, and may be formed in a shape other than a columnar shape, for example, a rectangular shape, and have a plurality of suction nozzles 4 arranged in a line or in a lattice shape.

As shown in FIG. 8, the air supply system 5A is provided corresponding to a negative pressure source 51, a negative pressure valve 52, a common air flow path 58, a pressure sensor 56, a flow rate sensor 57, and eight suction nozzles 4. It consists of a nozzle valve 59 and the like. Note that the positive pressure air supply system is not shown in FIG. 8 . The same negative pressure source 51 as in the first embodiment can be used, so a description thereof will be omitted. The negative pressure valve 52 opens and closes between the negative pressure source 51 and one end of the common air flow path 58. A pressure sensor 56 and a flow rate sensor 57 as measurement units are provided in the middle of the common air flow path 58.

The other end of the common air flow path 58 is branched into eight systems so as to be able to communicate with each of the suction nozzles 4 individually. Each branched system is provided with a nozzle valve 59, respectively. The nozzle valve 59 switches between the common air flow path 58 and the internal flow path 42 of the suction nozzle 4 between a communicating state in which negative pressure air flows and a closed state in which negative pressure air does not flow. As the nozzle valve 59, a solenoid valve or a mechanical valve can be used.

The suction mounting control section 61 of the control section 34 controls execution of the suction processing and mounting processing of the plurality of suction nozzles 4 according to the job data 94. Here, the eight suction nozzles 4 are conveniently referred to as first suction nozzle 401 to eighth suction nozzle 408 according to the processing order of each suction nozzle 4. The suction mounting control unit 61 first controls the suction processing of the eight suction nozzles 4, and then causes the component camera 32 to take an image. Note that the component camera 32 has an imaging field of view that can image eight suction nozzles 4 in one imaging operation. The suction mounting control section 61 then controls the mounting process of the eight suction nozzles 4. This completes the control of one cycle of the adsorption/attachment cycle. The determination unit 62 can apply different determination values to each of the first suction nozzle 401 to the eighth suction nozzle 408 to determine whether or not a component is being suctioned.

The advance acquisition unit 63 first refers to the job data 94 and sets a combination of the type of component and the type of the suction nozzle 4 for which the reference value is calculated in each of the plurality of suction and mounting cycles. The minimum number of combinations to be set is 0, and the maximum is 8, which is equal to the number of suction nozzles 4. Next, the pre-acquisition unit 63 sets the state of the other suction nozzles 4 to a fixed condition using one suction nozzle 4 as a reference. This condition setting is performed by simulating the operating situation when the component mounting machine 1 actually operates.

Specifically, the suction nozzle 4 whose processing order is earlier than the reference suction nozzle 4 is in a communication state with the nozzle valve 59 opened and communicated with the common air flow path 58, and is suctioning the component. Fixed in state. On the other hand, the suction nozzle 4 whose processing order is later than the reference suction nozzle 4 is fixed in a shut-off state with the nozzle valve 59 closed. Next, the preliminary acquisition unit 63 acquires an open measurement value, which is a measurement value when the reference suction nozzle 4 is communicated with the common air flow path 58 and is not suctioning a component. The preliminary acquisition unit 63 further acquires a suction measurement value, which is a measurement value when the reference suction nozzle 4 is communicated with the common air flow path 58 and is suctioning a component.

The reference value calculation unit 64 calculates a reference value for the reference suction nozzle 4 by applying, for example, (Formula 1) of the first embodiment, based on the open measurement value and the suction measurement value. . The determination value changing unit 65 changes the determination value to the reference value calculated by the reference value calculation unit 64 for the reference suction nozzle 4 . The preliminary acquisition section 63, the reference value calculation section 64, and the determination value changing section 65 operate a number of times corresponding to the number of combinations set by the preliminary acquisition section 63 by sequentially changing the reference suction nozzle 4.

The abnormality detection unit 66 detects abnormalities in all suction nozzles 4 during each of a plurality of suction mounting cycles. The abnormality detection unit 66 targets the suction nozzle 4 for which the measured value at the time of opening and the measured value at the time of suction have been acquired, and detects whether the measured value at the time of suction processing (negative pressure value) is between the measured value at the time of opening and the measured value at the time of suction. If it comes off, it is detected as an abnormality. The abnormality detection unit 66 targets the suction nozzle 4 for which the measured value at the time of opening and the measured value at the time of suction were not acquired, and detects that the measured value (negative pressure value) during the suction processing is between the upper limit reference value Smax and the lower limit reference value Smin. (normal range), it is detected as negative pressure abnormality.

One of the suction component changing section 67 and the upper limit changing section 68 operates according to the operator's selection setting using the input display section 204, and the other stops. The suction component changing unit 67 determines whether the negative pressure value during suction processing of each of the plurality of suction nozzles 4 exceeds the upper limit reference value Smax based on at least one of the measured value at the time of opening, the measured value at the time of suction, and the determination value. It is determined whether there is a possibility that the atmospheric pressure deviates to the atmospheric pressure value P1 side. If there is a possibility that the parts will come off, the suction component changing unit 67 takes corrective action to change at least one of the number and type of parts that the plurality of suction nozzles 4 suction in the suction process, and the negative pressure value is adjusted to the upper limit reference value. Do not exceed Smax.

As a supplement, when there is a component that causes a negative pressure leak in one suction mounting cycle, the three quantities of the open measurement value, the suction measurement value, and the judgment value are the atmospheric pressure value P1 compared to the case where there is no component that causes a negative pressure leak. shift to the side. If the measured value at the time of opening exceeds the upper limit reference value Smax, there is a possibility that the negative pressure value during the adsorption process exceeds the upper limit reference value Smax. In other words, due to a decrease in the negative pressure in the internal flow path 42 of the suction nozzle 4, the holding force for holding the suctioned parts decreases, and there is a risk that the parts may fall or slide sideways. In order to eliminate this fear, the suction component changing unit 67 reduces the number of components where negative pressure leaks occur and leaves some suction nozzles unused. Alternatively, the suction component changing unit 67 changes one or more components where a negative pressure leak occurs to a component where a negative pressure leak does not occur (corrective action). To summarize, the suction component changing unit 67 takes corrective action to reduce the number of components that cause negative pressure leaks as necessary during operation based on actual measurement results during adjustment, and performs control to prevent negative pressure abnormalities from occurring.

The upper limit changing unit 68 determines whether the negative pressure value during the suction process of each of the plurality of suction nozzles 4 exceeds the upper limit reference value Smax based on at least one of the measured value at the time of opening, the measured value at the time of suction, and the determination value. It is determined whether there is a possibility that the pressure will deviate to the atmospheric pressure value P1 side. If there is a possibility of deviation, the upper limit changing unit 68 takes corrective action to change the upper reference value Smax within the allowable range based on the job data 94, so that the measured value does not exceed the changed upper reference value. Do it like this.

As a supplementary note, if there is a component that causes a negative pressure leak during one suction mounting cycle, as mentioned above, there is a risk that the negative pressure value will exceed the upper limit reference value Smax, that is, there is a risk of the component falling or skidding. . Here, the upper limit reference value Smax is determined in consideration of the component with the maximum mass that the suction nozzle 4 performs suction processing as described above. Therefore, when the suction nozzle 4 suctions a lightweight component with a mass less than the maximum mass, even if the negative pressure value exceeds the upper limit reference value Smax, there is actually no risk of the lightweight component falling or skidding unless the excess amount is excessive. Does not occur.

Based on the above, the upper limit changing unit 68 can obtain the mass of the lightweight component to be subjected to the suction process, and calculate an appropriate excess amount based on the ratio to the maximum mass. Further, the upper limit changing unit 68 changes the upper limit reference value Smax toward the atmospheric pressure value P1 by an amount corresponding to the appropriate excess amount (corrective action). The changed upper limit reference value is applied only to the combination of the lightweight component and the suction nozzle 4. Note that when the suction nozzle 4 performs suction processing on a component with the maximum mass, changing the upper limit reference value Smax is not allowed. To summarize, the upper limit changing unit 68 takes corrective action to change the upper limit reference value Smax to the atmospheric pressure value P1 side if necessary and possible, and performs control to prevent negative pressure abnormality from occurring. The corrective action functions of the suction component changing section 67 and the upper limit changing section 68 will be further described in the following operation description.

8. Operation of the component mounting machine 1A Next, the operation of the component mounting machine 1A of the second embodiment will be described based on an example with reference to FIGS. 8 to 11. In the example shown in FIG. 8, first, the first suction nozzle 401 performs suction processing on the square electronic component PF. Next, the second suction nozzle 402, the third suction nozzle 403, the fourth suction nozzle 404, the fifth suction nozzle 405, and the sixth suction nozzle 406 sequentially perform suction processing on the square electronic component PF. Seventhly, the seventh suction nozzle 407 performs suction processing on the irregularly shaped part PV. Eighth, the eighth suction nozzle 408 performs a suction process on the irregularly shaped part PV. The eight nozzle valves 59 are opened in order from the first side to the eighth side, and are maintained in the open state from the end of the suction process until the start of the installation process. It is assumed that there is no related adjustment performance data.

In this example, the advance acquisition unit 63 first sets the combination of the irregularly shaped part PV and the seventh suction nozzle 407 and the combination of the irregularly shaped part PV and the eighth suction nozzle 408 as combinations in which leakage of negative pressure air occurs. . According to this setting, the square electronic component PF is excluded from the calculation target components. As a result, as shown by the broken line in the left column of FIG. 9, the open measurement value PA1 and the suction measurement value PB1 for the first suction nozzle 401 to the sixth suction nozzle 406 are not acquired, and the reference value SV1 is not calculated. If the open measurement value PA1 and the suction measurement value PB1 are obtained for the first suction nozzle 401 to the sixth suction nozzle 406, these negative pressure values will be calculated based on the negative pressure air leak shown in FIG. Approximate the negative pressure value when there is no The determination unit 62 uses a predetermined determination value J1 during the suction processing of the first suction nozzle 401 to the sixth suction nozzle 406.

Next, the preliminary acquisition unit 63 sets the states of the other suction nozzles 4 to a fixed condition with the seventh suction nozzle 407 as a reference. Specifically, the first suction nozzle 401 to the sixth suction nozzle 406, which are earlier in the processing order, are in a communicating state where they are communicated with the common air flow path 58, and are in a state where they are suctioning the square electronic component PF (sucking). (processing end state). On the other hand, the eighth suction nozzle 408, which is slow in the processing order, is fixed in a shut-off state with its nozzle valve 59 closed. Next, the preliminary acquisition unit 63 acquires the open measurement value PA1 when the seventh suction nozzle 407 is communicated with the common air flow path 58 and is not suctioning the irregularly shaped part PV. The preliminary acquisition unit 63 further acquires the suction measurement value PB3 when the seventh suction nozzle 407 is communicated with the common air flow path 58 and is suctioning the irregularly shaped part PV.

As a result, the open measurement value PA1 and the adsorption measurement value PB3 shown in the center column of FIG. 9 are obtained. Since the opened measurement value PA1 is in the same state as the left column in that negative pressure air leaks from one opening 44, it is approximately equal to the open measurement value PA1 in the left column. On the other hand, the measured value PB3 at the time of suction is a lower atmospheric pressure value than the measured value PB1 (no leak) at the time of suction in the left column due to the leakage of negative pressure air that occurs in the gap between the irregularly shaped part PV and the seventh suction nozzle 407. Changes to P1 side.

The reference value calculation unit 64 calculates the reference value SV3 by applying (Equation 1) to the open measurement value PA1 and the adsorption measurement value PB3. The determination value changing unit 65 changes the determination value for the seventh suction nozzle 407 to the reference value SV3. The reference value SV3 corresponding to the changed determination value is closer to the atmospheric pressure value P1 than the determination value J1 in the left column. The determination unit 62 uses the reference value SV3 as a determination value during the suction process of the seventh suction nozzle 407.

Next, the preliminary acquisition unit 63 sets the states of the other suction nozzles 4 to a fixed condition based on the eighth suction nozzle 408. Specifically, the first suction nozzle 401 to the sixth suction nozzle 406 are fixed in the state in which the suction process of the square electronic component PF has been completed, and the seventh suction nozzle 407 is fixed in the state in which the suction process in the irregularly shaped part PV has been completed. Fixed. The preliminary acquisition unit 63 then acquires the open measurement value PA4 when the eighth suction nozzle 408 is communicated with the common air flow path 58 and is not suctioning the irregularly shaped part PV. The preliminary acquisition unit 63 further acquires the suction measurement value PB4 when the eighth suction nozzle 408 is communicated with the common air flow path 58 and is suctioning the odd-shaped part PV.

As a result, the open measurement value PA4 and the adsorption measurement value PB4 shown in the right column of FIG. 9 are obtained. The measured value PA4 when opened changes to the atmospheric pressure value P1 side compared to the measured value PA1 when opened in the left column and center column due to the leakage of negative pressure air that occurs in the gap between the irregularly shaped part PV and the seventh suction nozzle 407. do. On the other hand, the measured value PB4 at the time of suction is due to leakage of negative pressure air at two locations: the gap between the odd-shaped part PV and the seventh suction nozzle 407, and the gap between the odd-shaped part PV and the eighth suction nozzle 408. The value changes to the atmospheric pressure value P1 from the adsorption measurement value PB3 (leak at one location) in the left column.

The reference value calculation unit 64 calculates the reference value SV4 by applying (Equation 1) to the open measurement value PA4 and the adsorption measurement value PB4. The determination value changing unit 65 changes the determination value for the eighth suction nozzle 408 to the reference value SV4. The reference value SV4 corresponding to the changed determination value is closer to the atmospheric pressure value P1 than the reference value SV3 corresponding to the determination value in the center column. The determination unit 62 uses the reference value SV4 as a determination value during the suction process of the eighth suction nozzle 408.

In the component mounting machine 1A of the second embodiment, the determination value changing unit 65 selects a plurality of determination values (determination value J1, reference value SV3, reference value The value SV4) can be set. Therefore, by using a plurality of determination values (determination value J1, reference value SV3, and reference value SV4), the determination unit 62 can improve the accuracy of determining whether or not the suction nozzle 4 is suctioning a component.

In addition, the advance acquisition unit 63 sets the combination of the irregularly shaped part PV and the seventh suction nozzle 407 where negative pressure air leak occurs, and the combination of the irregularly shaped part PV and the eighth suction nozzle 408, and obtains the measured value when opened and the suction nozzle 408. Get the time measurement value. Therefore, in combinations where leakage of negative pressure air occurs, the determination value can be changed with high accuracy based on actual measurement results simulating operating conditions during actual operation. In addition, since actual measurements are omitted from the first suction nozzle 401 to the sixth suction nozzle 406 where negative pressure air does not leak, the effort and time required for actual measurements are reduced.

Next, the functions of the suction component changing section 67 and the upper limit changing section 68 will be explained using another example. In another example, the first suction nozzle 401 to the fifth suction nozzle 405 sequentially perform the suction process on the rectangular electronic component PF, and then the sixth suction nozzle 406 to the eighth suction nozzle 408 sequentially perform suction processing on the odd-shaped component PV. Perform adsorption treatment. It is assumed that there is no related adjustment performance data.

In another example, as shown in the leftmost column of FIG. , using a predetermined judgment value J1. Further, as shown in the second column from the left, the sixth suction nozzle 406 obtains the open measurement value PA1 and the suction measurement value PB3, and calculates the reference value SV3. The determination unit 62 uses the reference value SV3 as a determination value during the suction process of the sixth suction nozzle 406. Further, as shown in the third column from the left, in the seventh suction nozzle 407, the open measurement value PA4 and the suction measurement value PB4 are obtained, and the reference value SV4 is calculated. The determination unit 62 uses the reference value SV4 as a determination value during the suction process of the seventh suction nozzle 407.

Next, the preliminary acquisition unit 63 sets the states of the other suction nozzles 4 to a fixed condition with the eighth suction nozzle 408 as a reference. Specifically, the first suction nozzle 401 to the fifth suction nozzle 405 are fixed in the state where the suction process of the rectangular electronic component PF has been completed, and the sixth suction nozzle 406 and the seventh suction nozzle 407 are fixed to the state where the suction process of the square electronic component PF is completed. It is fixed at the end state of the adsorption process. Next, the preliminary acquisition unit 63 acquires the open measurement value PA5 when the eighth suction nozzle 408 is communicated with the common air flow path 58 and is not suctioning the irregularly shaped part PV. The preliminary acquisition unit 63 further acquires the suction measurement value PB5 when the eighth suction nozzle 408 is communicated with the common air flow path 58 and is suctioning the irregularly shaped part PV.

As shown in the rightmost column of FIG. 10, the open measurement value PA5 exceeds the upper limit reference value Smax and deviates toward the atmospheric pressure value P1. Therefore, there is a possibility that the negative pressure value when the eighth suction nozzle 408 actually performs suction processing exceeds the upper limit reference value Smax. That is, when the nozzle valve 59 of the eighth suction nozzle 408 is opened, negative pressure air leaks significantly at the opening 44 of the eighth suction nozzle 408, and furthermore, the irregularly shaped part PV and the sixth suction nozzle 406 Negative pressure air also leaks in the gap between the odd-shaped part PV and the seventh suction nozzle 407. Due to the sum of the leakage amounts at the three locations, the negative pressure in the common air flow path 58 will drop significantly, and there is a risk that the square electronic component PF and the odd-shaped component PV, which have been subjected to suction processing, may fall or skid.

At this time, the suction component changing unit 67 determines that there is a possibility that the negative pressure value of the eighth suction nozzle 408 during suction processing exceeds the upper limit reference value Smax and takes corrective action. Specifically, the suction component changing unit 67 takes corrective action by suspending the eighth suction nozzle 408 and not opening the corresponding nozzle valve 59 . Alternatively, the suction component changing unit 67 takes a corrective action in which the eighth suction nozzle 408 performs suction processing on the square electronic component PF. At this time, the suction component changing unit 67 may change the combination of the suction nozzle 4 and the component to be used, and may also change the mounting order of the components. In other words, the first suction nozzle 401 to the sixth suction nozzle 406 may perform the suction process on the rectangular electronic component PF, and the seventh suction nozzle 407 and the eighth suction nozzle 408 may perform the suction process on the odd-shaped component PV. .

The suction component changing unit 67 determines a corrective action to incorporate the odd-shaped component PV that was scheduled to be suctioned by the eighth suction nozzle 408 into another suction mounting cycle or a newly provided suction mounting cycle. The suction component changing unit 67 reflects the above-described corrective action on the job data 94. Alternatively, the suction component changing unit 67 requests the operator to take corrective action using the input display unit 204 or other means.

Further, the upper limit changing unit 68 may operate instead of the suction component changing unit 67 to perform the corrective action shown in FIG. In FIG. 11, the open measurement value PA5 exceeds the upper limit reference value Smax. The upper limit changing unit 68 determines that there is a possibility that the negative pressure value when the eighth suction nozzle 408 performs suction processing exceeds the upper limit reference value Smax, and takes corrective action. The upper limit changing unit 68 examines whether the upper limit reference value Smax can be changed to a new upper limit reference value Smax2 higher than the open measurement value PA5 within the allowable range based on the job data 94.

If possible, the upper limit changing unit 68 executes corrective action to change the upper limit reference value Smax to a new upper limit reference value Smax2, as shown by the dashed arrow. The reference value calculation unit 64 calculates the reference value SV5 by applying (Equation 1) to the open measurement value PA5 and the adsorption measurement value PB5. The determination value changing unit 65 changes the determination value for the eighth suction nozzle 408 to the reference value SV5.

On the other hand, if the upper limit reference value Smax cannot be changed due to reasons such as the odd-shaped part PV corresponding to the maximum mass described above, the upper limit changing unit 68 suspends the eighth suction nozzle 408 and corrects the nozzle valve 59 by not opening it. Treat it as a treatment. In addition, the upper limit changing unit 68 determines a corrective action to incorporate the irregularly shaped part PV, which was scheduled to be suctioned by the eighth suction nozzle 408, into another suction mounting cycle or a newly provided suction mounting cycle. The upper limit changing unit 68 reflects the above-described corrective action on the job data 94. Alternatively, the upper limit changing unit 68 requests the operator to take corrective action using the input display unit 204 or other means.

Corrective action can be taken when there is a possibility that the negative pressure value during suction processing exceeds the upper limit reference value Smax by operating one of the suction component changing section 67 and the upper limit changing section 68. According to this, occurrence of negative pressure abnormality is suppressed. In addition, the job data 94 is automatically modified or a suggestion for modification can be obtained, and the modification content can be small-scale. If the operator were to modify the job data 94 without receiving any suggestions for modification, it would take a considerable amount of effort and time.

9. Applications and Modifications of Embodiments In the first embodiment, the determination value J1 that is predetermined depending on the type of suction nozzle 4 can be set to a different negative pressure value. In other words, when the performance of the negative pressure source 51 is constant, the larger the opening area of the opening 44 is, the larger the amount of negative pressure air leaks, and the measured value PA1 at the time of opening approaches the atmospheric pressure value P1. J1 can be determined close to the atmospheric pressure value P1. According to this, the determination unit 62 uses the determination value J1 that is closer to the atmospheric pressure value P1 for the suction nozzle 4 whose opening area of the opening 44 is larger. Furthermore, the function of the determination value changing unit 65 to accumulate adjustment performance data and perform verification according to the next board type may be omitted.

Further, in the second embodiment, the suction component changing unit 67 and the upper limit changing unit 68 operate selectively, but the upper limit changing unit 68 operates preferentially, and the upper limit changing unit 68 cannot change the upper limit reference value Smax. In this case, the suction component changing section 67 may be configured to operate. Furthermore, the configuration and operation of the air supply system (5, 5A) can be modified in various ways. The first and second embodiments are capable of various other applications and modifications.

1, 1A: Component mounting machine 26: Mounting head 34: Control section 4: Suction nozzle 401 to 408: 1st to 8th suction nozzles 42: Internal flow path 43: Tip 44: Opening 5, 5A: Air supply system 51 : Negative pressure source 52: Negative pressure valve 55: Air flow path 56: Pressure sensor 57: Flow rate sensor 58: Common air flow path 59: Nozzle valve 61; Adsorption attachment control section 62: Judgment section 63: Pre-acquisition section 64: Reference value Calculation unit 65: Judgment value change unit 66: Abnormality detection unit 67: Adsorption parts change unit 68: Upper limit change unit 7: Nozzle tool 9: Production information server 92: Parts data 93: Equipment data 94: Job data 95: Operation history data PF: Square-shaped electronic component PV: Irregular-shaped component : PS: Square-shaped electronic component J1: Judgment value Smax, Smax2: Upper limit reference value Smin: Lower limit reference value PA1, PA4, PA5: Measured value when open PB1, PB2, PB3, PB4 , PB5: Measured value during adsorption SV1, SV2, SV3, SV4, SV5: Standard value

Claims (16)

A suction nozzle that is removably mounted on a component mounting machine that mounts components on a board;
a control unit that causes the suction nozzle to perform a suction process of suctioning the component by supplying negative pressure air from an air flow path, and a control unit that causes the suction nozzle to perform a suction process of attaching the component to the substrate;
A component mounting machine comprising: a measurement unit provided in the air flow path and configured to measure the pressure or flow rate of the negative pressure air to obtain a measured value,
The control unit includes:
a determination unit that compares the measured value of the suction nozzle during the suction processing with a predetermined determination value to determine whether the suction nozzle is suctioning the component;
Based on the open measurement value, which is the measurement value when the suction nozzle is not suctioning the component, and the suction measurement value, which is the measurement value when the suction nozzle is suctioning the component. a reference value calculation unit that calculates a reference value based on the reference value;
a determination value changing unit that changes the determination value to the reference value calculated by the reference value calculation unit;
Parts mounting machine. The component mounting machine according to claim 1, wherein the reference value calculation unit calculates the different reference values depending on a combination of the type of the component and the type of the suction nozzle. The reference value calculation unit is configured to determine whether or not leakage of the negative pressure air occurs between the component and the suction nozzle that is sucking the component; 3. The component mounting machine according to claim 2, wherein the reference value is calculated to be different depending on the measured value at the time of suction when the leakage is estimated to occur. The component mounting machine according to any one of claims 1 to 3, wherein the reference value calculation unit calculates the reference value between the measured value at the time of opening and the measured value at the time of suction. An upper limit reference value that is the minimum required for the suction nozzle to suction the component and a lower limit reference value that allows it to be determined that the suction nozzle is sufficiently suctioning the component are determined in advance,
The reference value calculation unit calculates the reference value between the upper limit reference value and the lower limit reference value.
The component mounting machine according to claim 4. The control unit refers to job data that defines the type of the component to be mounted on the board and the type of the suction nozzle to be used, and calculates the type of the component and the type of the suction nozzle for calculating the reference value. 5. The component mounting machine according to claim 4, wherein a combination of the following is set, and the measurement value at the time of opening and the measurement value at the time of suction are acquired using the measurement unit. The control unit obtains the opening measurement value and the suction measurement value by using a selected part of the plurality of parts defined in the job data as a part to be calculated for the reference value. 6. The parts mounting machine described in 6. The control unit sets the component as the calculation target component when leakage of the negative pressure air occurs between the component and the suction nozzle that is sucking the component. Component mounting machine according to item 7. The control unit acquires a plurality of at least one of the open measurement value and the adsorption measurement value,
The reference value calculation unit calculates the reference value based on a result of statistically processing a plurality of at least one of the open measurement value and the adsorption measurement value.
The component mounting machine according to claim 4. 5. The method according to claim 4, further comprising an abnormality detection unit that detects an abnormality in the suction nozzle when the measured value of the suction nozzle during the suction process deviates from between the measured value when open and the measured value when sucked. The listed parts mounting machine. The judgment value changing unit is
The judgment value used in the past based on the combination of the type of component and the type of suction nozzle is associated with the combination as adjustment performance data, and further the adjustment performance data is accumulated;
When the type of the board is changed from the current board type to the next board type, the combination of the component type and the suction nozzle type in the next board type is included in the accumulated adjustment performance data; , referring to the judgment value associated with the combination;
The component mounting machine according to any one of claims 1 to 3. The control unit causes the plurality of suction nozzles that can communicate with the common air flow path that supplies the negative pressure air to perform the suction process and the mounting process,
The measurement unit is provided in the common air flow path,
The reference value calculation unit calculates the different reference value for each of the plurality of suction nozzles based on whether the plurality of suction nozzles are in communication with the common air flow path.
The component mounting machine according to any one of claims 1 to 3. The control unit refers to job data that defines the types and mounting order of the parts to be mounted on the board, and the suction nozzles to be used, and determines the state of the other suction nozzles based on one suction nozzle. As a fixed condition,
The reference value calculation unit calculates the open measurement value, which is the measurement value when the one suction nozzle is communicated with the common air flow path and is not suctioning the component, and the one suction nozzle. the reference value is calculated based on the measured value during suction, which is the measured value when the component is communicated with the common air flow path and is suctioning the component;
The determination value changing unit changes the determination value to the reference value calculated by the reference value calculation unit for the one suction nozzle.
The component mounting machine according to claim 12. The control unit fixes each of the other suction nozzles in a state in which they are not communicated with the common air flow path, or in a state in which they are communicated with the common air flow path and suck the component. Component mounting machine according to item 13. Based on at least one of the measured value during opening, the measured value during suction, and the judgment value, the measured value during the suction process of each of the plurality of suction nozzles is determined to be the minimum value for suctioning the component. Determine whether or not there is a possibility that the parts will come off beyond a necessary upper limit reference value, and if there is a possibility that they will come off, change at least one of the number and type of the parts that the plurality of suction nozzles pick up in the suction process. The component mounting machine according to claim 13, further comprising an adsorbed component changing unit that prevents the measured value from exceeding the upper limit reference value. Based on at least one of the measured value during opening, the measured value during suction, and the judgment value, the measured value during the suction process of each of the plurality of suction nozzles is determined to be the minimum value for suctioning the component. Determine whether or not there is a possibility that the required upper limit reference value will be exceeded, and if there is a possibility that the upper limit reference value will be exceeded, the upper limit reference value is changed within an allowable range based on the job data, and the measured value is changed. The component mounting machine according to claim 13, further comprising an upper limit changing unit that prevents the upper limit reference value from being exceeded.

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