JP6678057B2 - Electronic component mounting machine - Google Patents

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electronic component mounting machine provided with a plurality of robots for picking up an electronic component supplied to a component supply device and mounting the electronic component on a circuit board.

  In an electronic component placement machine equipped with two sets of robots for picking up electronic components supplied to a component supply device and mounting the components on a circuit board, when the two sets of robots are simultaneously driven at high speed, each robot is driven. The power supply voltage supplied to the drive motor is reduced, and abnormal noise due to a malfunction of the servo system occurs during the production of the electronic component mounting machine, or a voltage shortage error occurs, which adversely affects the production. In particular, such a phenomenon is likely to occur when there is no margin in the power supply capacity of the factory equipment such as a shortage of the transformer capacity of the factory equipment or a small supply wire size.

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

JP 2010-157622 A

  However, the above-mentioned Patent Document 1 merely describes that each drive motor is individually operated under a low load when the power supply voltage is lowered, and the operation timings of a plurality of robots are shifted. However, no consideration is given to continuing the operation of the electronic component mounting machine.

  SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and by shifting the operation timings of a plurality of robots, it is possible to suppress the occurrence of a voltage shortage error even when the power equipment capacity of a factory is low. The purpose is to provide a machine.

To solve the above problems, an electronic component mounting apparatus of the present invention, respectively by a drive motor to move in the XY directions, an electronic component supplied from the component supplying device and the suction by the suction nozzle, the sucked by the suction nozzle the electronic component is captured by the component recognition camera, in the electronic component mounting apparatus having a plurality of robots to mount the electronic component on a circuit board, a power supply voltage supplied to each of said driving motor of said plurality of robots A voltage monitoring device that monitors the operation timing of the plurality of robots based on the fact that the power supply voltage monitored by the voltage monitoring device is equal to or less than a predetermined threshold value due to the simultaneous operation of the plurality of robots. and a control unit for controlling to perform a safety mode operation do not overlap current peak Te, the driving motor, the suction nozzle It includes a X-axis drive motor and Y-axis drive motor for moving the mounting head to lifting the XY direction and a Z-axis drive motor for moving the suction nozzle in the vertical direction, the control device, the plurality The safety mode operation is executed by shifting the operation timing of the other robot with respect to the operation timing of the other robot, and an operator is warned that the operation mode is being shifted to the safety mode operation. It is characterized by doing.

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

FIG. 1 is a schematic plan view of an electronic component mounting machine provided with two sets of robots showing an embodiment of the present invention. It is a figure showing a control block which controls an electronic parts mounting machine. FIG. 3 is a diagram illustrating a control circuit that controls a drive motor of the robot. It is a figure showing the flow chart which controls an electronic component mounting machine.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. As shown in FIG. 1, the electronic component mounting machine 10 according to the present embodiment is provided on a base 21 and has a board transfer device 11 for transferring a circuit board PB, and a board transfer device 11 on both sides of the board transfer device 11. Two sets of component supply devices 13 and 14 provided to supply electronic components to be mounted on the circuit board PB, and electronic components provided above the base 21 and supplied by the component supply devices 13 and 14 are sucked. And two sets of component mounting devices 15 and 16 for transporting and mounting them on the circuit board PB, and a control device 20 for controlling the board transport device 11, component supply devices 13 and 14, component mounting devices 15 and 16, and the like. Have. In the following description, the transport direction of the circuit board PB is defined as the X-axis direction, the horizontal direction perpendicular to the X-axis direction is defined as the Y-axis direction, and the vertical direction perpendicular to the X-axis and the Y-axis is defined as the Z-axis direction. .

  The board transfer device 11 carries the circuit board PB into the component mounting position A, clamps the circuit board PB, and after mounting the electronic components on the circuit board PB, unloads the circuit board PB from the component mounting position A. The board transfer device 11 includes a pair of conveyor belts (not shown) that transfer the circuit board PB along the pair of guide rails 11a and 11b.

  The component supply devices 13 and 14 are respectively constituted by a plurality of tape feeders 23 and 24 mounted so as to be capable of feeding a carrier tape containing electronic components at a predetermined interval, and these tape feeders 23 and 24 are mounted on the base 21. They are detachably arranged side by side in the X-axis direction.

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

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

  One or a plurality of suction nozzles 39, 40 are supported by the mounting heads 35, 36 so as to be vertically movable and rotatable, respectively. Although not shown, the mounting heads 35 and 36 have a Z-axis drive motor for moving the suction nozzles 39 and 40 in the vertical direction (Z-axis direction), and the suction nozzles 39 and 40 rotate around the vertical axis (θ-axis). Is provided with a θ-axis drive motor that rotates the motor.

  Component recognition cameras 41 and 42 are provided between the substrate transfer device 11 and the two sets of component supply devices 13 and 14, respectively, and the component recognition cameras 41 and 42 suck the components with the suction nozzles 39 and 40. The electronic component is imaged, and the amount of displacement of the electronic component with respect to the suction nozzles 39 and 40 around the XY axes and the θ axis can be detected.

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

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

  Note that the capacity of the Y-axis drive motors 37 and 38 for driving the heavy Y-axis sliders 33 and 34 is larger than other drive motors. When driving at the same time, a voltage shortage error is likely to occur due to a drop in the power supply voltage. Therefore, FIG. 3 shows only the Y-axis drive motors 37 and 38 that greatly affect the voltage drop.

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

  In step S100, control device 20 determines whether or not the power supply voltage monitored by voltage monitoring device 58 has fallen below a preset threshold value P0. When it is determined that the power supply voltage is not lower than the threshold value P0 (the determination result is NO), the process proceeds to step S102. In step S102, the control device 20 executes the normal mode operation for the electronic component mounting machine 10. That is, the electronic component placement machine 10 is controlled according to a placement program programmed in advance.

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

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

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

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

  By executing such a safety mode operation, the power supply voltage is prevented from dropping below the threshold value P0, and the electronic component mounting machine 10 can be continuously operated so that a voltage shortage error does not occur.

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

  However, when the operator takes necessary improvement measures in response to the power supply equipment improvement warning, the flag set in step S108 is reset, and the determination result in step S112 becomes YES. Then, the processing program is returned, and it is possible to return to the normal mode operation.

  In the above-described embodiment, the electronic component mounting machine includes a voltage monitoring device 58 that monitors the power supply voltage supplied to each of the Y-axis drive motors 37 and 38 of the two robots 15 and 16, and the two robots 15 and 16. Based on the fact that the power supply voltage monitored by the voltage monitoring device 58 falls below the predetermined threshold value P0 in accordance with the simultaneous operation of the two robots 16 and 16, the operation timings of the two robots 15 and 16 are shifted to overlap the current peak. And a control device 20 for performing control so as to execute the safety mode operation.

  Thus, even when the power facility capacity of the factory is low, the occurrence of a voltage shortage error can be suppressed, the production of the electronic component mounting machine 10 can be continued, and the operation rate of the electronic component mounting machine 10 is improved. be able to.

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

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

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

  The present invention is not limited to two robots 15 and 16, but can be applied to an electronic component mounting machine having three or more robots that can operate simultaneously. Also in this case, when the power supply voltage monitored by the voltage monitoring device 58 becomes equal to or less than the predetermined threshold value P0, the operation of the robot that has started moving last may be stopped.

  As described above, the present invention has been described in accordance with the embodiment, but the present invention is not limited to the configuration described in the above embodiment, and does not depart from the gist of the present invention described in the claims. It can take various forms within the range.

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

Claims (4)

The electronic components supplied to the component supply device are sucked by a suction nozzle by being moved in the X and Y directions by a drive motor, and the electronic components sucked by the suction nozzle are imaged by a component recognition camera. An electronic component mounting machine equipped with multiple robots mounted on a circuit board,
A voltage monitoring device for monitoring a power supply voltage supplied to each of said driving motor of said plurality of robots,
A safety mode in which the operation peaks of the plurality of robots are shifted and the current peaks do not overlap based on the fact that the power supply voltage monitored by the voltage monitoring device has fallen below a predetermined threshold value due to the simultaneous operation of the plurality of robots. A control device that controls to execute the operation,
The drive motor includes an X-axis drive motor and a Y-axis drive motor for moving the mounting head supporting the suction nozzle in the XY directions, and a Z-axis drive motor for moving the suction nozzle in the vertical direction. Including
The control device performs the safety mode operation by shifting the operation timing of the other robot with respect to the operation timing of one of the plurality of robots, and provides an operator with the safety mode operation. An electronic component placement machine that warns you of the transition. Wherein the control device, when the power supply voltage is monitored by the voltage monitoring device is below a predetermined threshold, the operator, the electronic component mounting apparatus according to claim 1, warning that it is an insufficient power supply . The control device, the voltage when the supply voltage is monitored by the monitoring device is equal to or less than a predetermined threshold value, the operation of one of said robot started to move after the side stops, then the safety mode operation The electronic component mounting machine according to claim 1 or 2, wherein the electronic component mounting machine is executed. The control device, the voltage monitoring when the power supply voltage is monitored by the device is equal to or less than a predetermined threshold value, controlling one operating speed of the robot of the started moving later side to lower than the command speed 3. The electronic component mounting machine according to claim 1, wherein the safety mode operation is performed thereafter.

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