JP4866832B2 - Component mounting apparatus, control method, and program - Google Patents

Description

  The present invention relates to a method for controlling a component mounting apparatus, and more particularly to a technique for preventing interference between a movable unit provided in the component mounting apparatus and another unit.

  2. Description of the Related Art Conventionally, in various manufacturing machines including component mounting apparatuses, the movable unit causes inconvenient interference with other units and workers by restricting the movable range of the movable unit included in the manufacturing apparatus within a predetermined range. Accidents are prevented (see, for example, Patent Document 1 and Patent Document 2).

  In Patent Document 1, in an electronic component mounting apparatus that picks up an electronic component supplied from a tape feeder and a tray feeder by a transfer head and mounts the electronic component on a substrate, the movement of the transfer head using a mechanical stopper and a limit sensor is disclosed. When the range is regulated, the position of the stopper is moved according to the part supply form, and one of a plurality of limit sensors is selectively used according to the part supply form. A technique is disclosed in which the moving range can be changed easily and quickly.

  In Patent Document 2, in a substrate transport apparatus that transports a substrate on a stage that can be translated and rotated in the XY plane, the controller compares the coordinate value of the target position of the stage with the limit value, and the target position. A technique is disclosed in which the control of the stage drive mechanism is stopped when it is determined that the coordinate value exceeds the limit value.

  In addition to the controller, the substrate transport apparatus detects a storage device that stores a plurality of limit values corresponding to the stage size and the orientation in the XY plane, and the actual stage size and orientation. And a sensor. The controller reads the limit value corresponding to the detection result by the sensor from the storage device to the register, and compares the limit value set in the register with the coordinate value of the target position of the stage. Thereby, interference can be reliably prevented regardless of the size and direction of the stage.

In addition, the interference prevention control performed using a mechanical stopper and a limit sensor as shown in Patent Document 1 is called hard limit control, and interference realized as a software function of the controller as shown in Patent Document 2 Prevention control is called soft limit control.
Japanese Patent Laid-Open No. 2006-339496 JP 2002-94294 A

  By the way, when performing soft limit control in an actual component mounting apparatus, there are a number of conditions that affect the limit value in addition to the size and orientation of the stage as a movable unit considered in the prior art.

  For example, when the cross-sectional shape of the movable unit or the cross-sectional shape of another unit that may interfere with the movable unit is different in the height direction, the limit value to be used differs depending on the height. In addition, when the movable unit is allowed to enter a specific part of another unit for transferring a workpiece or the like, it is necessary to distinguish a limit value to be used between the specific part and the other part.

  However, in order to perform soft limit control using a conventional technique in a component mounting apparatus in which a large number of conditions exist, it is necessary to prepare a large number of limit values adapted to the conditions in advance. This is not only complicated, but impractical depending on the number of conditions.

  Further, the soft limit control according to the conventional technique cannot be applied to avoid interference with a movable obstacle whose position is not determined when preparing a limit value.

  The present invention has been made in view of such problems, and a control method that can suitably execute soft limit control adapted to a large number of conditions in a component mounting apparatus without preparing a large number of limit values in advance, and An object of the present invention is to provide a component mounting apparatus that operates according to such a control method.

In order to achieve the above object, a control method of the present invention is a control method for preventing interference between a movable unit provided in a component mounting apparatus and another unit, and at least one of the movable unit and the other unit. One of them is capable of holding a workpiece, and acquires a current coordinate value representing a current position including a height position of the movable unit, a dimension of the workpiece, and at least one of the movable unit and the other unit. A state acquisition step of acquiring state information representing a holding state of the workpiece by one of them, and when the movable unit is to be moved, the workpiece is held by the movable unit by the current coordinate value and the state information . In the height position of the movable unit represented by the current coordinate value. Determining which of the workpiece and the movable unit can interfere with the other units, according to the result of the determination, the mobile unit causes interference at a relative value with the other units A limit calculation step for calculating a limit coordinate value representing a limit point that can move without interference, an interference determination step for determining whether the current coordinate value has reached the limit coordinate value, and when at least affirmative determination is made in the interference determination step A movement restricting step for restricting movement of the movable unit.

  Further, the movable unit can move in the direction of a plurality of coordinate axes, and when one of the plurality of coordinate axes is set as an operation coordinate axis, the value of the operation coordinate axis of the limit coordinate value is calculated in the limit calculation step. , Using the value of the other coordinate axis of the current coordinate value and the state information, and the value of the motion coordinate axis of the current coordinate value reaches the value of the motion coordinate axis of the limit coordinate value in the interference determination step. You may judge.

  Further, when the other unit is movable, when the other unit is movable, the position acquisition step further acquires a partner coordinate value representing the current position of the other unit, and calculates the limit. In the step, the limit coordinate value may be calculated according to the current coordinate value, the state information, and the counterpart coordinate value.

  The control method further includes a destination acquisition step for acquiring a destination coordinate value representing a destination of the movable unit, and a destination limit for calculating another limit coordinate value according to the destination coordinate value. A calculation step; and a movement destination interference determination step for determining whether the movement destination coordinate value reaches the other limit coordinate value. In the movement restriction step, the interference determination step and the movement destination interference determination step The movement of the movable unit may be restricted when at least one of the determinations is affirmative.

  The present invention can be realized not only as such a control method but also as a component mounting apparatus. Furthermore, the present invention can also be realized as a program for executing such a control method and a storage medium for storing the program.

  According to the control method of the present invention, each time the movable unit is moved, the current coordinate value indicating the current position of the movable unit, the dimension of the workpiece, and at least one of the movable unit and the other unit are used. When the limit coordinate value is calculated according to the workpiece holding state and / or the relative movement position of the movable unit and the other unit, and interference occurs when the current coordinate value reaches the limit coordinate value Since the movement of the movable unit is restricted by judgment, even if there are various conditions for switching the limit coordinate values according to the current position and the dimensions and holding state of the workpiece, a large number of limit coordinates can be set corresponding to each condition. Soft limit control can be suitably performed without preparing a value in advance.

  Hereinafter, a component mounting apparatus and a control method according to embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a perspective view showing a configuration of a panel mounter 100 according to the present embodiment.

  Here, the panel mounter 100 is an example of the component mounting apparatus of the present invention. Further, in the present invention, mounting refers to mounting the component 300 to the display panel 200 as a work by temporary and final pressing the part 300 via an anisotropic conductive sheet (hereinafter “ACF”). The ACF is made of an adhesive synthetic resin sheet, and is previously attached to the upper surface of the electrode of the display panel 200 or the lower surface of the component 300.

  In addition, although the workpiece | work was used as the display panel 200, substrates, such as a flexible printed wiring board (FPC board), a glass epoxy board | substrate, or a ceramic board | substrate, may be sufficient. Moreover, the case where semiconductor components, such as COF (Chip On Film), were mounted may be sufficient.

  The panel mounting machine 100 includes an ACF sticking device 110, a temporary pressure bonding device 120, a main pressure bonding device 130, and a conveying device 140.

  The ACF sticking device 110, the provisional pressure bonding device 120, and the main pressure bonding device 130 support the display panel 200 by vacuum suction, and the X axis, Y axis (horizontal) direction, Z axis (vertical) direction, and θ axis (in a horizontal plane). A support stage 111, a support stage 121, and a support stage 131 that are movable in the direction of rotation) are provided.

  The temporary pressure bonding apparatus 120 is provided with a transfer head 122 that holds the component 300 by vacuum suction and is movable in the X-axis, Y-axis direction, Z-axis direction, and θ-axis direction.

  The ACF sticking device 110 supports the display panel 200 on the support stage 111, moves the support stage 111, positions the ACF sticking part of the display panel 200 to a predetermined work position, and then sticks the ACF on the display panel 200. wear.

  The temporary press-bonding device 120 supports the display panel 200 on the support stage 121, holds the component 300 on the transfer head 122, and moves at least one of the support stage 121 and the transfer head 122 to display. After positioning the panel 200 and the component 300, the component 300 is temporarily press-bonded to the display panel 200.

  The main crimping apparatus 130 supports the display panel 200 on the support stage 131 and moves the support stage 131 to position the display panel 200 at a predetermined work position. To do.

  The transport device 140 transports the display panel 200 among the ACF sticking device 110, the temporary pressure bonding device 120, and the main pressure bonding device 130. Here, a plurality of transfer devices 140 may be provided for each device.

  Next, the temporary pressure bonding operation by the temporary pressure bonding apparatus 120 will be described in detail. This temporary press-bonding operation is an example of an object of soft limit control in the present embodiment.

  FIG. 2 is a perspective view illustrating a main part of the temporary pressure bonding device 120. FIG. 2 shows a conveying device 140 and a control device 150 together with the provisional pressure bonding device 120.

  The temporary pressure bonding apparatus 120 includes a support stage 121, a transfer head 122, a suction nozzle 123, a temporary pressure bonding stage 124, and an imaging device 125.

  The support stage 121 supports the display panel 200 by vacuum suction by a driving mechanism that operates according to a command signal from the control device 150, translates in the X-axis and Y-axis directions, moves up and down in the Z-axis direction, and θ Rotate in the axial direction.

  The support stage 121 includes a stage unit 121a and a drive unit 121b, and the drive unit 121b transmits to the stage unit 121a an adsorption force and a rotational force for adsorbing and supporting the display panel 200 to rotate.

  The transfer head 122 holds a component 300 supplied from a component supply device (not shown) by vacuum suction with a suction nozzle 123 by a drive mechanism that operates in response to a command signal from the control device 150. The suction nozzle 123 moves up and down in the Z-axis direction and rotates in the θ-axis direction around the rotation axis in the horizontal direction in the θ-axis direction.

  Here, it is assumed that the transfer head 122 rotates in the horizontal direction in the θ-axis direction. However, the transfer head 122 may be translated in the X-axis direction and the Y-axis direction, and a combination of rotational movement and parallel movement can be performed. Also good.

  The transfer head 122 rotates until the suction nozzle 123 holding the component 300 comes on the temporary pressure-bonding stage 124 and then descends in the Z-axis direction to temporarily pressure-bond the component 300 to the display panel 200.

  The pre-bonding stage 124 is made of a transparent material such as quartz and gives a reaction force for the transfer head 122 to temporarily press-bond the component 300 to the display panel 200.

  The imaging device 125 passes the provisional pressure bonding stage 124, the position recognition mark of the display panel 200 in a state of being supported by the support stage 121, and the position recognition mark of the component 300 in the state of being held by the transfer head 122. Is used, information necessary for alignment of the display panel 200 and the component 300 is supplied to the control device 150.

  The transport device 140 is moved in the X-axis direction by a drive mechanism that operates in response to a command signal from the control device 150, transports the display panel 200 from the ACF sticking device 110 to the support stage 121, and displays from the support stage. The panel 200 is received and conveyed to the main crimping device 130.

  The transport device 140 has an arm 140 a that supports the display panel 200.

  The control device 150 controls each operation described above by sending command signals to the support stage 121, the transfer head 122, the suction nozzle 123, the imaging device 125, and the transport device 140.

  In the above-described temporary press-bonding operation, at least the support stage 121, the transfer head 122, the suction nozzle 123, and the transport device 140 of the temporary press-bonding device 120 are movable units and can be subjected to soft limit control.

  Therefore, in the present embodiment, as a preferable example, soft limit control for the support stage 121 among these movable units will be described.

  FIG. 3 is a functional block diagram showing an example of a functional configuration of the panel mounter 100 related to the soft limit control of this example.

  The control device 150 is a device that controls the ACF sticking device 110, the provisional pressure bonding device 120, the main pressure bonding device 130, and the conveying device 140, and specifically includes a processor, a memory, an input / output device, a communication device, and the like. It is a computer system.

  The overall control unit 154 and the soft limit control unit 160 are software functions that are realized when the processor executes a computer program stored in a memory in the control device 150.

  An NC (numerical control) program storage unit 151, a parameter storage unit 153, and an operation state storage unit 155 are data areas allocated to the memory.

  The operation unit 152 is an input / output device such as a liquid crystal display and a touch panel that realizes an interface with an operator.

  The NC program storage unit 151 stores an NC program. As is well known, the NC program is information that determines the operation content of the panel mounter 100. The NC program is taught by an operator, for example, via the operation unit 152, or is given by communication from a host process computer. Since the content of the NC program is not a characteristic part of the present invention, detailed description is omitted.

  The parameter storage unit 153 stores parameter information. The parameter information is input from the operator via the operation unit 152, for example.

  The parameter information is various numerical values used for calculating limit coordinate values in the soft limit control, such as the dimensions of the main part of the panel mounting machine 100 and the limit margin which is the stop margin distance of the movable unit. A specific example of the parameter information will be described later.

  The overall control unit 154 moves to a movable unit such as the support stage included in the ACF sticking device 110, the temporary crimping device 120, and the final crimping device 130, and the transport device 140 in accordance with the NC program stored in the NC program storage unit 151. Each movable unit is moved by transmitting a command signal for instructing the start and stop of the operation.

  The overall control unit 154 also moves from the sensors provided in the respective movable units that operate according to the command signal, for example, by 1 μm to identify the operation state (for example, to identify the current position of the movable unit). (The pulse signal output once every time) is continuously received, and the operation state information (for example, the coordinate value of the current position) in the operation state storage unit 155 is updated to represent the operation state specified by the received signal. To do. A specific example of the operation state information will be described later.

  The soft limit control unit 160 is a current coordinate value that is a coordinate value of a current position of a movable unit (for example, the support stage 121) that is a target of the soft limit control, and other units that may interfere with the movable unit (for example, conveyance). The coordinate value of the current position of the apparatus 140), the dimensions of the workpiece (for example, the display panel 200), and the holding state of the workpiece (for example, the support stage 121 and the like) by at least one of the movable unit and the other unit. Depending on whether or not the transport device 140 supports the display panel 200, limit coordinate values representing limit points at which the movable unit can move without interfering with other units are calculated. When the current coordinate value reaches the limit coordinate value, the movement of the movable unit is restricted by controlling the overall control unit 154. The detailed operation of the soft limit control unit 160 will be described later.

  Here, that the movable unit or other unit holds the workpiece means that the workpiece is fixed to the movable unit or another unit so as to be transportable, and the fixing method and strength are not limited. The holding referred to here includes, for example, support, gripping, and suspension.

  Next, specific examples of parameter information and operation state information will be described.

  FIG. 4 is a diagram illustrating an example of parameter information stored in the parameter storage unit 153.

  The parameter storage unit 153 stores, as an example, parameter information representing the support stage 121, the transport device 140, the temporary pressure bonding stage 124, the size of the work area of the temporary pressure bonding device 120, and the limit margin. In FIG. 4, symbols representing respective numerical values are shown instead of specific numerical values.

  FIG. 5 is a diagram illustrating an example of operation state information stored in the operation state storage unit 155.

  In the operation state storage unit 155, as an example, the current position of the support stage 121, the current position of the transfer device 140, the dimensions (long side and short side) of the display panel 200, and the support stage 121 and / or the transfer device 140 are stored. Operation state information indicating whether or not the display panel 200 is supported (the presence or absence of the display panel) is stored. FIG. 5 shows symbols representing respective coordinate values instead of specific coordinate values.

  6A and 6B respectively show the dimensions and positions of the support stage 121, the transfer device 140, and the provisional pressure bonding stage 124 corresponding to the parameter information in FIG. 4 and the operation state information in FIG. It is a top view and a side view. 6A and 6B, the display panel 200 is not shown.

  For convenience of explanation, the work area of the temporary press bonding apparatus 120 is indicated by the outermost solid line frame, and one corner of the work area is defined as the origin Om of the coordinate system. A reference point representing the position of the support stage 121 is Os, and a reference point representing the position of the transfer device 140 is Ot. Moreover, the external shape of each unit is shown by the solid line in the figure.

  The boundary of the work area indicated by these solid lines and the outer shape of another unit are the maximum area that the outer shape of the support stage 121 can reach. When the display panel 200 is taken into consideration, the maximum area is narrowed according to the size of the display panel 200.

  The limit coordinate value is calculated as a point where a distance corresponding to the dimension of the movable unit itself is further retracted from a position before the limit margin M of the maximum area (indicated by a dotted line).

  The limit margin M is an allowance distance for a movable unit whose movement is restricted by soft limit control to stop safely without actually causing interference. For example, the limit margin M is smaller as the torque of the motor driving each unit is larger. It is a parameter that is determined depending on the characteristics of the device such that the value is determined.

  6A and 6B, the dimensions of the support stage 121, the transfer device 140, and the provisional pressure bonding stage 124 are shown with the symbols in FIG. In addition, the current positions of the support stage 121 and the transfer device 140 are shown with reference symbols in FIG.

  Next, as an example of processing performed by the soft limit control unit 160, the support stage 121 is moved downward of the transport device 140 as indicated by a thick dashed arrow in FIGS. 6 (A) and 6 (B). The soft limit control process performed in this case will be described.

  In this example, the support stage 121 moves obliquely in the minus direction of each of the X axis, the Y axis, and the Z axis.

  FIG. 7 is a flowchart generally showing a soft limit control process performed during such movement. In the following description, the movable unit and other units described in the flowchart of FIG. 7 correspond to the support stage 121 and the transfer device 140, respectively.

  This soft limit control process is activated and executed by the overall control unit 154 when the overall control unit 154 attempts to command the above-described movement to the support stage 121.

  The soft limit control unit 160 first determines whether the support stage 121 already interferes with the boundary of the work area or the transfer device 140 at the current position.

  For this purpose, the position acquisition unit 161 supports the display panel 200 with at least one of the current coordinate value indicating the current position of the support stage 121 and the transport device 140, the dimension of the display panel 200, and the support stage 121 and the transport device 140. It is acquired from the operation state storage unit 155 (S11).

  The limit calculation unit 162 calculates a limit coordinate value representing a limit point at which the support stage 121 can move from the current position without interfering with the boundary of the work area or the transfer device 140. The respective limit coordinate values of the X axis, the Y axis, and the Z axis are the values of the other coordinate axes of the current coordinate value of the support stage 121, the current coordinate value of the transfer device 140, the dimensions of the display panel 200, and the support stage 121. It is calculated using whether or not at least one of the transfer devices 140 supports the display panel 200 (S12).

  As an example, calculation of limit coordinates when the display panel 200 is supported by, for example, the transport device 140 will be described. In this example, the operation state information stored in the operation state storage unit 155 indicates that there is a work in the transport device 140 (for example, t_wk indicating the presence / absence of the display panel in FIG. 5 is a value indicating the presence of the display panel). Corresponds to the case.

  FIGS. 8A and 8B are a plan view and a side view for explaining the positions and limit points of the main parts related to the calculation of limit coordinate values when the display panel 200 is supported by the transport device 140. FIG. FIG.

  In the following description, for the sake of simplicity, it is assumed that the long side of the support stage 121 is the reference direction around the θ axis of the support stage 121 and the reference direction is parallel to the X axis.

  As described above, the dotted line represents the point before the limit margin M from the maximum region where the outer shape of the support stage 121 can reach. A hatched dotted line represents a limit point where the interference dimension of the support stage 121 (that is, the distance in the coordinate axis direction from the reference point Os of the support stage 121 to the outer shape of the stage portion 121a) is further retracted.

  Further, the interference dimension in the X-axis direction of the support stage 121 is s_L (half the length of the long side of the stage part 121a), and the interference dimension in the Y-axis direction is s_S (half the length of the short side of the stage part 121a). And

  For the interference dimension of the transport device 140 (that is, the distance in the coordinate axis direction from the reference point Ot of the transport device 140 to the outer shape of the arm 140a), the inner interference dimension in the X-axis direction is t_W1 (X-axis direction of the arm 140a). The outer interference dimension in the X-axis direction is t_W2 (half the outer length in the X-axis direction of the arm 140a), and the interference dimension of the recess in the Y-axis direction is t_D1 (arm 140a). And the interference dimension of the convex part in the Y-axis direction is t_D2 (the convex part depth in the Y-axis direction of the arm 140a).

  Furthermore, assuming that the midpoint of the long side of the display panel 200 is at the reference point Ot of the transport device 140, the interference dimension of the display panel 200 in a state supported by the transport device 140 (that is, the reference point of the transport device 140). As for the distance in the coordinate axis direction from Ot to the outer shape of the display panel 200, the interference dimension in the X-axis direction is w_l / 2 (half the length of the long side of the display panel 200), and the interference dimension in the Y-axis direction is w_s. (The length of the short side of the display panel 200).

  The reference point Os of the support stage 121 can be moved inside the hatched dotted line without the stage portion 121a interfering with the end of the work area and other units. This range varies depending on the height of the support stage 121 (Z-axis coordinate value).

  First, a limit coordinate value limX representing a limit point of the support stage 121 in the negative direction of the X axis is calculated according to (Equation 1).

  In (Expression 1), Condition 1-1 determines whether the support stage 121 is at the height of the Z axis that does not interfere with the transport apparatus 140, in other words, whether the support stage 121 can sink under the arm 140 a of the transport apparatus 140. To do.

  When the condition 1-1 is true, the outer shape of the support stage 121 can move from the boundary of the work area where the coordinate value of the X axis is 0 to a point before the limit margin M. Therefore, limX is set to (M + s_L) with a margin of the limit margin M and the interference dimension s_L in the X-axis direction of the support stage 121 from the boundary of the work area.

  When the condition 1-1 is false, whether the support stage 121 is at the height of the Z axis that does not interfere with the display panel 200 supported by the transport device 140 according to the condition 1-2, in other words, the support stage 121 is Although it is possible to enter under the display panel 200, it is determined whether there is a possibility of interference with the arm 140a of the transfer device 140.

  When the condition 1-2 is true, it is determined according to the condition 1-3 whether the support stage 121 is in the position of the Y axis outside the path (movement area in the X axis direction) of the transport device 140.

  When the condition 1-3 is true, the outer shape of the support stage 121 can move from the boundary of the work area to a point before the limit margin M. Therefore, limX is assumed to have a margin (M + s_L) from the boundary of the work area with a limit margin M and an interference dimension s_L of the support stage 121.

  When the condition 1-3 is false, it is determined that the support stage 121 is at a height that interferes with the transport device 140 and enters the path of the transport device 140. In this case, the conditions are further divided depending on the positional relationship between the support stage 121 and the transfer device 140.

  Condition 1-4 determines whether or not the support stage 121 is at the position of the X axis that comes to the right side (the positive direction of the X axis) of the arm 140a of the transport device 140.

  When the condition 1-4 is true, the support stage 121 may interfere with the right outer side of the arm 140a of the transport apparatus 140 by moving in the negative direction of the X axis. Therefore, limX is set to have a margin of the limit margin M and the interference dimension s_L of the support stage 121 from the outer right side of the arm 140a of the transport device 140 whose X-axis coordinate value is represented by t_x + t_W2 (t_x + t_W2 + M + s_L).

  Condition 1-5 determines whether or not the support stage 121 is at the X-axis position entering the arm 140a of the transport apparatus 140.

  When the condition 1-5 is true, the support stage 121 may interfere with the left inner side of the arm 140a of the transport apparatus 140 by moving in the negative direction of the X axis. Therefore, limX is given a margin of the limit margin M and the interference dimension s_L of the support stage 121 from the left inner side of the arm 140a of the transfer apparatus 140 whose X-axis coordinate value is represented by t_x−t_W1 (t_x−t_W1 + M + s_L). And

  When the condition 1-5 is false, it is determined that the support stage 121 is at the position of the X axis that is on the left side (the negative direction of the X axis) of the arm 140a of the transport device 140.

  When the condition 1-5 is false, the outer shape of the support stage 121 can move from the boundary of the work area to a point before the limit margin M. Therefore, limX is assumed to have a margin (M + s_L) from the boundary of the work area with a limit margin M and an interference dimension s_L of the support stage 121.

  When the condition 1-2 is false, it is determined that the support stage 121 is at the height of the Z axis that may interfere with the display panel 200 supported by the transport device 140.

  When the condition 1-2 is false, it is determined according to the condition 1-6 whether the support stage 121 is supported by the transfer device 140 and located at the Y-axis position outside the passage of the display panel 200 that moves in the X-axis direction. .

  When the condition 1-6 is true, the outer shape of the support stage 121 can move from the boundary of the work area to a point before the limit margin M. Therefore, limX is assumed to have a margin (M + s_L) from the boundary of the work area with a limit margin M and an interference dimension s_L of the support stage 121.

  When the condition 1-6 is false, the support stage 121 is at a height that interferes with the transport device 140 and is supported by the transport device 140 and enters the passage of the display panel 200 that moves in the X-axis direction. It is judged. In this case, conditions are further divided depending on the positional relationship between the support stage 121 and the display panel 200.

  Condition 1-7 determines whether or not the support stage 121 is at the position of the X axis that comes to the right side of the display panel 200 (the positive direction of the X axis).

  When the condition 1-7 is true, the support stage 121 may interfere with the right side of the display panel 200 supported by the transport device 140 by moving in the negative direction of the X axis. Therefore, let limX be a margin (t_x + w_l / 2 + M + s_L) having a margin of limit margin M and an interference dimension s_L of the support stage 121 from the right side of the display panel 200 whose X-axis coordinate value is represented by t_x + w_l / 2.

  Condition 1-8 determines whether or not the support stage 121 is at the X-axis position that is on the left side of the display panel 200 (the negative direction of the X-axis).

  When the condition 1-8 is true, the outer shape of the support stage 121 can move from the boundary of the work area to a point before the limit margin M. Therefore, limX is assumed to have a margin (M + s_L) from the boundary of the work area with a limit margin M and an interference dimension s_L of the support stage 121.

  When the condition 1-8 is false, it is determined that the support stage 121 interferes with the display panel supported by the transport device 140. In order to indicate this determination result, an error value ERROR (for example, a specific negative value) indicating that interference has occurred may be returned.

  Next, a limit coordinate value limY representing the limit point of the support stage 121 in the negative direction of the Y axis is calculated according to (Expression 2).

  In (Expression 2), the condition 2-1 determines whether the support stage 121 is at the height of the Z-axis that does not interfere with the transport device 140, in other words, whether the support stage 121 can sink under the arm 140 a of the transport device 140. To do.

  When the condition 2-1 is true, the outer shape of the support stage 121 can move from the boundary of the work area where the coordinate value of the Y axis is 0 to a point before the limit margin M. Therefore, it is assumed that limY has a margin (M + s_S) of the limit margin M and the interference dimension s_S of the support stage 121 in the Y-axis direction from the boundary of the work area.

  When the condition 2-1 is false, the support stage 121 is at a height of the Z axis that does not interfere with the display panel 200 supported by the transport device 140 according to the condition 2-2. Although it is possible to enter under the display panel 200, it is determined whether there is a possibility of interference with the arm 140a of the transfer device 140.

  When the condition 2-2 is true, it is determined according to the condition 2-3 whether the support stage 121 is at an X-axis position that may interfere with the outer shape of the arm 140a of the transport apparatus 140.

  When the condition 2-3 is true, it is determined according to the condition 2-4 whether the support stage 121 is at an X-axis position where the support stage 121 can enter the arm 140a of the transport apparatus 140.

  When the condition 2-4 is true, the support stage 121 may interfere with the concave portion in the Y-axis direction of the arm 140a of the transport device 140. Therefore, limY is defined as (t_D1 + M + s_S) having a margin of the limit margin M and the interference dimension s_S of the support stage 121 from the recess in the Y-axis direction of the arm 140a whose Y-axis coordinate value is represented by t_D1.

  When the condition 2-4 is false, the support stage 121 may interfere with the convex portion in the Y-axis direction of the arm 140a of the transport device 140. Therefore, limY is defined as (t_D2 + M + s_S) having a margin of the limit margin M and the interference dimension s_S of the support stage 121 from the convex portion in the Y-axis direction of the arm 140a whose Y-axis coordinate value is represented by t_D2.

  When the condition 2-3 is false, the outer shape of the support stage 121 can move from the boundary of the work area to a point before the limit margin M. Therefore, it is assumed that limY has a margin of the limit margin M and the interference dimension s_S of the support stage 121 from the boundary of the work area (M + s_S).

  If the condition 2-2 is false, it is determined that the support stage 121 is at the height of the Z axis that may interfere with the display panel 200 supported by the transport device 140.

  When the condition 2-2 is false, it is determined according to the condition 2-5 whether the support stage 121 is in an X-axis region that may interfere with the display panel 200 supported by the transport device 140.

  When the condition 2-5 is true, the support stage 121 may interfere with the display panel 200. Therefore, limY is defined as (w_s + M + s_S) having a margin of the limit margin M and the interference dimension s_S of the support stage 121 from the outer shape of the display panel 200 whose Y-axis coordinate value is represented by w_s.

  When the condition 2-5 is false, the outer shape of the support stage 121 can move from the boundary of the work area to a point before the limit margin M. Therefore, it is assumed that limY has a margin of the limit margin M and the interference dimension s_S of the support stage 121 from the boundary of the work area (M + s_S).

  For the sake of simplification in the above description, in calculating the limit coordinate values of the X axis and the Y axis, the size of the support stage 121 differs between the stage unit 121a and the drive unit 121b (the drive unit 121b is different from the stage unit 121a). The dimension of the stage part 121a larger than the drive part 121b is uniformly used as the interference dimension.

  However, the limit coordinate value may be calculated in different cases depending on which of the stage unit 121a and the drive unit 121b may interfere.

  For example, the limit coordinate value when there is a possibility that the drive unit 121b interferes is s_L and s_S that are interference dimensions in the X-axis direction and the Y-axis direction of the stage unit 121a in (Expression 1) and (Expression 2), It can be calculated by replacing with s_W and s_D, which are interference dimensions in the X-axis direction and the Y-axis direction of the drive unit 121b, respectively.

  Further, the limit coordinate value representing the limit point of the support stage 121 in the negative direction of the Z axis is calculated in the same manner.

  That is, when the support stage 121 is lowered according to the positions of the X axis and the Y axis of the support stage 121, the portion protruding from the drive unit 121 b of the stage unit 121 a interferes with the transport device 140 or the provisional pressure bonding stage 124. The limit coordinate value representing the limit point at which the support stage 121 can descend is calculated depending on whether or not there is a possibility.

  The interference determination using the limit coordinate value in the Z-axis direction calculated in this way can be performed in the same manner as the interference determination in the X-axis direction and the Y-axis direction. .

  Next, calculation of limit coordinates when the display panel 200 is supported by, for example, the support stage 121 will be described as another example. This example corresponds to the case where the operation state information stored in the operation state storage unit 155 indicates that there is a work on the support stage 121 (for example, s_wk in FIG. 5 is a value indicating that a display panel is present). .

  FIGS. 9A and 9B are a plan view for explaining the positions and limit points of the main parts involved in the calculation of the limit coordinate values when the display panel 200 is supported by the support stage 121. FIG. It is a side view.

  In the following description, it is assumed that the center point of the display panel 200 is at the reference point Os of the support stage 121, and the interference dimension of the display panel 200 in a state of being supported by the support stage 121 (that is, the reference point of the support stage 121). As for the distance in the coordinate axis direction from Os to the outer shape of the display panel 200, the interference dimension in the X-axis direction is w_l / 2 (half the length of the long side of the display panel 200), and the interference dimension in the Y-axis direction is w_s. / 2 (half the length of the short side of the display panel 200). For simplification, the interference dimension in the Z-axis direction (the thickness of the display panel 200) is ignored.

  The reference point Os of the support stage 121 can move inside the hatched dotted line without the support stage 121 interfering with the end of the work area and other units. This range varies depending on the height of the support stage 121 (Z-axis coordinate value). Further, the range shown in FIG. 9A is narrower than the range shown in FIG. 8A because the display panel 200 is supported by the support stage 121 instead of the transport device 140. warn.

  First, a limit coordinate value limX representing a limit point where the support stage 121 goes in the minus direction of the X axis is calculated according to (Expression 3).

  (Equation 3) is configured based on a common concept of calculating limit coordinate values for each of a plurality of conditions representing possible interference, although the interference size to be used is different from that of (Equation 1). Hereinafter, the difference between (Expression 3) and (Expression 1) will be described.

  In (Expression 3), the condition 3-1 is that the support stage 121 is at the height of the Z axis where it does not interfere with the transport device 140, in other words, the display panel 200 supported by the support stage 121 and the arm of the transport device 140. It is determined whether it is possible to dive under 140a.

  When the condition 3-1 is true, a limit coordinate value (M + w_1 / 2) that prevents interference between the display panel 200 supported by the support stage 121 and the boundary of the work area is calculated.

  When the condition 3-1 is false, whether the display panel 200 supported by the support stage 121 is at the height of the Z axis that may interfere with the arm 140a of the transport device 140 according to the condition 3-2. to decide.

  When the condition 3-2 is true, the display panel 200 supported by the support stage 121 is moved to the position of the Y axis outside the passage in the X axis direction, which is the transfer operation area of the transfer device 140, according to the condition 3-3. Determine if there is.

  When the condition 3-3 is true, a limit coordinate value (M + w_1 / 2) that prevents interference between the display panel 200 supported by the support stage 121 and the boundary of the work area is calculated.

  When the condition 3-3 is false, the display panel 200 supported by the support stage 121 is at a height at which the display panel 200 interferes with the transport device 140 and is in a passage in the X-axis direction that is a transport operation region of the transport device 140. It is determined that they are entering. In this case, according to the condition 3-4 and the condition 3-4-1, the display panel 200 is either on the right side (true in the condition 3-4) or on the left side (true in the condition 3-4-1) of the arm 140a of the transfer device 140. Determine whether it is in Then, limit coordinate values that prevent interference between the display panel 200 and the right outside of the arm 140a of the transfer device 140 or the boundary of the work area are calculated according to the determination result.

  Note that the limit points (dotted lines with diagonal lines) corresponding to the limit coordinate values calculated when the condition 3-3 is false are not shown in FIG. Such a limit point is, for example, that the display panel 200 is positioned on either the right side or the left side of the arm 140a of the transport device 140 because the arm 140a of the transport device 140 is closer to the left or right than the position shown in FIG. It occurs when there is a crab. In other cases (conditions 3-4 and 3-4-1 are both false), the display panel 200 interferes with the arm 140a of the transport device 140. In that case, an error value ERROR (for example, a specific negative value) indicating that interference has occurred may be returned.

  When the condition 3-2 is false, the display panel 200 supported by the support stage 121 does not interfere because the display panel 200 is at the height of the Z axis higher than the transport device 140, but the support stage 121 does not interfere with the transport device 140. It is judged that there is a possibility of interfering with.

  When the condition 3-2 is false, it is determined according to the condition 3-5 whether the stage portion 121a of the support stage 121 is at the position of the Y axis outside the path in the X axis direction that is the transfer operation area of the transfer device 140. .

  When the condition 3-5 is true, a limit coordinate value (M + w_1 / 2) that prevents interference between the display panel 200 supported by the support stage 121 and the boundary of the work area is calculated.

  When the condition 3-5 is false, the stage unit 121 of the support stage 121 is at a height that interferes with the transfer device 140 and enters the passage in the X-axis direction that is the transfer operation area of the transfer device 140. To be judged. In this case, in accordance with the conditions 3-6, 3-7, and 3-7-1, the stage unit 121a moves to the right side (condition 3-6), the inside (condition 3-7), and the arm 140a of the transfer device 140, and It is determined which one is on the left side (Condition 3-7-1).

  When it is determined that the position is on the right side, a limit coordinate value (t_x + t_W2 + M + s_L) that prevents interference between the stage unit 121a and the outer right side of the arm 140a of the transfer apparatus 140 is calculated. A limit coordinate value (t_x−t_W1 + M + s_L) that prevents interference with the left inner side of the arm 140a of 140 is calculated. The limit coordinate value (M + w_l / 2) that prevents the above is calculated.

  When both the conditions 3-7 and 3-7-1 are false, the support stage 121 interferes with the arm 140a of the transport device 140. In that case, an error value ERROR (for example, a specific negative value) indicating that interference has occurred may be returned.

  Next, a limit coordinate value limY representing the limit point of the support stage 121 in the negative direction of the Y axis is calculated according to (Expression 4).

  (Equation 4) is configured based on a common concept of calculating limit coordinate values for each of a plurality of conditions representing possible interference, although the interference size to be used is different from that of (Equation 2). Hereinafter, the difference between (Expression 4) and (Expression 2) will be described.

  In (Expression 4), the condition 4-1 is that the support stage 121 is at the height of the Z axis that does not interfere with the transport apparatus 140, in other words, the display stage 200 supported by the support stage 121 and the arm of the transport apparatus 140. It is determined whether it is possible to dive under 140a.

  When the condition 4-1 is true, limit coordinate values that prevent interference between the display panel 200 supported by the support stage 121 and the boundary of the work area are calculated.

  When the condition 4-1 is false, it is determined according to the condition 4-2 whether the display panel 200 supported by the support stage 121 is at the height of the Z axis that may interfere with the arm 140a of the transport device 140. to decide.

  When the condition 4-2 is true, it is determined according to the condition 4-3 whether the display panel 200 is at an X-axis position that may interfere with the transport device 140. Then, depending on the determination result, a limit coordinate value (t_D2 + M + w_s / 2) that prevents interference between the display panel 200 and the convex portion in the Y-axis direction of the arm 140a of the transfer device 140 or a limit that prevents interference with the boundary of the work area. A coordinate value (M + w_s / 2) is calculated.

  When the condition 4-2 is false, the display panel 200 supported by the support stage 121 does not interfere because the Z-axis height is higher than the transport device 140, but the support stage 121 interferes with the transport device 140. It is determined that it is at the height of the Z-axis that may occur.

  When the condition 4-2 is false, it is determined according to the condition 4-4 whether or not the support stage 121 is at an X-axis position that may interfere with the arm 140a of the transport apparatus 140.

  When the condition 4-4 is true, it is determined according to the condition 4-5 whether or not the support stage 121 is at the X-axis position where the support stage 121 can enter the arm 140a of the transport apparatus 140.

  When the condition 4-5 is true, a limit coordinate value (t_D1 + M + s_S) that prevents interference between the stage unit 121a and the concave portion in the Y-axis direction of the arm 140a of the transfer device 140 is calculated. However, the display supported by the support stage 121 before the stage 121a interferes with the recess in the Y-axis direction of the arm 140a of the transport device 140 by the support stage 121 moving in the negative direction of the Y-axis. When the panel 200 interferes with the boundary of the work area, a limit coordinate value (M + w_s / 2) that prevents interference between the display panel 200 and the boundary of the work area is calculated under this condition.

  When the condition 4-5 is false, a limit coordinate value (t_D2 + M + s_S) that prevents interference between the stage portion 121a and the convex portion in the Y-axis direction of the arm 140a of the transport apparatus 140 is calculated.

  When the condition 4-4 is false, a limit coordinate value (M + w_s / 2) that prevents interference between the display panel 200 and the boundary of the work area is calculated.

  Further, the limit coordinate value representing the limit point of the support stage 121 in the negative direction of the Z axis is calculated in the same manner.

  That is, the support stage 121 descends in accordance with the X-axis and Y-axis positions of the support stage 121, so that the portion that protrudes from the drive unit 121b of the stage unit 121a or the display supported by the support stage 121 is displayed. A limit coordinate value representing a limit point at which the support stage 121 can be lowered is calculated depending on whether or not the panel 200 may interfere with the transport apparatus 140 or the provisional pressure bonding stage 124.

  The interference determination using the limit coordinate value in the Z-axis direction calculated in this way can be performed in the same manner as the interference determination in the X-axis direction and the Y-axis direction. .

  As described above, in the soft limit control according to the present embodiment, a plurality of limit coordinate values corresponding to each of a plurality of conditions when conditions for switching limit coordinate values are diverse are prepared in advance, and one of them is set. Unlike the conventional technology used selectively, using the unified formula and a small number of parameters, the current position of the movable unit and other units related to the operating range of the movable unit, as well as the dimensions of the panel that is the workpiece, The limit coordinate value is obtained by calculation each time according to the panel holding state by at least one of the movable unit and the other unit and / or the relative movement position between the movable unit and the other unit.

  The following processing is continued using the calculated limit coordinate value.

  The interference determination unit 163 determines whether the current coordinate value s_x of the X axis of the support stage 121 reaches limX by comparing s_x <limX, with reference to the above determination formula and FIGS. 3 and 7. To do. Further, it is determined by comparing s_y <limY whether the current coordinate value s_y on the Y axis of the support stage 121 reaches limY (S13).

  If it is determined that at least one of the X-axis and the Y-axis is reached (YES in S13), it is determined that the support stage 121 (including the display panel 200 when the display panel 200 is supported by the support stage 121) is included. For the interference with the boundary of the work area or the transfer device 140 (if the display device 200 is supported by the transfer device 140, it is determined that the display panel 200 is included, the same applies hereinafter). It means that there is no room to start moving.

  In that case, the movement restricting unit 164 restricts the movement of the support stage 121 by controlling the overall control unit 154. Specifically, the overall control unit 154 displays an error message indicating that it cannot move to the operation unit 152 (S14), and ends the process without commanding the support stage 121 to move.

  When it is determined that the support stage 121 does not interfere with other units at the current position (NO in S13), the soft limit control unit 160 interferes with the boundary of the work area or the transfer device 140 when the support stage 121 is moved. Determine whether.

  For this purpose, the position acquisition unit 161 acquires the movement destination coordinate values (s_x ′, s_y ′, s_z ′) representing the movement destination of the support stage 121 from the overall control unit 154 (S21).

  The limit calculation unit 162 determines the movement destination coordinate values (s_x ′, s_y ′, s_z ′) of the support stage 121 according to whether the display panel 200 is supported by the transfer device 140 or the support stage 121. By substituting into (Expression 1) and (Expression 2) or substituting into (Expression 3) and (Expression 4), the limit coordinate values limX ′ and limY ′ at the destination of movement of the support stage 121 are calculated. (S22).

  In this way, the following processing is continued using the calculated limit coordinate values limX ′ and limY ′.

  The interference determination unit 163 determines whether the X-axis movement destination coordinate value s_x ′ of the support stage 121 reaches limX ′ by comparing s_x ′ <limX ′. Further, it is determined by comparing s_y '<limY' whether the Y-axis destination coordinate value s_y 'reaches limY' (S23).

  When it is determined that at least one of the X axis and the Y axis is reached (YES in S23), the support stage 121 means that it interferes with the boundary of the work area or the transfer device 140 if it moves to the destination. ing.

  In that case, the movement restricting unit 164 restricts the movement of the support stage 121 by controlling the overall control unit 154. Specifically, the overall control unit 154 displays an error message indicating that it cannot move to the operation unit 152 (S24), and ends the process without commanding the support stage 121 to move.

  When it is determined that the support stage 121 does not interfere with other units at the destination (NO in S23), the overall control unit 154 instructs the support stage 121 to move (S31).

  In response to this command, the support stage 121 starts moving. As the support stage 121 moves, the overall control unit 154 updates the current coordinate value indicating the current position of the support stage 121 held in the operation state storage unit 155.

  The position acquisition unit 161 acquires these updated values periodically (for example, at a cycle of 10 milliseconds) while the support stage 121 is moving (S32). Hereinafter, the current coordinate values acquired during the movement of the support stage 121 are represented as (s_x ″, s_y ″, s_z ″), and are distinguished from the current coordinate values before the movement starts.

  The limit calculation unit 162 substitutes the current coordinate values (s_x ″, s_y ″, s_z ″) during the movement of the support stage 121 for the above-described (Expression 1) and (Expression 2), thereby moving the support stage 121. The limit coordinate values limX "and limY" in the middle are calculated (S33).

  In this way, the following processing is continued using the calculated limit coordinate values limX ″ and limY ″.

  The interference determination unit 163 determines whether the current coordinate value s_x ″ of the X axis of the support stage 121 reaches limX ″ by comparing s_x ″ <limX ″. Further, it is determined by comparing s_y ″ <limY ″ whether the current coordinate value s_y ″ of the Y axis reaches limY ″ (S34).

  When it is determined that at least one of the X axis and the Y axis is reached (YES in S34), the support stage 121 has no safety margin to prevent interference with the boundary of the work area or the transfer device 140 during the movement. It means that.

  In that case, the movement restricting unit 164 instructs the support stage 121 to perform an emergency stop by controlling the overall control unit 154 (S35). The overall control unit 154 displays an error message indicating that it cannot move to the operation unit 152 (S36), and ends the process.

  Unless it is determined that interference occurs in the support stage 121 (NO in S34), the process returns to step S32 and continues until the support stage 121 arrives at the destination (S37).

  When the support stage 121 approaches the destination, the overall control unit 154 instructs the support stage 121 to stop at the destination (S38).

  According to the soft limit control process described above, the display panel 200 displays the current coordinate value indicating the current position of the support stage 121 and the transfer device 140, the move destination coordinate value indicating the move destination, and the coordinate value indicating the moving position. Depending on whether it is supported by the transfer device 140 or the support stage 121, it can be appropriately substituted into (Equation 1) and (Equation 2), or substituted into (Equation 3) and (Equation 4). A limit coordinate value can be calculated each time and used for interference determination.

  Therefore, flexible soft limit control adapted to a large number of conditions can be easily performed without requiring a complicated operation of preparing a large number of limit coordinate values corresponding to a large number of conditions in advance.

  Up to this point, the soft limit control process when the support stage 121 is moved in the negative direction of the X axis, the Y axis, and the Z axis has been described with reference to the flowchart of FIG. Of course, the same soft limit control process can be applied to a case where the moving direction is different or to other movable units.

  For example, as shown in FIG. 9, in the soft limit control process when the support stage 121 is moved in the positive direction of the Y axis, that is, in the direction of the temporary crimping stage 124 while the panel 200 is supported, the limit calculation unit 162. Calculates the limit coordinate values limY, limY ′, and limY ″ at the current position, the moving destination, and the moving position of the support stage 121 according to (Equation 5), respectively (S12, S22, and S33 in FIG. 7). Calculation of limit coordinates).

  In (Formula 5), the condition 5-1 is that the display panel 200 supported by the support stage 121 may interfere with the lower part of the temporary press-bonding stage 124 at a height from 0 to b_H1 in the Z-axis direction. Judge whether it is at a certain Z-axis height.

  When the condition 5-1 is true, the outer shape of the display panel 200 can be moved from the front of the lower part of the temporary crimping stage 124 to the limit margin M. Therefore, limY has a margin of the limit margin M and the interference dimension w_s / 2 of the display panel 200 in the Y-axis direction from the front of the lower part of the temporary crimping stage 124 whose Y-axis coordinate value is represented by [m_D−b_D1]. [M_D-b_D1-Mw_s / 2].

  When the condition 5-1 is false, the display panel 200 may interfere with the upper portion of the provisional pressure-bonding stage 124 at a height from b_H1 to b_H2 in the Z-axis direction according to the condition 5-2. Determine if it is right.

  When the condition 5-2 is true, the outer shape of the display panel 200 can move from a position just above the provisional press-bonding stage 124 whose Y-axis coordinate value is represented by [m_D-b_D2] to a point of the limit margin M. Therefore, limY has a margin [m_D] of the limit margin M and the interference dimension w_s / 2 of the display panel 200 from the front of the upper part of the temporary crimping stage 124 whose Y-axis coordinate value is represented by [m_D−b_D2]. -B_D2-M-w_s / 2].

  When the condition 5-2 is false, the outer shape of the display panel 200 can move from the boundary of the work area where the Y-axis coordinate value is represented by m_D to the point of the limit margin M in front. Therefore, limY is assumed to be [m_D−M−w_s / 2] with a margin of the limit margin M and the interference dimension w_s / 2 of the display panel 200 from the boundary of the work area.

  Similarly, limit coordinate values limY ′ and limY ″ are also calculated.

  The interference determination unit 163 determines whether the current coordinate value s_y, the movement destination coordinate value s_y ′, and the moving coordinate value s_y ″ of the support stage 121 reach the above calculated limY, limY ′, and limY ″, respectively. Is determined by comparing s_y> limY, s_y ′> limY ′, and s_y ″> limY ″ (S13, S23, and S34 in FIG. 7). Here, it should be noted that the direction of the inequality sign for interference determination is reversed depending on whether the moving direction of the support stage 121 is the positive direction or the negative direction of the Y axis.

  The processing of other steps is performed in the same manner as described above.

  As described above, the soft limit control process in the case of moving the support stage 121 obtains the limit coordinate value by using the calculation formula according to the moving direction and the support state of the display panel 200, and compares it according to the moving direction. By making the determination, the determination can be made according to the common procedure shown in the flowchart of FIG.

  Although the description has been made so far on the case where the long side as the reference of the θ axis of the support stage 121 is parallel to the direction of the X axis, the long side becomes the X axis when the support stage 121 rotates in the θ axis direction. When it is inclined in the direction of, the interference dimension changes.

  Therefore, when the long side of the support stage 121 is inclined in the X-axis direction, the tip apex (the apex of the stage portion 121a and the display panel 200 supported by the support stage 121 in the moving direction). The current coordinate values of the X and Y axes of the vertex) are obtained, and the current coordinate values of the X and Y axes of the reference point Os of the support stage 121 and the obtained current coordinate values of the X and Y axes of the obtained tip vertex The difference is used as the interference dimension.

  When the long side of the support stage 121 is inclined in the X-axis direction, the current coordinate values of the X-axis and the Y-axis at the apex of the tip are obtained when the long side of the support stage 121 is parallel to the X-axis direction. The coordinate value of the θ axis is set to 0, and the X-axis and Y-axis coordinate values of the tip apex in that case can be obtained by performing rotation conversion according to the current coordinate value of the θ-axis.

  Next, a soft limit control process when the support stage 121 is rotationally moved in the θ-axis direction will be described.

  In this case, the soft limit control unit 160 does not directly determine whether the interference occurs by comparing the coordinate values of the θ axis, but instead of the four directions of the positive and negative directions of the X axis and the positive and negative directions of the Y axis. It is determined whether interference occurs in any one of the directions.

  Specifically, the limit calculation unit 162 does not calculate the limit coordinate value of the θ axis, but calculates four limit coordinate values for the four directions of the positive and negative directions of the X axis and the Y axis, respectively. . For the calculation of the limit coordinate value, the interference dimension corresponding to the current coordinate value of the θ axis is used.

  The interference determination unit 163 compares and determines whether the current coordinate value of the support stage 121 reaches the limit coordinate value in each of the four directions.

  And if it is determined that the current coordinate value of the support stage 121 reaches the limit coordinate value in any one direction, the support stage 121 means that there is no room for starting rotational movement. The movement restricting unit 164 restricts the rotation of the support stage 121 by controlling the overall control unit 154.

  When it is determined that no interference occurs in the support stage 121 at the current position, the interference determination unit 163 acquires the target direction after the rotation of the support stage 121 from the overall control unit 154, and the support stage 121 rotates in the target direction. In the case, it is determined whether interference occurs in the four directions.

  When it is determined that interference occurs in any one direction, the movement restricting unit 164 restricts the rotation of the support stage 121 by controlling the overall control unit 154.

  When there is no interference with the support stage 121 at the movement destination, the overall control unit 154 instructs the support stage 121 to rotate. As the support stage 121 rotates in response to this command, the overall control unit 154 updates the coordinate value of the θ axis that is the current orientation of the support stage 121 in the operation state storage unit 155.

  The soft limit control unit 160 may periodically calculate the limit coordinate value and determine the interference during the rotation of the support stage 121 using the θ-axis coordinate value updated during the rotation.

  As mentioned above, although the soft limit control method of this invention was demonstrated based on embodiment which made the panel mounting machine an example, this invention is not limited to this embodiment. Unless it deviates from the meaning of the present invention, those in which various modifications conceived by those skilled in the art have been made in the present embodiment are also included in the scope of the present invention.

  In the embodiment, when the display panel 200 is supported by the transport device 140, the midpoint of the long side of the display panel 200 is at the reference point Ot of the transport device 140, and the display panel 200 is supported by the support stage. In the case of being supported at 121, the center point of the display panel 200 has been described as being at the reference point Os of the support stage 121.

  However, in actuality, for example, when the display panel 200 is small, the display panel 200 is supported by the support stage 121 and the transfer device 140 while being shifted from the above positions for the convenience of transfer and crimping operations. There is.

  In this case, the interference dimensions of the display panel 200 are set independently for the X direction plus and minus directions and the Y axis plus and minus directions, and the four types of set interference dimensions are used. By calculating the limit coordinate value, the soft limit control process can be performed using the procedure described in the embodiment as it is.

  Further, the component 300 may be mounted on the display panel 200 so that a part of the component 300 protrudes from the edge of the display panel 200.

  In that case, by increasing the interference dimension of the display panel 200 according to the distance that the component 300 protrudes from the edge of the display panel 200 before and after the mounting of the component 300, the procedure described in the embodiment is used as it is. Soft limit control processing can be performed.

  In the embodiment, the support stage 121 has been described as an example of the soft limit control target. However, the movable unit is not limited to the support stage 121, of course. For example, by applying the soft limit control process of the present invention to the transfer device 140, interference with the support stage 121 of the transfer device 140 can be prevented.

  INDUSTRIAL APPLICABILITY The present invention can be used as a manufacturing machine such as a component mounting apparatus, particularly a manufacturing machine including a movable unit that needs to prevent interference with other units, and a control method thereof.

The perspective view which shows the structure of the panel mounting machine in embodiment The perspective view which shows an example of the principal part of a temporary crimping apparatus Functional block diagram showing an example of the functional configuration of a panel mounter related to soft limit control The figure which shows an example of the parameter information memorize | stored in the parameter memory | storage part The figure which shows an example of the operation state information memorize | stored in the operation state memory | storage part (A) and (B) Plan view and side view showing an example of the dimensions and positions of the main parts of the temporary crimping apparatus Flow chart showing an example of soft limit control processing (A) And (B) The top view and side view which show an example of interference judgment in case the conveying apparatus is supporting the display panel (A) And (B) The top view and side view which show another example of interference judgment in case the support stage is supporting the display panel.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Panel mounting machine 110 ACF sticking apparatus 111 Support stage 120 Temporary pressure bonding apparatus 121 Support stage 121a Stage part 121b Drive part 122 Transfer head 123 Adsorption nozzle 124 Temporary pressure bonding stage 125 Imaging apparatus 130 Main pressure bonding apparatus 131 Support stage 140 Conveyance apparatus 140a Arm DESCRIPTION OF SYMBOLS 150 Control apparatus 151 NC program memory | storage part 152 Operation part 153 Parameter memory | storage part 154 Overall control part 155 Operation | movement state memory | storage part 160 Soft limit control part 161 Position acquisition part 162 Limit calculation part 163 Interference judgment part 164 Movement control part 200 Display panel 300 Parts

Claims (6)

A control method for preventing interference between a movable unit and other units provided in a component mounting apparatus,
At least one of the movable unit and the other unit can hold a workpiece,
A position acquisition step of acquiring a current coordinate value representing a current position including a height position of the movable unit;
A state acquisition step of acquiring state information representing a workpiece dimension and a state of holding the workpiece by at least one of the movable unit and the other unit;
When trying to move the movable unit, when the state information indicates that the workpiece is held by the movable unit, at the height position of the movable unit represented by the current coordinate value It is determined which of the workpiece and the movable unit may interfere with the other unit, and the movable unit interferes with a relative value with the other unit according to a result of the determination. A limit calculation step for calculating limit coordinate values representing limit points that can move without
An interference determination step for determining whether the current coordinate value has reached the limit coordinate value;
A movement restriction step for restricting movement of the movable unit when at least an affirmative determination is made in the interference determination step. The movable unit can move in the direction of a plurality of coordinate axes, and when one of the plurality of coordinate axes is an operation coordinate axis,
In the limit calculating step, the value of the operation coordinate axis of the limit coordinate value is calculated using the value of the other coordinate axis of the current coordinate value and the state information,
The control method according to claim 1, wherein in the interference determination step, it is determined whether the value of the motion coordinate axis of the current coordinate value reaches the value of the motion coordinate axis of the limit coordinate value. When the other unit is movable,
In the position acquisition step, further obtain a partner coordinate value representing the current position of the other unit,
The control method according to claim 1, wherein, in the limit calculation step, the limit coordinate value is calculated according to the current coordinate value, the state information, and the counterpart coordinate value. The control method further includes:
A destination acquisition step of acquiring a destination coordinate value representing a destination of the movable unit;
A destination limit calculation step of calculating another limit coordinate value according to the destination coordinate value;
A destination interference determination step for determining whether the destination coordinate value reaches the another limit coordinate value;
2. The movement of the movable unit is restricted when the movement restriction step further makes an affirmative decision in at least one of the interference determination step and the destination interference determination step. 4. The control method according to any one of items 3. A computer program for performing control for preventing interference between a movable unit and another unit provided in a component mounting apparatus,
At least one of the movable unit and the other unit can hold a workpiece,
A current position acquisition step of acquiring a current coordinate value representing a current position including a height position of the movable unit;
A state acquisition step of acquiring state information representing a workpiece dimension and a state of holding the workpiece by at least one of the movable unit and the other unit;
When trying to move the movable unit, when the state information indicates that the workpiece is held by the movable unit, at the height position of the movable unit represented by the current coordinate value It is determined which of the workpiece and the movable unit may interfere with the other unit, and the movable unit interferes with a relative value with the other unit according to a result of the determination. A limit calculation step for calculating limit coordinate values representing limit points that can move without
An interference determination step for determining whether the current coordinate value has reached the limit coordinate value;
A program for causing a computer to execute a movement restriction step for restricting movement of the movable unit when at least an affirmative determination is made in the interference determination step. A movable unit;
Other units that may interfere with the movable unit;
Control means for controlling the operation of the movable unit,
At least one of the movable unit and the other unit can hold a workpiece,
The control means includes
A position acquisition unit for acquiring a current coordinate value representing a current position including a height position of the movable unit;
A state obtaining unit that obtains state information representing the dimensions of the work and the work holding state by at least one of the movable unit and the other unit;
When trying to move the movable unit, when the state information indicates that the workpiece is held by the movable unit, at the height position of the movable unit represented by the current coordinate value It is determined which of the workpiece and the movable unit may interfere with the other unit, and the movable unit interferes with a relative value with the other unit according to a result of the determination. A limit calculation unit that calculates limit coordinate values representing limit points that can move without
An interference determination unit for determining whether the current coordinate value has reached the limit coordinate value;
A component mounting apparatus, comprising: a movement restricting unit that restricts movement of the movable unit when at least an affirmative decision is made by the interference determining unit.

Images