JP5207395B2 - Adsorption nozzle operation condition inspection device for component mounting machines - Google Patents

Description

  The present invention relates to a suction nozzle operation state inspection device for a component mounting machine that inspects the upward operation state of a suction nozzle.

  Conventionally, in a component mounting machine, as described in Patent Document 1 (Japanese Patent Laid-Open No. 2006-261325), a suction nozzle is provided on a nozzle head (revolver head) so as to be slidable in the vertical direction. There is a component in which the suction nozzle is raised to the original height position by the spring force of a spring by sucking the component at a position where the suction nozzle is lowered during operation.

  In the component mounting machine having the above configuration, the gap between the suction nozzle and the nozzle sliding hole on the nozzle head side is made as small as possible from the viewpoint of improving component mounting accuracy and preventing leakage of negative pressure introduced into the suction nozzle. However, it is inevitable that some negative pressure leaks to the outside from the joint portion of the negative pressure passage between the suction nozzle and the nozzle sliding hole during the part suction operation. Due to this negative pressure leakage, the air around the suction nozzle is sucked into the gap between the suction nozzle and the nozzle sliding hole, and minute foreign matter (dust) in the air is caught between the suction nozzle and the nozzle sliding hole. And the sliding resistance of the suction nozzle is increased. Further, the sliding resistance of the suction nozzle is increased even when the application state of the grease applied to the outer peripheral surface of the suction nozzle is bad or the type of grease is not appropriate. In addition, when the production stop time becomes long, the sliding resistance of the suction nozzle immediately after the start of production tends to increase.

  For these reasons, if the sliding resistance of the suction nozzle becomes excessive, the suction nozzle rise speed when the suction nozzle is raised from the lowered position (part suction position) by the spring force of the spring during the part suction operation becomes abnormally slow. There is a possibility that the suction nozzle cannot be lifted up at all, or the suction nozzle stops rising during the lifting operation, and the suction nozzle cannot be returned to the original height position. In this way, if the suction nozzle rises abnormally slowly or the suction nozzle does not return to its original height position, the suction nozzle and its suction parts collide with the component parts of the component mounting machine in the subsequent operation. There arises a problem that interference occurs or a normal distance cannot be ensured between the suction component and the camera that images the suction component, and image recognition processing of the suction component cannot be performed normally.

  Therefore, as described in Patent Document 2 (Japanese Patent Laid-Open No. 2006-108540), a load cell for measuring the sliding resistance of the suction nozzle is provided at a predetermined position of the component mounting machine, and the sliding resistance of the suction nozzle is reduced. When measuring, move the suction nozzle assembly that holds the suction nozzle slidably in the vertical direction, and then move the suction nozzle assembly down and press the tip of the suction nozzle against the load cell. In some cases, the sliding resistance of the suction nozzle is measured from the output value of the load cell.

  Further, as described in Patent Document 3 (Japanese Patent Application Laid-Open No. 6-53693), whether or not other suction nozzles that are not used for component suction are in a protruding state before the component suction operation is performed. If it is found that other suction nozzles that are not used for component suction are protruding, all suction nozzles are forcibly pushed into the nozzle head and stored. After that, there is one in which only the suction nozzle used for component suction is lowered to the lowermost position.

JP 2006-261325 A JP 2006-108540 A JP-A-6-53693

  However, in Patent Document 2, the suction nozzle assembly is lowered and the suction nozzle is pressed against the load cell so that the sliding resistance of the suction nozzle is measured from the output value of the load cell. When pressing against the load cell, the suction nozzle may be damaged or broken by the pressing load.In particular, the suction nozzle that picks up minute parts has a small nozzle diameter and low mechanical strength, so the tip of the suction nozzle It seems that the method of measuring the sliding resistance by pressing against the load cell cannot be adopted.

  Further, in Patent Document 3, since it is only detected by an optical sensor whether or not the suction nozzle is in a protruding state, an abnormality in the sliding resistance of the suction nozzle until the suction nozzle is in a protruding state. An increase cannot be detected. In other words, even when the suction nozzle ascending speed becomes abnormally slow due to an increase in the sliding resistance of the suction nozzle, this cannot be detected as abnormal.

  Accordingly, the problem to be solved by the present invention is that the suction nozzle can be inspected for rising operation by the urging force of the urging means from the position where the suction nozzle is lowered, and the sliding resistance of the suction nozzle is increased. It is possible to inspect even when the suction nozzle rise speed is abnormally slow, and it is not necessary to apply a large load to the tip of the suction nozzle during the inspection, and even suction nozzles with weak mechanical strength can be suctioned without being damaged or damaged. It is an object of the present invention to provide a suction nozzle operating condition inspection device for a component mounting machine that can accurately inspect the rising operation condition of a nozzle.

  In order to solve the above-mentioned problem, the invention according to claim 1 is characterized in that the suction nozzle is provided in the nozzle head so as to be slidable in the vertical direction, and the suction nozzle is lowered during the part suction operation to suck the part and then the suction nozzle. In the suction nozzle operation condition inspection device for a component mounting machine that raises the suction nozzle to the original height position by the biasing force of the biasing means, the biasing means is moved from a position where the suction nozzle is lowered (hereinafter referred to as a “lowering position”). Measured by a nozzle ascending speed data measuring means for measuring an ascending speed at which the suction nozzle is lifted by an urging force or its correlation data (hereinafter collectively referred to as “nozzle ascending speed data”) and the nozzle ascending speed data measuring means. A nozzle operation condition inspection means for inspecting the ascending operation condition of the suction nozzle based on the nozzle ascending speed data is provided.

  In this configuration, when the suction nozzle is actually lifted from the lowered position by the biasing force of the biasing means, the suction nozzle rising speed or its correlation data (nozzle lift speed data) is measured, and the suction nozzle is determined from the measurement result. In order to inspect the rising movement of the suction nozzle, it is possible to inspect the state where the suction nozzle rise speed is abnormally slow due to the increase in the sliding resistance of the suction nozzle, and it is not necessary to apply a large load to the suction nozzle during the inspection. Even if the suction nozzle is weak, it is possible to accurately inspect whether the suction nozzle is lifted or not without being damaged or broken.

  In this case, as in claim 2, the nozzle rising time during which the suction nozzle rises from the lowered position to the predetermined height position may be measured as the nozzle rising speed data. Since there is a relationship that the rising speed of the suction nozzle becomes slower as the nozzle rising time becomes longer, the nozzle rising time can be used as correlation data of the rising speed of the suction nozzle.

  Specifically, as in claim 3, when the nozzle rising time is equal to or less than the first predetermined value, it may be determined that the suction nozzle rising operation state can be produced within the normal range.

  Further, as in claim 4, when the nozzle rising time is equal to or greater than a second predetermined value that is greater than the first predetermined value, it is determined that the suction nozzle rising operation condition is abnormal and production is impossible, and the nozzle rising time is If it is within the range between the first predetermined value and the second predetermined value, it may be determined that the state of attention is one step before the suction nozzle ascending operation condition becomes abnormal. In this way, it is possible to inspect the suction nozzle ascending operation in three stages, which are normal, abnormal, and a state requiring attention one step before becoming abnormal. For example, when a cautionary state one step before an abnormality is detected, maintenance may be prepared while continuing production. In this way, when it is determined that there is an abnormality thereafter, maintenance can be performed immediately.

  Alternatively, when it is determined that the suction nozzle is in a state of caution one step before the suction nozzle rises abnormally, the time interval for checking the suction nozzle lift operation is set longer than before. Alternatively, a short time may be set. In this way, production can be continued until just before the suction nozzle ascending operation becomes abnormal, leading to an improvement in the operating rate of the component mounting machine and a reduction in the number of maintenance. Also, when the suction nozzle ascending operation is normal, the time interval for performing the suction nozzle ascending operation inspection can be extended, the number of inspections can be reduced, and the operation of the component mounting machine can be reduced. The rate can be improved.

  Further, as in claim 6, it is preferable to have a configuration including notifying means for notifying the operator of the inspection result of the nozzle operation condition inspecting means. In this way, when an abnormality in the raising operation of the suction nozzle is detected by the nozzle operation condition inspection unit, it is possible to prompt the operator to perform maintenance immediately by notification from the notification unit.

  As an embodiment of the present invention, for example, as in claim 7, the Z-axis drive means for moving the nozzle head up and down, and the nozzle head rotates in the vertical direction in conjunction with the vertical movement of the suction nozzle. Detected when the height position of the rotation lever and the end of the rotation lever opposite to the end on the suction nozzle side (hereinafter referred to as “detection end”) is below the reference height position. A reference height detecting means for outputting a signal; and a stopper means for restricting a lowering limit position of the detection end portion of the rotating lever to a position equal to or lower than the reference height position, and the nozzle head by the Z-axis driving means. And the detection end of the pivot lever reaches the lower limit position regulated by the stopper means during the lowering, while receiving the detection end of the pivot lever at the lower limit position. For lowering the nozzle head By rotating the rotation lever, the suction nozzle is pushed down by a predetermined amount against the urging force of the urging means. From this state, the nozzle head is raised by the Z-axis driving means, The nozzle rising speed data may be measured based on the change timing of the output signal of the reference height detection means after the start. If comprised in this way, nozzle raising speed data can be measured using the reference height detection means which detects the reference height position (reference height position of a nozzle head and a suction nozzle) of the detection end part of a rotation lever. Therefore, it is not necessary to add a new sensor, and the demand for cost reduction can be satisfied.

  In this case, as in claim 8, when the nozzle head is raised by the Z-axis driving means, the nozzle head is raised at a predetermined speed that is lower than the normal rising speed of the suction nozzle and faster than the rising speed at the time of caution. It is good to make it. In this way, if the suction nozzle lifting operation is in a state of caution or abnormality, the suction nozzle lifting speed is slower than the nozzle head lifting speed, but the suction nozzle lifting operation is normal Is the state in which the detection end of the rotation lever is received at the lower limit position when the nozzle head is raised (the reference height detection means While the detection end is detected), the rotation lever is rotated to raise the suction nozzle, so the reference height detection means detects the detection end of the rotation lever while the nozzle head is raised. It is possible to determine whether or not the suction nozzle lifting speed is normal by determining whether or not the suction nozzle lifting speed is faster than the nozzle head lifting speed depending on whether or not the maintained state is maintained. That.

  Further, as described in claim 9, the nozzle head ascending may be stopped for a predetermined time at a predetermined height position below the reference height position while the nozzle head is being lifted by the Z-axis driving means. In this way, when the ascending speed of the suction nozzle is slower than the ascent speed of the nozzle head, the detection end of the rotation lever moves away from the reference height position after the start of the ascent of the nozzle head, and the reference height Although the detection means does not detect the detection end of the rotation lever, the detection end of the rotation lever returns to the reference height position again due to the rotation of the rotation lever caused by the rising of the suction nozzle during the nozzle head ascending stop period. It descends and is detected by the reference height detecting means. In this case, since the time from the start of rising of the nozzle head (start of rising of the suction nozzle) until the detection end of the rotating lever is detected by the reference height detecting means becomes longer as the rising speed of the nozzle head is slower, What is necessary is just to measure this time as nozzle raising speed data.

  The present invention is not limited to the configuration in which the nozzle elevation speed data is measured using the reference height detection means. For example, as in claim 10, the lower end of the suction nozzle that rises from the lowered position is set to a predetermined value. A non-contact sensor such as an optical sensor that detects at the height position is provided, and the time from when the suction nozzle starts to rise until the lower end of the suction nozzle is detected by the non-contact sensor is measured as the nozzle rising speed data. May be. As described above, the present invention can be easily implemented even if a non-contact sensor such as an optical sensor is used.

FIG. 1 is a diagram showing a configuration of a suction nozzle operation condition inspection apparatus according to Embodiment 1 of the present invention (No. 1). FIG. 2 is a diagram showing a configuration of the suction nozzle operation condition inspection device according to the first embodiment of the present invention (part 2). FIG. 3 is a diagram showing the configuration of the suction nozzle operation state inspection apparatus according to Embodiment 1 of the present invention (part 3). FIG. 4 is a time chart for explaining the suction nozzle operation state inspection method according to the first embodiment of the present invention. FIG. 5 is a flowchart showing the flow of processing of the suction nozzle operation state inspection program in Embodiment 1 of the present invention. FIG. 6 is a flowchart showing the flow of processing of the inspection execution interval setting program according to the first embodiment of the present invention. FIG. 7 is a diagram showing the configuration of the suction nozzle operation state inspection apparatus in Embodiment 2 of the present invention.

  Hereinafter, two Examples 1 and 2 which embody the form for implementing this invention are demonstrated.

A first embodiment of the present invention will be described with reference to FIGS.
First, the configuration of the suction nozzle operation condition inspection device of the component mounting machine will be described with reference to FIGS. 1 to 3.

  A revolver head 11 which is a nozzle head is attached to a head holding device 12 of a component mounting machine in a replaceable manner. The head holding device 12 is provided with a head lifting device (Z-axis driving means) that drives the revolver head 11 in the Z-axis direction (vertical direction), a head rotating device (not shown) that drives the revolver head 11 to rotate, and the like. It has been.

  In the revolver head 11, a plurality of (for example, 12) suction nozzles 13 are arranged at equal intervals on the same circumference, and each suction nozzle 13 is fitted and supported in each nozzle sliding hole so as to be slidable in the vertical direction. Has been. An air passage 14 for applying a negative pressure or a positive pressure to the nozzle tip opening is formed inside each suction nozzle 13, and the air passage 14 communicates with an air passage (not shown) in the revolver head 11. Is configured to do.

  Further, at the position adjacent to the upper end of each suction nozzle 13 in the revolver head 11, a rotation lever 16 that rotates in the vertical direction about the rotation shaft 15 is attached. The U-groove portion 17 formed at one end portion of the 16 is fitted into an engagement pin 18 provided at the upper end portion of the suction nozzle 13 so that the rotation lever 16 moves in the vertical direction (clockwise) in conjunction with the vertical movement of the suction nozzle 13. Direction / counterclockwise).

  The revolver head 11 has a spring 19 (biasing means) that applies a spring force (biasing force) in a direction (clockwise) to push up a portion of the rotating lever 16 closer to the suction nozzle 13 than the rotating shaft 15. The suction nozzle 13 is raised to the ascent limit position by the spring force of the spring 19.

  Note that the configuration for biasing the suction nozzle 13 upward (configuration for biasing the rotation lever 16 in the clockwise direction) is not limited to the above configuration, and for example, it is rotated by a torsion coil spring provided on the rotation shaft 15. The lever 16 is urged clockwise, or the portion of the rotating lever 16 opposite to the suction nozzle 13 is urged in a downward direction (clockwise) by a spring such as a spring. In short, the pivoting lever 16 may be urged clockwise by urging means such as a spring. Alternatively, the suction nozzle 13 may be biased upward by a spring such as a spring.

  At a predetermined position of the component mounting machine, a reference height detection switch 21 (reference) for detecting the reference height position of the detection end 20 of the rotation lever 16 (reference height position of the revolver head 11 and the suction nozzle 13). Height detecting means) is installed via the switch base 27. The reference height detection switch 21 includes a push-type switch unit 22, an arm unit 24 that pivots up and down about a shaft 23 to switch the switch unit 22 on and off, and a tip of the arm unit 24. A stopper portion 25 (stopper means) for restricting the lower limit position of rotation on the part side (rotation lever 16 side), and a torsion coil spring for urging the tip end side of the arm portion 24 upward (clockwise) And the like.

  When detecting the reference height position of the detection end 20 of the rotation lever 16 (reference height position of the suction nozzle 13), as shown in FIG. 1, the detection end 20 of the rotation lever 16 (the suction nozzle 13). The revolver head 11 is moved or rotated so that the end 20) opposite to the end on the side is positioned directly above the tip of the arm 24 of the reference height detection switch 21. The revolver head 11 is lowered by the head lifting device 12 so that the detection end portion 20 of the rotation lever 16 is brought into contact with the tip end portion of the arm portion 24 of the reference height detection switch 21. After this, when the revolver head 11 is lowered, the detection end 20 of the rotation lever 16 pushes down the tip end side of the arm portion 24 and the arm portion 24 pushes the switch portion 22 to turn it on. Thereby, the height position when the switch unit 22 is switched on is detected as the reference height position of the suction nozzle 13 (the reference height position of the detection end 20 of the rotation lever 16).

  At this reference height position, the stopper pin 28 of the arm portion 24 is still separated upward from the stopper portion 25, so that the revolver head 11 is lowered until the stopper pin 28 of the arm portion 24 contacts the stopper portion 25. The detection end portion 20 of the rotation lever 16 pushes down the tip end side of the arm portion 24.

Next, a method for inspecting the raising operation state of the suction nozzle 13 will be described.
First, as shown in FIG. 1, the revolver head 11 is moved to the initial position at the time of inspection so that the detection end 20 of the rotation lever 16 is positioned right above the tip of the arm 24 of the reference height detection switch 21. Alternatively, after the rotation, the revolver head 11 is lowered relatively slowly at a low speed by the head lifting device of the head holding device 12. As a result, the detection end 20 of the rotation lever 16 comes into contact with the tip of the arm portion 24 of the reference height detection switch 21, and thereafter the rotation of the rotation lever 16 with the revolver head 11 descending. The detection end portion 20 pushes down the tip end side of the arm portion 24 and the arm portion 24 pushes the switch portion 22 to turn it on.

  Thereafter, the revolver head 11 is lowered at a low speed, and the detection end 20 of the rotation lever 16 pushes down the tip end side of the arm portion 24. As a result, as shown in FIG. 2, until the stopper pin 28 of the arm portion 24 is lowered to the stopper position where it abuts against the stopper portion 25, the position of the rotating lever 16 and the suction nozzle 13 is changed by the spring force of the spring 19 to the nozzle. It is held at the limit position on the ascending side. Even after the stopper pin 28 of the arm portion 24 comes into contact with the stopper portion 25, the revolver head 11 is lowered at a low speed, and the lowering of the detection end portion 20 of the rotating lever 16 is stopped by the stopper portion 25. As the head 11 is lowered, the detection end 20 of the rotation lever 16 is pushed up against the spring force of the spring 19 and the rotation lever 16 is rotated counterclockwise to lower the suction nozzle 13.

  As a result, as shown in FIG. 3, the revolver head 11 is lowered at a low speed until the rotation lever 16 and the suction nozzle 13 reach the limit position (effective stroke end) on the nozzle lowering side, and then the revolver head 11 is moved. It raises at a high speed, and the raising operation state of the suction nozzle 13 is inspected as follows.

  First, the revolving speed of the revolver head 11 is set to a high speed (a predetermined speed that is equal to or lower than the normal rising speed of the suction nozzle 13 and higher than the rising speed at the time of attention described later), and a predetermined height that is equal to or lower than the reference height position. After being raised at a high speed to a position (for example, the stopper position where the arm portion 24 contacts the stopper portion 25), the revolver head 11 is stopped at the position for a predetermined time, and then the revolver head 11 is resumed. To quickly return to the original height position. The height position at which the revolver head 11 is stopped from rising for a predetermined time is not limited to the stopper position, but is a height position below the reference height position, that is, a height at which the switch portion 22 of the reference height detection switch 21 is turned on. What is necessary is just to set suitably in the range of a position.

  When the revolver head 11 is raised from a limit position on the nozzle lowering side to a predetermined height position (for example, a stopper position) below the reference height position, the ascent speed of the revolver head 11 is less than the normal ascent speed of the suction nozzle 13. If the predetermined speed higher than the predetermined speed at the time of attention is set to a predetermined speed, the upward speed of the suction nozzle 13 is increased by the revolver head 11 when the upward movement of the suction nozzle 13 is in a state requiring attention or abnormality. Although it is slower than the speed, when the raising operation of the suction nozzle 13 is normal, the raising speed of the suction nozzle 13 is faster than the raising speed of the revolver head 11, so that the rotation lever 16 is detected when the revolver head 11 is raised. Rotating lever while maintaining the state where the end portion 20 is received at the lower limit position (the ON state of the switch portion 22 of the reference height detection switch 21) 6 is rotated to raise the suction nozzle 13, the switch portion 22 of the reference height detection switch 21 is turned on (the detection end portion 20 of the reference height detection switch 21 is detected while the revolver head 11 is raised). Whether or not the ascending speed of the suction nozzle 13 is normal by determining whether or not the ascent speed of the suction nozzle 13 is faster than the ascent speed of the revolver head 11. Can do.

  In addition, if the revolver head 11 is stopped at a predetermined height position (for example, a stopper position) equal to or lower than the reference height position while the revolver head 11 is being lifted, the rising speed of the suction nozzle 13 is increased. 11 is slower than the rising speed of the revolver head 11, the detection end 20 of the rotating lever 16 moves away from the reference height position after the revolver head 11 starts to rise, and the switch portion 22 of the reference height detection switch 21 is turned off. However, the detection end 20 of the rotating lever 16 is lowered again to the reference height position by the rotation of the rotating lever 16 due to the lifting of the suction nozzle 13 during the period when the revolver head 11 is not lifted and the reference height is detected. The switch unit 22 of the switch 21 is switched to the on state. In this case, as shown in FIG. 4, the time from when the revolver head 11 starts to rise (start of raising the suction nozzle 13) to when the switch unit 22 of the reference height detection switch 21 is switched on (hereinafter “nozzle rise time”). ) Becomes longer as the revolving speed of the revolver head 11 becomes slower. Therefore, the nozzle ascent time may be measured as data (nozzle ascent speed data) correlated with the nozzle ascent speed.

  In this case, when the nozzle ascending time is equal to or less than the first predetermined value, it is determined that the ascending operation state of the suction nozzle 13 can be produced within the normal range. Further, when the nozzle rising time is equal to or greater than a second predetermined value that is larger than the first predetermined value, it is determined that the raising operation state of the suction nozzle 13 is abnormal and production is impossible, and the nozzle rising time is equal to the first predetermined value. When it is within the range of the second predetermined value, the suction nozzle 13 is determined to be in a state of caution one step before the rising operation condition becomes abnormal. In this way, it is possible to perform the inspection by classifying the lifting operation state of the suction nozzle 13 into three stages of normal, abnormal, and a state requiring attention one step before becoming abnormal. For example, when a cautionary state one step before an abnormality is detected, maintenance may be prepared while continuing production. In this way, when it is determined that there is an abnormality thereafter, maintenance can be performed immediately.

  Furthermore, in the first embodiment, when it is determined that the raising operation state of the suction nozzle 13 is normal, the time interval for checking the raising operation state of the suction nozzle 13 is set to be long, and the raising operation state of the suction nozzle 13 is abnormal. When it is determined that the state needs attention one step before, the time interval for inspecting the rising operation state of the suction nozzle 13 is set to a shorter time than before. In this way, production can be continued until immediately before the suction nozzle 13 rises abnormally, leading to an improvement in the operating rate of the component mounting machine and a reduction in the number of maintenance. Moreover, when the raising operation state of the suction nozzle 13 is normal, the time interval for performing the inspection of the raising operation state of the suction nozzle 13 can be extended, the number of inspections can be reduced, and the component mounting machine The operating rate can be improved.

  In addition, the inspection result of the ascending operation of the suction nozzle 13 is displayed on the display device (notification means), and if the inspection result is abnormal or requires attention, the operator is also notified by voice in addition to the display. To arouse.

The inspection of the raising operation state of the suction nozzle 13 according to the first embodiment described above is executed according to the programs shown in FIGS. 5 and 6 by a control device (not shown) of the component mounting machine. Hereinafter, the processing contents of these programs will be described.
[Suction nozzle operation condition inspection program]
The suction nozzle operation condition inspection program of FIG. 5 is executed at a time interval set by an inspection execution interval setting program of FIG. 6 to be described later, and serves as a nozzle ascending speed data measuring means and a nozzle operation condition inspection means in the claims. Play a role.

  When this program is started, first, at step 101, as shown in FIG. 1, the detection end 20 of the rotation lever 16 is positioned directly above the tip of the arm 24 of the reference height detection switch 21. Then, the revolver head 11 is moved or rotated to the initial position at the time of inspection. Thereafter, the process proceeds to step 102, and the revolver head 11 is lowered to the lower limit position (or a predetermined position set slightly higher than the lower limit value) which is the effective stroke end at a low speed by the head lifting device of the head holding device 12. .

  While the revolver head 11 is being lowered, the detection end 20 of the rotation lever 16 is in contact with the tip of the arm portion 24 of the reference height detection switch 21, and thereafter the revolver head 11 is lowered. The detection end portion 20 of the rotating lever 16 pushes down the tip end side of the arm portion 24, the arm portion 24 pushes the switch portion 22 on, and the stopper pin 28 of the arm portion 24 is moved to the stopper portion 25. After the contact, the detection end 20 of the rotation lever 16 resists the spring force of the spring 19 as the revolver head 11 is lowered while the detection end 20 of the rotation lever 16 is stopped by the stopper 25. Then, the rotation lever 16 rotates counterclockwise and the suction nozzle 13 is lowered, and finally the rotation lever 16 and the suction nozzle 13 reach the limit position on the nozzle lowering side. .

  Thereafter, the process proceeds to step 103 where the revolver head 11 is raised at a high speed (a predetermined speed that is lower than the normal rising speed of the suction nozzle 13 and faster than the rising speed at the time of caution). 11 is stopped at the stopper position. Thereafter, the process proceeds to step 105, in which processing for detecting the timing (on timing) at which the switch portion 22 of the reference height detection switch 21 is switched on during the stop period of the revolver head 11 is performed. Repeat until time is reached (step 106).

  At this time, as shown in FIG. 4, when the raising operation state of the suction nozzle 13 is normal, the switch portion 22 of the reference height detection switch 21 is turned on after the revolver head 11 starts to rise and after the revolver head 11 stops. In step 105, the stop timing of the revolver head 11 is detected as the ON timing. However, if the lifting operation of the suction nozzle 13 is in a cautionary state or abnormal, the revolver head 11 is stopped. The on-timing is detected with a delay during the period.

  When the ascent of the suction nozzle 13 has stopped from the beginning of the ascent of the revolver head 11 or has stopped in the middle of the ascent, the switch unit 22 of the reference height detection switch 21 is switched during the stop period of the revolver head 11. It remains in the off state without switching to the on state.

  When the stop time of the revolver head 11 exceeds a predetermined time, the routine proceeds to step 107, from the start of raising the revolver head 11 (start of raising the suction nozzle 13) to the ON timing of the switch portion 22 of the reference height detection switch 21. Time (nozzle rise time) is calculated. At this time, when the suction nozzle 13 is maintained in the ON state from the beginning of the stop period (normal time), the time from the start of the revolver head 11 to the stop is calculated as the nozzle rise time, and the revolver head 11 When the switch unit 22 of the reference height detection switch 21 does not switch to the ON state during the stop period (abnormal state), the time from the start of the revolver head 11 to the end of the stop period is calculated as the nozzle rise time. The

  Thereafter, the process proceeds to step 108, and it is determined whether or not the nozzle rising time is equal to or less than the first predetermined value. Here, the first predetermined value is set to a time from the start of the revolver head 11 to its stop or a time slightly longer than this. If it is determined in step 108 that the nozzle ascending time is equal to or less than the first predetermined value, the process proceeds to step 110, and it is determined that the ascending operation state of the suction nozzle 13 can be produced within the normal range.

  On the other hand, if it is determined in step 108 that the nozzle rising time is longer than the first predetermined value, the process proceeds to step 109, and whether the nozzle rising time is equal to or shorter than the second predetermined value longer than the first predetermined value. Determine whether or not. Here, the second predetermined value is set to a time shorter than the time from when the revolver head 11 starts to rise to when the stop period ends (time until the middle of the stop period). If it is determined in step 109 that the nozzle ascending time is equal to or less than the second predetermined value, the process proceeds to step 111, where it is determined that the state is a state of caution one step before the suction nozzle 13 rises abnormally. In this case, it is up to the operator to decide whether to continue production or perform maintenance.

  On the other hand, if it is determined in step 109 that the nozzle ascending time is longer than the second predetermined value, the process proceeds to step 112, where it is determined that the raising operation state of the suction nozzle 13 is abnormal and production is impossible.

  As described above, in steps 108 to 112, the raising operation state of the suction nozzle 13 is inspected in three stages of normal, abnormal, and abnormal states one step ahead of the abnormal state, and then the process proceeds to step 113. The inspection result is displayed on a display device (notification means), and if the inspection result is abnormal or requires attention, the operator is also notified by voice in addition to the display. Thereafter, the process proceeds to step 114 where the revolver head 11 is raised to the initial position at the time of inspection, and this program ends.

[Examination execution interval setting program]
The inspection execution interval setting program in FIG. 6 is executed after the processing of the suction nozzle operation state inspection program in FIG. 5 is completed, and the time interval for executing the suction nozzle operation state inspection program in FIG. 5 is set as follows. The

  When this program is started, first, in step 201, it is determined whether or not the inspection result of the raising operation state of the suction nozzle 13 is “normal” based on the processing result of the suction nozzle operation state inspection program of FIG. If the inspection result is “normal”, the process proceeds to step 202, and the inspection execution interval is set to a long time (a predetermined time or a time input by the operator).

  On the other hand, if it is determined in step 201 that the inspection result of the ascending operation state of the suction nozzle 13 is not “normal”, the process proceeds to step 203, and the inspection result of the ascending operation state of the suction nozzle 13 is “cautionary state”. If the inspection result is “attention required”, the process proceeds to step 204, and the inspection execution interval is set to a long time (predetermined predetermined time or time input by the operator). .

If both of the above steps 201 and 202 are determined as “No”, that is, if the inspection result is “abnormal”, the process proceeds to step 205 to stop production.
Thereafter, after the maintenance is performed and before the production is started, the suction nozzle operation condition inspection program of FIG. 5 is executed to inspect the ascending operation condition of the suction nozzle 13.

  According to the first embodiment described above, data (nozzle up) that correlates with the rising speed of the suction nozzle 13 when the suction nozzle 13 is actually raised from the lowered position (for example, the lower limit position) by the spring force of the spring 19. Speed data) is measured, and the ascending operation of the suction nozzle 13 is inspected from the measurement result, so that the state in which the ascent speed of the suction nozzle 13 is abnormally slowed by an increase in the sliding resistance of the suction nozzle 13 can also be inspected. At the same time, it is not necessary to apply a large load to the tip of the suction nozzle 13 at the time of inspection, and the suction nozzle 13 having a low mechanical strength can be accurately inspected for the raising operation state of the suction nozzle 13 without being damaged or broken. Can do.

  In the second embodiment of the present invention shown in FIG. 7, as a non-contact sensor that detects the lower end (tip) of the suction nozzle 13 rising from the lowered position (for example, the lower limit position) at a predetermined height position, for example, transmissive light Sensors (light projecting element 31 and light receiving element 32) are provided, and the time from when the suction nozzle 13 starts to rise until the lower end of the suction nozzle 13 is detected by the optical sensor (nozzle rise time) is measured as nozzle rise speed data. I am doing so. In this case as well, as in the first embodiment, the nozzle rising time is compared with the first predetermined value and the second predetermined value, and the raising operation state of the suction nozzle 13 is required to be one step before becoming normal, abnormal, or abnormal. What is necessary is just to classify and inspect in three stages of attention states.

  The non-contact sensor for detecting the lower end of the suction nozzle 13 is not limited to the transmission type optical sensor, and a reflection type optical sensor may be used, or other non-contact sensors such as a proximity sensor and an ultrasonic sensor may be used. A contact sensor may be used.

  Further, the present invention is not limited to the inspection of the ascending operation of the suction nozzle 13 in three stages of normal, abnormal, and cautionary states, but inspected in two stages of normal and abnormal. Alternatively, the inspection may be divided into four or more stages. Alternatively, the inspection result of the raising operation state of the suction nozzle 13 may be converted into the sliding resistance of the suction nozzle 13 and displayed, or converted into the rise delay time of the suction nozzle 13 and displayed.

  In addition, it goes without saying that the present invention can be implemented with various modifications without departing from the gist, such as being applicable to a component mounting machine having a nozzle head other than the revolver head.

  DESCRIPTION OF SYMBOLS 11 ... Revolver head (nozzle head), 12 ... Head holding device, 13 ... Adsorption nozzle, 14 ... Air passage, 16 ... Turning lever, 19 ... Spring (biasing means), 20 ... Detection end, 21 ... Reference height Length detection switch (reference height detection means), 22 ... switch part, 24 ... arm part, 25 ... stopper part (stopper means), 26 ... spring, 31 ... light emitting element, 32 ... light receiving element (light sensor)

Claims (10)

The suction nozzle is slidable in the vertical direction on the nozzle head, and when the component is picked up, the suction nozzle is lowered to suck the component, and then the suction nozzle is raised to the original height position by the biasing force of the biasing means. In the suction nozzle operation condition inspection device of the component mounting machine,
Ascending speed at which the suction nozzle is raised by the biasing force of the biasing means from a position where the suction nozzle is lowered (hereinafter referred to as “lowering position”) or correlation data thereof (hereinafter collectively referred to as “nozzle lifting speed data”). Nozzle rising speed data measuring means for measuring)
A suction nozzle operating condition of a component mounting machine, comprising: nozzle operating condition inspection means for inspecting a rising operation condition of the suction nozzle based on nozzle rising speed data measured by the nozzle rising speed data measuring means. Inspection device.   2. The component mounting according to claim 1, wherein the nozzle rising speed data measuring unit measures, as the nozzle rising speed data, a nozzle rising time during which the suction nozzle rises from the lowered position to a predetermined height position. Machine suction nozzle operation condition inspection device.   The said nozzle operation condition inspection means determines that the raising operation condition of the said suction nozzle can be produced within a normal range, when the said nozzle raising time is below a 1st predetermined value. Adsorption nozzle operation condition inspection device for component mounting machines.   The nozzle operating condition inspection means determines that the suction nozzle operating condition is abnormal and cannot be produced when the nozzle rising time is greater than or equal to a second predetermined value greater than the first predetermined value, and the nozzle rising time 4 is determined to be a state of caution one step before the suction nozzle ascending operation becomes abnormal when the value is within a range between the first predetermined value and the second predetermined value. The suction nozzle operation condition inspection device of the component mounting machine described in 1.   The nozzle operation condition inspection means performs an inspection of the suction nozzle ascending operation condition at predetermined time intervals, and determines that it is a state of caution one step before the suction nozzle ascending operation condition becomes abnormal. 5. The suction nozzle operation condition inspection device for a component mounting machine according to claim 1, wherein a time interval for inspecting the ascending operation condition of the suction nozzle is set to be shorter than before.   The suction nozzle operation condition inspection device for a component mounting machine according to any one of claims 1 to 5, further comprising notification means for notifying an operator of an inspection result of the nozzle operation condition inspection means. Z-axis drive means for moving the nozzle head up and down;
A rotation lever that rotates in the vertical direction in conjunction with the vertical movement of the suction nozzle with respect to the nozzle head;
A reference for outputting a detection signal when the height position of the end of the rotating lever opposite to the end on the suction nozzle side (hereinafter referred to as “detection end”) is equal to or lower than the reference height position. Height detection means;
Stopper means for restricting the lower limit position of the detection end of the rotating lever to a position equal to or lower than the reference height position;
The nozzle ascending speed data measuring means lowers the nozzle head by the Z-axis driving means, and after the detection end of the rotating lever reaches the lowering limit position regulated by the stopper means during the lowering. The suction nozzle is resisted against the biasing force of the biasing means by rotating the pivot lever as the nozzle head is lowered while receiving the detection end of the pivot lever at the lower limit position. Depressing a predetermined amount, raising the nozzle head by the Z-axis drive means from this state, and measuring the nozzle rise speed data based on the change timing of the output signal of the reference height detection means after the rise start The suction nozzle operation condition inspection device for a component mounting machine according to any one of claims 1 to 6.   The nozzle rising speed data measuring means is configured to move the nozzle head at a predetermined speed that is equal to or lower than a normal rising speed of the suction nozzle and higher than a rising speed at the time of caution when the nozzle head is lifted by the Z-axis driving means. The suction nozzle operation condition inspection device for a component mounting machine according to claim 7, wherein the suction nozzle operation condition inspection device is raised.   The nozzle rising speed data measuring means stops the raising of the nozzle head for a predetermined time at a predetermined height position equal to or lower than the reference height position while raising the nozzle head by the Z-axis driving means. The suction nozzle operation condition inspection device for a component mounting machine according to claim 7 or 8. A non-contact sensor for detecting a lower end of the suction nozzle rising from the lowered position at a predetermined height position;
2. The nozzle ascending speed data measuring means measures the time from when the suction nozzle starts to rise until the non-contact sensor detects the lower end of the suction nozzle as the nozzle rising speed data. A suction nozzle operation condition inspection device for a component mounting machine according to any one of claims 1 to 6.

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