JP6714479B2 - Surface mounter - Google Patents

Description

The technology disclosed in this specification relates to a surface mounter.

Conventionally, in a surface mounting machine provided with a head unit in which a mounting head for holding and releasing components is provided so as to be able to move up and down, and a head transporting unit for horizontally transporting the head unit by using a motor, a reverse operation generated by a motor is performed. There is known one having a dynamic brake that brakes a motor by consuming an electromotive force (for example, see Patent Document 1).

Specifically, the electronic component mounting device described in Patent Document 1 applies a dynamic brake when the safety control device is turned off. However, if the dynamic brake is applied, it becomes difficult to manually move the XY-axis mechanism during maintenance. Therefore, in the electronic component mounting apparatus, it is possible to disable the dynamic brake function by operating the motor disconnecting switch. It has become.

JP, 2009-200070, A

By the way, as shown in FIG. 17, as one of the maintenance of the surface mounter, there is replacement of the suction nozzle 103 detachably attached to the mounting head 101. Specifically, the suction nozzle 103 may be clogged or deformed, in which case an operator may manually replace the suction nozzle 103. Generally, when exchanging the suction nozzle 103, an operator manually moves the head unit 100 to a position where it is easy to work, and lowers the nozzle shaft 102 by hand to replace the suction nozzle 103.

In that case, when the hand is originally released after the suction nozzle 103 is exchanged, the mounting head 101 returns to the upper position by the spring, but as shown in FIG. 18, the mounting head 101 does not return to the upper position and stays lowered. It may be in a state. Alternatively, the mounting head 101 may remain lowered due to the weakening of the biasing force of the spring due to changes over time. In that case, as shown in FIG. 18, the worker may move the head unit 100 without noticing that the mounting head 101 is still lowered.

In that case, when the dynamic brake is turned off, the moving speed of the head unit 100 cannot be suppressed, and the mounting head 101 urges the component member 104 disposed below the head unit 100 in the movable range of the head unit 100. There is a risk that they will collide and break. That is, the mounting head 101 may be damaged.

The present specification discloses a technique capable of suppressing damage to the mounting head while suppressing deterioration in maintainability.

The surface mounting machine disclosed in the present specification is a head transporter that transports the head unit in a horizontal direction by using a motor and a head unit that has a mounting head that holds and releases components and an elevating unit that raises and lowers the mounting head. A head transport section having a dynamic brake for braking the motor, a detection section for detecting the vertical position of the mounting head, and a head section arranged below the head unit in the movable range of the head unit. And a control unit, wherein the control unit has a lower end position of the mounting head when a predetermined brake-on condition including at least interruption of power supply to the motor is satisfied. Determines whether it is higher or lower than the brake-on position set above the upper end position of the constituent member, and turns on the dynamic brake on the condition that it is lower.

Generally, maintenance is performed when a predetermined brake-on condition including at least interruption of power supply to the motor is satisfied. According to the surface mounter described above, when the brake on condition is satisfied, the dynamic brake is turned on with a condition that it is determined to be low, so the worker does not notice that the mounting head is lowered and When the head unit is moved, the moving speed is suppressed by the dynamic brake. For this reason, it is possible to prevent the mounting head from colliding with the constituent members and being damaged. Therefore, according to the above-mentioned surface mounting machine, it is possible to suppress damage to the mounting head while suppressing deterioration in maintainability.

It should be noted that the above-mentioned "turning on the dynamic brake on the condition that it is determined to be low" includes the case where the dynamic brake is always turned on when it is determined to be low, and the dynamic brake is only determined to be low. When the dynamic brake is turned on when another condition is satisfied in addition to the determination that the value is not turned on.

Further, the control unit may turn off the dynamic brake when a lower end position of the mounting head is higher than a brake off position set above the brake on position.

It is possible to make the brake-on position and the brake-off position the same, but doing so makes it possible to turn on/off the dynamic brake by a slight vertical movement of the mounting head when the lower end position of the mounting head is near those positions. It is feared that the relay will be repeatedly turned off and the life of the mechanism for turning on/off the dynamic brake such as a relay will be shortened.
According to the above surface mounter, the system for turning on/off the dynamic brake has hysteresis that the brake off position is set higher than the brake on position, so that the on/off is prevented from being repeated. be able to. As a result, it is possible to prevent the life of the mechanism for turning on/off the dynamic brake from being shortened.

Further, the surface mounter includes a plurality of the component members having different upper end positions, and the brake-on position is set above the upper end position of the component member having the highest upper end position among the plurality of component members. May be.

According to the above surface mounter, it is possible to suppress damage to the mounting head.

Further, the surface mounter is provided with a plurality of the constituent members having different upper end positions, and the brake-on position is arranged at each position of the movable range of the head unit, and the upper end of the constituent member is arranged below the position. It may be set according to the position.

According to the above surface mounter, it is possible to suppress damage to the mounting head and further suppress deterioration in maintainability, as compared with the case where the brake-on position is uniformly set regardless of the location.

In addition, the control unit is configured such that, even when the lower end position of the mounting head is higher than the brake-on position set at the position where the mounting head is located, a constant horizontal distance from the mounting head. The dynamic brake may be turned on when there is the component member whose upper end position is higher than the lower end position of the mounting head.

Even if the lower end position of the mounting head is higher than the brake-on position set at the place where the mounting head is located, the upper end position is lower than the lower end position of the mounting head within a certain horizontal distance from the mounting head. When there is a high component (that is, a component with which the mounting head may collide), the head unit may collide with the component. According to the above surface mounter, the dynamic brake is turned on when there is a component whose upper end position is higher than the lower end position of the mounting head within a certain horizontal distance from the mounting head, so that the mounting head is prevented from being damaged. You can

In addition, a plurality of sets of the head unit and the head transport unit are provided, and the brake-on position is, for each of the head units, according to an upper end position of the component member arranged below a movable range of the head unit. It may be set.

According to the above-mentioned surface mounter, it is possible to further suppress deterioration in maintainability as compared with the case where the same brake-on position is uniformly applied to all head units.

Further, the mounting head has a shaft and a component holding portion detachably attached to the shaft, and there are a plurality of types of the component holding portion depending on a difference in length. A reference point serving as a reference for detecting the position of the component holding section attached to the mounting head from the vertical position of the reference point detected by the detecting section. The position lower by a distance according to the type may be determined as the lower end position of the mounting head.

According to the above-mentioned surface mounter, it is possible to prevent the mounting head, to which any type of component holder is attached, from colliding with the component and being damaged.

Further, the control unit may issue a warning when the head unit moves in the horizontal direction by a predetermined distance or more when the lower end position of the mounting head is lower than the brake on position.

According to the above surface mounter, when the worker moves the head unit without noticing that the mounting head is lowered, the worker can be prompted to stop the movement of the head unit. This makes it possible to further suppress damage to the mounting head.

Further, the control unit may issue a warning when there is the component member whose upper end position is higher than the lower end position of the mounting head within a certain horizontal distance from the mounting head.

According to the above-mentioned surface mounter, when there is a component member whose upper end position is higher than the lower end position of the mounting head within a certain horizontal distance from the mounting head (that is, a component member with which the mounting head may collide), the head unit is The worker can be urged not to move. This makes it possible to further suppress damage to the mounting head.

Further, the surface mounter disclosed in the present specification has a head unit having a mounting head that holds and releases components, an elevating unit that elevates and lowers the mounting head using an elevating unit, and the head unit using a motor. In a movable range of the head unit, which is a head transport unit for horizontally transporting the head unit, the head transport unit having a dynamic brake that brakes the motor, a detection unit for detecting a vertical position of the mounting head, and a movable range of the head unit. The controller includes a component disposed below the head unit and a controller, and the controller has at least a predetermined brake-on condition including that the power supply to the motor is cut off. At this time, it is determined whether the lower end position of the mounting head is higher or lower than the upper end position of the component member, and the dynamic brake is turned on on the condition that the lower end position is lower.

According to the above surface mounter, it is possible to suppress damage to the mounting head while suppressing deterioration in maintainability.

Further, the control unit may turn off the dynamic brake when a lower end position of the mounting head is higher than a brake off position set above an upper end position of the component member.

According to the above surface mounter, it is possible to prevent the life of the mechanism for turning on/off the dynamic brake from being shortened.

In addition, the control unit may turn on the dynamic brake when there is the component member whose upper end position is higher than the lower end position of the mounting head within a certain horizontal distance from the mounting head.

According to the above surface mounter, even if the lower end position of the mounting head is lower than the upper end position of the component member, the component member whose upper end position is higher than the lower end position of the mounting head within a certain horizontal distance from the mounting head is If it does not exist, the dynamic brake is not turned on, so it is possible to further suppress deterioration of maintainability.

According to the technique disclosed in the present specification, it is possible to suppress damage to the mounting head while suppressing deterioration in maintainability.

Top view of the surface mounter according to the first embodiment Side view of the mounting head and head transport section as seen from the front side Block diagram showing the electrical configuration of the surface mounter Servo board schematic Schematic view of the surface mounter from the left side Flow chart of Z-axis cycle processing Schematic diagram of brake request flag Flow chart of Z-axis position check processing Schematic diagram for explaining the determination of the lower end position of the mounting head Flow chart of X-axis cycle processing Flowchart of warning display processing The schematic diagram which looked at the surface mounting machine which concerns on Embodiment 2 from the left side. Top view of the surface mounter according to the third embodiment Schematic view of the two head units from the left side The side view which looked at the head unit concerning Embodiment 4 from the front side. The schematic diagram which looked at the surface mounting machine which concerns on Embodiment 5 from the left side. Schematic diagram showing an example of maintenance of the surface mounter Schematic diagram showing how the mounting head hits the components in a conventional surface mounter

<Embodiment 1>
The first embodiment will be described with reference to FIGS. In the following description, the left-right direction shown in FIG. 1 is referred to as the X-axis direction, the front-back direction is referred to as the Y-axis direction, and the direction perpendicular to the plane of the paper (up-down direction) is referred to as the Z-axis direction. Further, in the following description, the right side shown in FIG. 1 is referred to as the upstream side and the left side is referred to as the downstream side. Further, in the following description, the same constituent members may be omitted from the reference numerals of the drawings except some of them.

(1) Overall Configuration of Surface Mounter As shown in FIG. 1, the surface mounter 1 includes a base 10, a transfer conveyor 11, a backup mechanism (not shown), a plurality of component supply devices 12, a head transfer unit 13, a head unit 14, It is equipped with a component imaging camera 15, a nozzle changer 16, and the like.

The base 10 has a rectangular shape in plan view and has a flat upper surface. In FIG. 1, a rectangular frame B indicated by an alternate long and short dash line indicates a work position where the printed circuit board is located when components are mounted.
The conveyer 11 carries in the printed circuit board from the upstream side in the X-axis direction to the work position B, and carries out the printed circuit board on which the components are mounted at the work position B to the downstream side. The transport conveyor 11 includes a pair of conveyor belts 11A and 11B that are circularly driven in the X-axis direction, and a conveyor drive motor 38 (see FIG. 3) that drives the conveyor belts 11A and 11B. The rear conveyor belt 11A is arranged so as to be movable in the Y-axis direction, and an operator moves the conveyor belt 11A in the Y-axis direction so that the distance between the two conveyor belts 11A and 11B can be adjusted according to the size of the printed circuit board. Can be adjusted.

The backup mechanism (not shown) is arranged below the work position B, and supports the printed circuit board stopped at the work position B from below by a plurality of backup pins.
The component supply device 12 is a so-called tape feeder, and is arranged at two positions on each of the front and rear sides of the transport conveyor 11 side by side in the X-axis direction, for a total of four positions. A plurality of feeders 17 are attached to these component supply devices 12 so as to be aligned side by side in the left-right direction.

Each feeder 17 is equipped with a reel (not shown) around which a component tape (not shown) containing a plurality of components is wound, and an electric feeding device (not shown) for drawing the component tape from the reel. The components are supplied one by one from the component supply position provided at the end located on the side of the conveyor 11.

The head transport unit 13 includes a pair of Y-axis guide rails 18 extending parallel to the Y-axis direction, a Y-axis ball screw 19 extending in the Y-axis direction, and a Y-axis ball nut (not shown) screwed to the Y-axis ball screw 19. ), a Y-axis servomotor 20 that rotates the Y-axis ball screw 19 about an axis (an example of a motor), a beam 21 that supports the head unit 14 so as to reciprocate in the X-axis direction, and an X that extends in the X-axis direction. An axial ball screw 22, an X-axis ball nut (not shown) screwed to the X-axis ball screw 22, an X-axis servo motor 23 (an example of a motor) for rotating the X-axis ball screw 22 around an axis, and the like are provided. There is.

The beam 21 extends in the X-axis direction, and both ends thereof are slidably supported by the pair of Y-axis guide rails 18. A Y-axis ball nut (not shown) is screwed onto the Y-axis ball screw 19 and is fixed to the beam 21. When the Y-axis ball screw 19 rotates around the axis, the Y-axis ball nut moves to the Y-axis ball screw 19. The beam 21 moves in the Y-axis direction by moving back and forth along the direction.

The X-axis ball screw 22 and the X-axis servomotor 23 are supported by the beam 21, and move in the Y-axis direction together with the beam 21. An X-axis ball nut (not shown) is screwed onto the X-axis ball screw 22 and is fixed to the head unit 14, and when the X-axis ball screw 22 rotates around the axis, the X-axis ball nut will move. The head unit 14 moves in the X-axis direction by moving back and forth along the line 22.

As shown in FIG. 2, a plurality of (eight in this case) mounting heads 24 are arranged in the head unit 14 side by side in the X-axis direction. Each mounting head 24 has a nozzle shaft 25, and a suction nozzle 26 (an example of a component holder) detachably attached to the lower end of the nozzle shaft 25.
The suction nozzle 26 is supplied with negative pressure and positive pressure from an external air supply device via the nozzle shaft 25. The suction nozzle 26 sucks (holds) a component when a negative pressure is supplied, and releases the component when a positive pressure is supplied. There are a plurality of types of suction nozzles 26 due to differences in size and the like, and each mounting head 24 is attached with a suction nozzle 26 of a type corresponding to the component mounted using the mounting head 24. In order to facilitate understanding, it is assumed in the first embodiment that the suction nozzles 26 attached to the respective mounting heads 24 are of the same type.

Each mounting head 24 is supported by the head unit 14 so as to be able to move up and down, and the head unit 14 is provided with a plurality of (eight in this case) elevating units that individually elevate and lower each mounting head 24. Specifically, for example, the elevating unit is configured by a Z-axis servo motor 27 (see FIG. 3), a spring (not shown) that biases each mounting head 24 upward, and the like. When the Z-axis servo motor 27 rotates in one direction, the mounting head 24 moves down against the biasing force of the spring, and when the Z-axis servo motor 27 rotates in the other direction, the mounting head 24 returns to the upper position. For example, when the worker lowers the mounting head 24 by hand with the Z-axis servomotor 27 being de-energized, the spring is compressed when the mounting head 24 is lowered, so that the worker releases the hand. And the force of the spring moves the mounting head 24 upward. Even if the power supply is cut off, the power supply to the encoder, which will be described later, is maintained and the height position of the mounting head 24 is detected.

Further, each mounting head 24 is supported by the head unit 14 so as to be rotatable about its axis, and the head unit 14 has an R-axis servo motor 28 for rotating all the mounting heads 24 about its axis all together (see FIG. 3). Is provided.

Here, the X-axis servo motor 23, the Y-axis servo motor 20, the Z-axis servo motor 27, and the R-axis servo motor 28 described above are each provided with an encoder. The surface mounter 1 can detect the XY coordinates of the head unit 14, the vertical position of the mounting head 24, and the rotation angle of the mounting head 24 based on the signals output from the encoders. The encoder provided in the Z-axis servomotor 27 is an example of a detection unit.

As shown in FIG. 1, the two component imaging cameras 15 are arranged between two adjacent component supply devices 12 on both front and rear sides of the work position B. The component imaging camera 15 is for capturing an image of the component adsorbed by the adsorption nozzle 26 from below and recognizing the image, and is arranged with the imaging surface facing upward.

The nozzle changer 16 is provided between the component supply device 12 on the rear side and the conveyer 11 so as to extend in the X-axis direction. The nozzle changer 16 stores a plurality of suction nozzles 26, and has a main body section having a plurality of storage holes for storing the suction nozzles 26, a shutter, a shutter drive section for sliding the shutter, and the like.

The surface mounter 1 alternately repeats the carrying operation of carrying the printed circuit board to the work position B by the carrying conveyor 11 and the mounting operation of mounting the component on the printed circuit board carried to the work position B. In the mounting operation, a suction operation in which the components supplied by the feeder 17 are respectively suctioned to the plurality of suction nozzles 26 and a mounting operation in which the components suctioned by the suction nozzles 26 are mounted at the mounting positions on the printed circuit board are alternately performed. Is repeated.

(2) Electrical Configuration of Surface Mounter As shown in FIG. 3, the surface mounter 1 includes a control unit 30 and an operation unit 31. The control unit 30 includes an arithmetic processing unit 32, a motor control unit 33, a storage unit 34, an image processing unit 35, an external input/output unit 36, a feeder communication unit 37, and the like.

The arithmetic processing unit 32 includes a CPU, a ROM, a RAM, etc., and controls each unit of the surface mounter 1 by executing a control program stored in the storage unit 34.
The motor control unit 33 rotates each motor such as the X-axis servo motor 23, the Y-axis servo motor 20, the Z-axis servo motor 27, the R-axis servo motor 28, and the conveyor drive motor 38 under the control of the arithmetic processing unit 32. Specifically, the motor control unit 33 controls each servo motor such as the X-axis servo board 40 (see FIG. 4) that controls the X-axis servo motor 23 and the Y-axis servo board that controls the Y-axis servo motor 23. Equipped with a servo board to control. The servo board may also be called a servo amplifier or driver. In the present embodiment, at least the X-axis servo board 40 and the Y-axis servo board are provided with dynamic brakes.

The storage unit 34 stores a control program and various data. Various data includes information on the number and types of printed circuit boards to be produced, information including the number and type of components mounted on the printed circuit boards, information on the mounting positions of components on the printed circuit boards, and parts. Information regarding the number and types of parts held in the supply device 12, information indicating a brake-on position, which will be described later, information indicating a reference point Q (see FIG. 9) serving as a reference for detecting the vertical position of each mounting head 24. , The distance between the reference point lower end positions, which is the distance from the reference point Q to the lower end position of the suction nozzle 26, and the like.

The image processing unit 35 is configured to capture the image signal output from the component imaging camera 15, and generates an image based on the output image signal.
The external input/output unit 36 is a so-called interface, and various sensors 50 provided in the main body of the surface mounter 1 (the above-mentioned encoder and a sensor for detecting opening/closing of a cover door (not shown) provided in the surface mounter 1). It is configured to capture the detection signal output from (including the). Further, the external input/output unit 36 is configured to control the operation of the various actuators 51 based on the control signal output from the arithmetic processing unit 32.
It should be noted that here, the case where the encoder is connected to the external input/output unit 36 has been described as an example, but the encoder may be connected to the motor control unit 33.

The feeder communication unit 37 is connected to the feeder 17 and controls the feeder 17 as a whole.
The operation unit 31 includes a display device such as a liquid crystal display, an input device such as a touch panel, a keyboard, and a mouse, and receives various settings from an operator.

(3) Servo Board Next, with reference to FIG. 4, an X-axis servo board 40 for driving the X-axis servo motor 23 and a Y-axis servo board for driving the Y-axis servo motor 20 will be described. Since the configurations of these servo boards are substantially the same, the X-axis servo board 40 will be described here as an example. A three-phase motor will be described as an example of the X-axis servo motor 23.

The X-axis servo board 40 includes three FETs (Field Effect Transistors) 41A to 41C to which a high-voltage (for example, 300 V) direct current is supplied, three FETs 42A to 42C connected to ground (GND), and those FETs. A PWM (Pulse Width Modulation) generation circuit 43 for generating a pulse signal for turning on/off the FET and a dynamic brake 44 are provided. Here, the surface mounter 1 includes a rectifier circuit (not shown) that converts a commercial alternating current into a high-voltage direct current, and the high-voltage direct current is supplied from the rectifier circuit to the FETs 41A to 41C.

The FETs 41A to 41C to which the high-voltage direct current is supplied are paired with the FETs 42A to 42C connected to the ground (GND), and are connected via the power lines 45A to 45C, respectively. Then, the power lines 46A to 46C branching from the power lines 45A to 45C connecting the paired FETs are connected to different phases of the X-axis servomotor 23. Then, the X-axis servomotor 23 is rotated by a so-called PWM switching method that switches ON/OFF of each FET according to the pulse signal output from the PWM generation circuit 43.

The dynamic brake 44 short-circuits the terminals of the X-axis servomotor 23 via a resistor 47, and the counter electromotive force generated by the X-axis servomotor 23 is consumed by the resistor 47 to brake the X-axis servomotor 23. It is something that is applied. The dynamic brake 44 includes two electrically controlled relays 48, and three resistors 47 that consume the back electromotive force as heat. Turning on the two relays 48 turns on the dynamic brake 44, and turning off the two relays 48 turns off the dynamic brake 44.

(4) On/Off of Dynamic Brake During Maintenance With reference to FIG. 5, on/off of the dynamic brake 44 during maintenance will be described. Here, replacement of the suction nozzle 26 will be described as an example of maintenance. When exchanging the suction nozzle 26, an operator puts his/her hand inside the surface mounter 1, so it is dangerous if the X-axis servomotor 23, the Y-axis servomotor 20, the Z-axis servomotor 27, etc. are moving. For this reason, the operator does not use the mounting operation of the surface mounter 1, that is, when the X-axis servo motor 23, the Y-axis servo motor 20, the Z-axis servo motor 27, and the like are de-energized, the suction nozzle 26 shall be replaced.

For example, when a cover door (not shown) provided in the surface mounter 1 is opened, all the motors (including the X-axis servo motor 23, the Y-axis servomotor 20 and the Z-axis servomotor 27) inside the surface mounter 1 are opened. When the energization is cut off, the operator opens the cover door for maintenance so that all the motors are in the non-energized state, that is, the energized state is cut off. Here, the power supply to each motor is cut off by turning off all the FETs of the servo board that controls the motor.

In this embodiment, as described above, when the cover door is opened, power supply to all motors is cut off. Opening the cover door is an example of "a predetermined brake-on condition including at least the interruption of the power supply to the motor".

It should be noted that the brake-on condition is not limited to this as long as at least the energization of the X-axis servo motor 23 and the Y-axis servo motor 20 is cut off. For example, if the power supply to the X-axis servo motor 23 and the Y-axis servo motor 20 is cut off, it may be determined that the brake-on condition is satisfied. Alternatively, when performing maintenance, the operator operates the operation unit 31 to select the maintenance mode, and the control unit 30 stops at least the X-axis servo motor 23 and the Y-axis servo motor 20 when the maintenance mode is selected. .. In that case, if the maintenance mode is selected, it may be determined that the brake-on condition is satisfied.

Further, the determination as to whether or not the power supply to the X-axis servo motor 23 is cut off is controlled by the establishment of other conditions (for example, when it is detected that the power supply to the Z-axis servo motor 27 is cut off). After a command to turn on the relay 48 is transmitted to the X-axis servo board 40 after the unit 30 judges (that is, after the dynamic brake 44 is commanded to be turned on), the X-axis servo motor 23 is set in the X-axis servo board 40. It may be determined whether or not the power supply to is cut off. When it is determined that the X-axis servo motor 23 is energized, the X-axis servo board 40 controls the relay 48 so as not to turn on, and the relay 48 that is determined to be cut off may be turned on. Whether or not to energize the Y-axis servo motor 20 may be similarly determined within the Y-axis servo board.

When the cover door is open, the control unit 30 sets the brake-on in which the lower end position of the mounting head 24 is set higher than the upper end positions of the components (the component imaging camera 15, the transfer conveyor 11, the nozzle changer 16, etc.). It is determined whether the position is higher or lower than the position, and the dynamic brake 44 of the X-axis servo motor 23 and the Y-axis servo motor 20 is turned on on the condition that it is determined to be lower than the position.

Specifically, the brake-on position according to the first embodiment is the upper end position of the component imaging camera 15, which is the component having the highest upper end position among the plurality of constituent members arranged below the movable range of the head unit 14. The position is set higher by a certain margin. When the cover door is open, the control unit 30 uses an encoder to detect the vertical position of the mounting head 24 at regular intervals, and if the lower end position of the mounting head 24 is below the brake-on position, The dynamic brake 44 is turned on. On the other hand, if the vertical position of the mounting head 24 is such that the lower end position of the mounting head 24 is above the brake off position, the control unit 30 turns off the dynamic brake 44.
When setting the above-described brake-on position, the constituent members of the entire surface mounter 1 may be considered regardless of the movable range of the head unit 14.

Here, as shown in FIG. 5, the brake off position is set above the brake on position. That is, the system that turns on/off the dynamic brake 44 has a hysteresis that the brake off position is set above the brake on position.

Next, the process in which the control unit 30 turns on/off the dynamic brake 44 when the cover door is open will be specifically described. The control unit 30 executes a Z-axis cycle process, a Z-axis position check process, an X-axis cycle process, a Y-axis cycle process, and a warning display process as processes for turning on/off the dynamic brake 44. Hereinafter, each process will be described.

(4-1) Z-axis Cycle Processing First, the Z-axis cycle processing will be described with reference to FIG. As described above, the control unit 30 uses the encoder to detect the vertical position of the mounting head 24. However, when the surface mounter 1 is powered off, the information indicating the vertical position is lost. Therefore, the control unit 30 moves the mounting head 24 to the upper end (or the lower end) of the movable range in the vertical direction when the surface mounter 1 is powered on or when the mounting operation is started, and the like. Then, the mounting head 24 is lowered (or raised) to detect the reference position of the encoder, and thereby the vertical position of the mounting head 24 is grasped. In the present embodiment, this is called origin return. In the present embodiment, the process of returning to the origin is executed as a process different from the process of turning on/off the dynamic brake 44.

The Z-axis cycle process is a process of turning on the dynamic brake 44 when the mounting head 24 is not yet home-returned when the cover door is open, and executing a Z-axis position check process and a warning display process when the home-return is completed. Is. Here, “origin return completed” means that the origin return processing is executed and the vertical position of the mounting head 24 is known, and the vertical position of the mounting head 24 at present is the vertical direction. It does not mean that it is at the origin position. This processing is executed for each mounting head 24, and is repeatedly executed for each mounting head 24 at a constant cycle of, for example, about 0.001 seconds.

In S101, the control unit 30 determines whether or not the Z-axis servo motor 27 is off, in other words, whether or not the power supply to the Z-axis servo motor 27 is cut off. If it is off, the process proceeds to S102. If it is on, this process ends.
In S102, the control unit 30 determines whether or not the cover door is open. If the cover door is open, the process proceeds to S103, and if it is not open, this process ends.
In S103, the control unit 30 determines whether or not the Z-axis servomotor 27 has been returned to its original point. If the original point has not been returned, the process proceeds to S104, and if the original point has been returned, the process proceeds to S105.

In S104, the control unit 30 turns on the X-axis brake request flag and the Y-axis brake request flag. Specifically, as shown in FIG. 7, each brake request flag consists of 8 bits. Each bit has a one-to-one correspondence with the mounting head 24, and the control unit 30 sets 1 (on) to the bit corresponding to the mounting head 24 to be processed.
In S105, the control unit 30 executes a Z-axis position check process.
In S106, the control unit 30 executes a warning display process.

If an encoder that can detect an absolute position, such as an absolute encoder, is used, steps S103 and S104 are unnecessary. In that case, if it is determined in S102 that the position is open, the process may proceed to S105.

(4-2) Z-Axis Position Check Processing Next, with reference to FIG. 8, the Z-axis position check processing executed in S105 described above will be described. The Z-axis position check process is a process of setting the brake request flag to 1 (on) or 0 (off) according to the vertical position of the mounting head 24.
Here, in the present embodiment, it is assumed that the mounting head 24 has “safe” and “dangerous” states. “Safe” is a state in which the lower end position of the mounting head 24 is equal to or higher than the brake-on position and there is no risk of hitting a component. On the other hand, “dangerous” is a state in which the lower end position of the mounting head 24 is below the brake-on position, and there is a risk of hitting a component member.

In step S201, the control unit 30 determines whether the state of the mounting head 24 to be processed, which was set the last time this processing was executed, is "safe" or "dangerous". If it is "dangerous", the process proceeds to S206.

In S202, the control unit 30 determines whether the lower end position of the mounting head 24 is higher or lower than the brake-on position, the process proceeds to S203 if it is lower, and ends the process if it is higher. Hereinafter, the determination as to whether the lower end position of the mounting head 24 is higher or lower than the brake-on position will be specifically described with reference to FIG. 9.

As shown in FIG. 9, a reference point Q, which is a reference for detecting the vertical position of the mounting head 24, is set on the nozzle shaft 25 at a position lower than the upper end of the nozzle shaft 25 by a predetermined distance. Determines the vertical position of the reference point Q based on the signal output from the encoder. As a result, the vertical position of the mounting head 24 is detected.
Then, the control unit 30 determines that the position lower than the vertical position of the reference point Q by the distance between the reference point lower end positions described above is the lower end position of the mounting head 24. Then, the control unit 30 determines that the mounting head 24 is low when the lower end position is below the brake on position, and determines that it is high when the mounting head 24 is above the brake on position.

Here, when the lower end position of the mounting head 24 and the brake-on position are the same, it is determined to be high, but when they are the same, it may be determined to be low.
Although the lower end position of the mounting head 24 and the brake-on position are directly compared in the above-described example, the method of determining whether the lower end position of the mounting head 24 is higher or lower than the brake-on position is not limited to this. ..
For example, the position of the reference point Q in the vertical direction may be compared with the position that is located above the brake-on position by the distance between the reference point lower end positions. In that case, the lower end position of the mounting head 24 can be determined to be higher than the brake-on position if the reference point Q is equal to or higher than the upper position. That is, the determination as to whether the lower end position of the mounting head 24 is higher or lower than the brake-on position is not limited to the method of directly comparing the lower end position of the mounting head 24 with the brake-on position, and can be performed by an arbitrary method.

In S203, the control unit 30 stores the current XY coordinates of the mounting head 24.
In S204, the control unit 30 sets the state to "danger".
In S205, the control unit 30 sets 1 (on) to the bit corresponding to the mounting head 24 to be processed among the bits of the X-axis brake request flag and the Y-axis brake request flag.

In S206, the control unit 30 determines whether the lower end position of the mounting head 24 is above the brake off position, and if it is above the brake off position (that is, higher than the brake off position), the process proceeds to S207. If it is equal to or lower than the brake off position, the process ends.
In S207, the control unit 30 sets the state to "safe".
In S208, the control unit 30 sets 0 (off) to the corresponding bits of the X-axis brake request flag and the Y-axis brake request flag.

(4-3) X-axis Cycle Processing Next, the X-axis cycle processing will be described with reference to FIG. The X-axis cycle process is a process of periodically checking the X-axis brake request flag to turn on/off the dynamic brake 44 of the X-axis servomotor 23. This process is repeatedly executed at a constant cycle of, for example, about 0.001 seconds.

In S301, the control unit 30 determines whether or not there is one or more "1" in the X-axis brake request flag. If not, the process proceeds to S302, and if there is, the process proceeds to S303.
In S302, the control unit 30 transmits an off signal to each relay 48 of the X-axis servo board 40. This turns off the dynamic brake 44 of the X-axis servomotor 23.
In S303, the control unit 30 transmits an ON signal to each relay 48 of the X-axis servo board 40. This turns on the dynamic brake 44 of the X-axis servomotor 23.

(4-4) Y-axis cycle processing The Y-axis cycle processing is substantially the same as the X-axis cycle processing except that the X-axis becomes the Y-axis, and therefore description thereof will be omitted.

(4-5) Warning Display Processing Next, with reference to FIG. 11, the warning display processing executed in S106 described above will be described. The warning display process is a process of issuing a warning when the head unit 14 moves in the horizontal direction by a certain distance or more when the lower end position of the mounting head 24 is lower than the brake-on position. Here, 1 mm will be described as an example of the constant distance.

In S401, the control unit 30 determines whether the state of the mounting head 24 to be processed is “safe” or “dangerous”. If the state is “safe”, the process ends, and if the state is “dangerous”. Advances to S402.
In S402, the control unit 30 determines the distance in the X-axis direction and the distance in the Y-axis direction from the XY coordinates stored in S203 to the current position of the mounting head 24.

In S403, the control unit 30 determines that the mounting head 24 has moved 1 mm or more in the X-axis direction when the distance in the X-axis direction is 1 mm or more, and proceeds to S405, and proceeds to S404 when it is less than 1 mm.
In S404, the control unit 30 determines that the mounting head 24 has moved 1 mm or more in the Y-axis direction when the distance in the Y-axis direction is 1 mm or more, the process proceeds to S405, and the process ends when the distance is less than 1 mm.

In step S405, the control unit 30 causes the display device to display a warning message to the effect that “the head unit is moved while the mounting head is lowered. There is a risk that the mounting head will hit a component”.

Although the fixed distance is 1 mm as an example here, the fixed distance is not limited to 1 mm and can be set appropriately. However, if this fixed distance is too short, a warning may be issued even if the head unit 14 slightly moves, which may be annoying to the operator. Therefore, it is desirable that the constant distance is not too short.

The method of issuing a warning is not limited to the above method. For example, it may be issued by voice, an alarm sound such as a beep sound, or an alarm lamp may blink. Alternatively, these may be combined and emitted.

(5) Effects of the Embodiment According to the surface mounter 1 according to the first embodiment described above, when the cover doors are open (that is, all the motors are de-energized, and the cover doors are open). The dynamic brake 44 is turned on when it is determined that the lower end position of the mounting head 24 is lower than the brake-on position. Therefore, the operator does not notice that the mounting head 24 is lowered, and the operator does not notice that the mounting head 24 is lowered. When 14 is moved, the moving speed is suppressed by the dynamic brake 44. Therefore, it is possible to prevent the mounting head 24 from colliding with the constituent members and being damaged. Therefore, according to the surface mounter 1, it is possible to suppress damage to the mounting head 24 while suppressing deterioration in maintainability.

It should be noted that the above-mentioned "turning on the dynamic brake on the condition that it is determined to be low" includes the case where the dynamic brake is always turned on when it is determined to be low, and the dynamic brake is only determined to be low. When the dynamic brake is turned on when another condition is satisfied in addition to the determination that the value is not turned on. The first embodiment is an example of always turning on the dynamic brake when it is determined to be low.

Further, according to the surface mounter 1, since the system for turning on/off the dynamic brake 44 has a hysteresis that the brake off position is set above the brake on position, a slight vertical movement of the mounting head 24 causes relaying. It is possible to prevent the on/off of 48 (that is, a mechanism for turning on/off the dynamic brake 44) from being repeated. This can prevent the life of the relay 48 from being shortened.

Further, according to the surface mounter 1, since the brake-on position is set to be higher than the upper end position of the component member having the highest upper end position, the mounting head 24 can be prevented from being damaged.

Furthermore, according to the surface mounter 1, when the lower end position of the mounting head 24 is lower than the brake-on position, a warning is issued when the head unit 14 moves in the horizontal direction by a certain distance or more, so that the mounting head 24 is lowered. If the worker moves the head unit 14 without noticing it, the worker can be prompted to stop the movement of the head unit 14. As a result, damage to the mounting head 24 can be further suppressed.

<Embodiment 2>
Next, a second embodiment will be described with reference to FIG. In the first embodiment described above, the brake-on position is set with reference to the upper-end position of the component member (that is, the component imaging camera 15) having the highest upper-end position among the plurality of component members, and the brake-on position of the head unit 14 is set. It is applied uniformly at any place in the movable range.
On the other hand, as shown in FIG. 12, in the second embodiment, the brake-on position and the brake-off position (the brake-off position is omitted in FIG. 12) are located below the position of each movable range of the head unit 14. It is set according to the upper end positions of the constituent members arranged in.

Specifically, in FIG. 12, the upper end position is higher in the order of component imaging camera 15>transport conveyor 11>nozzle changer 16. The brake-on position is set above the component imaging camera 15 to a position higher than the upper end position of the component imaging camera 15 by a certain margin, and above the transfer conveyor 11 it is constant above the upper end position of the transfer conveyor 11. The position is set higher by the margin. Further, above the nozzle changer 16, it is set at a position higher than the upper end position of the slur changer 16 by a certain margin.

With this configuration, for example, when the mounting head 24 is above the transport conveyor 11 and the lower end position of the mounting head 24 is higher than the brake-on position set above the transport conveyor 11, the lower end of the mounting head 24 is set. Even if the position is lower than the brake-on position set above the component imaging camera 15, the dynamic brake is not turned on, so that the operator can move the head unit 14 with a small force.

However, in that case, when the operator moves the head unit 14, the mounting head 24 may collide with the component imaging camera 15. Therefore, in the second embodiment, even when the lower end position of the mounting head 24 is higher than the brake-on position set at the position where the mounting head 24 is located, a fixed horizontal distance D from the mounting head 24. If there is a component whose upper end position is higher than the lower end position of the mounting head 24 (that is, a component that the mounting head 24 may collide with), the dynamic brake 44 is turned on.

Specifically, in the storage unit 34 according to the second embodiment, position information indicating the range in which each component is arranged in XY coordinates and the height of the upper end position of the component (for example, from the upper surface of the base 10). A map including height information indicating the height is stored. The control unit 30 refers to the map to determine whether or not there is a component member that the mounting head 24 may collide with within a certain horizontal distance D from the mounting head 24, and if there is, a lower end of the mounting head 24. The dynamic brake 44 is turned on even if the position is higher than the brake-on position.

Therefore, for example, when the lower end position of the mounting head 24 is higher than the brake-on position, the dynamic brake is turned off when there is no component that may cause the mounting head 24 to collide within the fixed horizontal distance D from the mounting head 24. Become. Then, when the operator moves the head unit 14, the dynamic brake 44 is turned on when the distance between the mounting head 24 and the constituent member (the constituent member with which the mounting head 24 may collide) is within a certain distance D. Become. Therefore, a load is applied to the worker while the head unit 14 is being moved, and it becomes difficult to move the head unit 14.

Here, the above-mentioned fixed distance D can be appropriately set such as 1 cm, 5 cm, and 10 cm. However, if the constant distance D is too short, when the operator moves the head unit 14 at the position where the dynamic brake 44 is turned off, the dynamic brake 44 is not turned on until the mounting head 24 reaches just before the component member. Therefore, there is a possibility that the component may be hit in time without being stopped in time. Therefore, it is desirable that the constant distance D is long to some extent.

Further, as shown in FIG. 12, the control unit 30 according to the second embodiment is configured such that the upper end position is higher than the lower end position of the mounting head 24 within a certain horizontal distance E from the mounting head 24 (that is, the mounting head 24 is A warning is issued when there is a risk of collision. In this case, the control unit 30 causes the display device to display a warning message to the effect that "the mounting head 24 is still lowered. If the head unit 14 is moved, the mounting head 24 may collide with a component".

For this reason, even if there is a component that may cause the mounting head 24 to collide, if the horizontal distance from the mounting head 24 to the component is longer than the constant distance E, no warning is issued. Then, when the operator moves the head unit 14, a warning is issued when the horizontal distance from the mounting head 24 to the component member image is within a certain distance E. That is, a warning is issued while the head unit 14 is moving. When the warning is issued while the head unit 14 is moving, the same warning message as in the first embodiment may be displayed.

The constant distance E may be the same as or different from the constant distance D described above. In this embodiment, the constant distance E is shorter than the constant distance D. Therefore, when the operator moves the head unit 14, the dynamic brake 44 is turned on first and then a warning is issued.

According to the surface mounter 1 according to the second embodiment described above, the brake on position is set for each position of the movable range of the head unit 14 according to the upper end position of the component member arranged below the position. Therefore, compared to the case where the brake-on position is uniformly set regardless of the location, it is possible to suppress damage to the mounting head 24 and further suppress deterioration in maintainability.

Further, according to the surface mounter 1 according to the second embodiment, even when the lower end position of the mounting head 24 is higher than the brake-on position set at the position where the mounting head 24 is located, the mounting head 24 When there is a component whose upper end position is higher than the lower end position of the mounting head 24 within a certain horizontal distance D from, the dynamic brake 44 is turned on, so that the mounting head 24 can be prevented from being damaged.

Further, according to the surface mounter 1 according to the second embodiment, if there is a component member whose upper end position is higher than the lower end position of the mounting head 24 within the fixed horizontal distance E from the mounting head 24, the head unit 14 is not moved. Can be urged to do so. As a result, damage to the mounting head 24 can be further suppressed.

<Embodiment 3>
Next, a third embodiment will be described with reference to FIGS. The third embodiment is a modification of the first and second embodiments. Here, a modification of the first embodiment will be described.
In the first embodiment described above, the case where the surface mounter 1 includes only one set including the head unit 14 and the head transport unit 13 has been described as an example. On the other hand, the surface mounter may include two sets each including a head unit and a head transport unit. Specifically, for example, the surface mounter 80 shown in FIG. 13 includes a set including a head unit 60 that mounts a large component and a head transport unit 62 that transports the component, and a head unit 61 that mounts a small component. And a head transport unit 63 for transporting the same and two sets in total.

When a plurality of sets each including a head unit and a head transport unit are provided, the movable ranges of the head units of each set are not generally the same. Therefore, the constituent members arranged below the movable range of the head unit may differ depending on the head unit. In that case, the upper end position of the component having the highest upper end position among the components arranged under the movable range of one head unit and the component arranged under the movable range of the other head unit is used as a reference. If the brake-on position set to 1 is uniformly applied to any of the head units, the brake-on position of one of the head units may be unnecessarily high.

Specifically, for example, in FIG. 14, the movable range of one head unit 60 in the X-axis direction is on the right side of the position between the nozzle changer 16 and the conveyor 11, and the other head unit 61 is movable in the X-axis direction. The case where the range is on the left side of the position between the conveyor 11 and the component imaging camera 15 is shown. The component imaging camera 15 and the conveyer conveyor 11 are arranged as constituent members below the movable range of one head unit 60, and the conveyer conveyor 11 and the conveyer conveyor 11 are arranged below the movable range of the other head unit 61 as constituent members. A nozzle changer 16 is arranged.

Note that, for convenience, in FIG. 14, the component imaging camera arranged below the movable range of the other head unit 61 is omitted, but for example, the upper end position is below the movable range of the other head unit 61 and the upper end position is the transport conveyor. A component imaging camera located below the upper end position of 11 may be provided.

In the case of the example shown in FIG. 14, the component having the highest upper end position among those components is the component imaging camera 15, and the brake-on position set with the upper end position of the component imaging camera 15 as a reference is any head. If the same applies to the units, the other head unit 61 is based on the upper end position of the component imaging camera 15 even if the lower end position of the mounting head 24 is higher than the upper end position of the transport conveyor 11. If it is below the set brake-on position, the dynamic brake 44 is turned on although the mounting head 24 does not collide with the component imaging camera 15.

Therefore, as shown in FIG. 14, in the third embodiment, the brake-on position is set for each head unit in accordance with the upper end position of the constituent member arranged below the movable range of the head unit. Specifically, for one of the head units 60, the brake-on position is set with reference to the upper end position of the component imaging camera 15 which is the component having the highest upper end position among the constituent members below the movable range of the head unit 60. For the other head unit 61, the brake-on position is set with reference to the upper end position of the conveyer conveyor 11, which is the component member having the highest upper end position among the constituent members below the movable range of the head unit 61. There is.

According to the surface mounter 80 according to the third embodiment described above, the brake-on position is set for each head unit in accordance with the upper end position of the constituent member arranged below the movable range of the head unit. In the case of the one head unit 61, the brake-on position can be prevented from becoming higher than necessary. As a result, it is possible to further suppress deterioration of maintainability as compared with the case where the same brake-on position is uniformly applied to all the head units.

<Embodiment 4>
Next, a fourth embodiment will be described with reference to FIG. The fourth embodiment is a modification of the first to third embodiments. Here, a modification of the first embodiment will be described.
In the above-described first embodiment, the case where the suction nozzles 26 of the same type are attached to all the mounting heads 24 has been described as an example. On the other hand, as shown in FIG. 15, different types of suction nozzles 26 may be attached to each mounting head 24. In that case, the nozzle length may differ depending on the type of the suction nozzle 26.

In that case, if it is determined that the position lower than the reference point Q by the same reference point lower end position distance for all the mounting heads 24 is determined as the lower end position of the mounting heads 24, the reference point is set in accordance with the suction nozzles 26 having a short nozzle length. When the distance between the lower end positions is set, even if it is determined that the lower end position of the mounting head 24 is the brake-on position or more in the case of the mounting head 24 to which the suction nozzle 26 having a long nozzle length is attached. It may actually be below the brake-on position.

On the contrary, when the distance between the reference point lower end positions is set in accordance with the suction nozzle 26 having a long nozzle length, when the suction head 26 having the short nozzle length is mounted, the mounting head 24 is mounted. There is a possibility that the dynamic brake 44 may be turned on even though the lower end position of the above is sufficiently higher than the brake on position.

Therefore, in the fourth embodiment, the distance between the reference point lower end positions is stored in the storage unit 34 for each type of the suction nozzle 26, and the control unit 30 controls the reference point Q detected based on the signal output from the encoder. A position lower than the vertical position by the distance between the reference point lower end positions according to the type of the suction nozzle 26 attached to the mounting head 24 is determined as the lower end position of the mounting head 24.

According to the surface mounter 1 according to the fourth embodiment described above, the distance from the vertical position of the reference point Q to the reference point lower end position distance according to the type of the suction nozzle 26 attached to the mounting head 24 is lower. Since such a position is determined to be the lower end position of the mounting head 24, it is possible to prevent the mounting head 24, to which the suction nozzles 26 of any type are attached, from hitting the constituent members and being damaged.

<Fifth Embodiment>
Next, a fifth embodiment will be described with reference to FIG. In the first to fourth embodiments described above, it is determined whether the lower end position of the mounting head 24 is higher or lower than the brake-on position set above the upper end position of the component member. On the other hand, as shown in FIG. 16, the brake-on position is not set in the fifth embodiment, and the control unit 30 determines whether the lower end position of the mounting head 24 is higher or lower than the upper end position of the component member.

Specifically, the control unit 30 determines whether or not there is a component whose upper end position is higher than the lower end position of the mounting head 24 when the cover door is opened (in other words, the lower end position of the mounting head 24 is the upper end of the component member). Whether it is higher or lower than the position) is determined in a constant cycle by referring to the same map as in the second embodiment. Then, if there is, the control unit 30 determines whether or not the horizontal distance between the mounting head 24 and its constituent members is within a fixed distance D, and if it is within the fixed distance D, the dynamic brake 44 is turned on. To

When the lower end position of the mounting head 24 is higher than the brake off position set above the upper end position of the constituent member, the control unit 30 and the mounting head 24 and the constituent member (the upper end position of the mounting head 24 is the When the distance in the horizontal direction from the component higher than the lower end position) is longer than the constant distance D, the dynamic brake 44 is turned off.

According to the surface mounter 1 according to the fifth embodiment described above, the dynamic brake 44 is turned on when it is determined that the lower end position of the mounting head 24 is lower than the upper end positions of the constituent members when the cover door is open. Therefore, it is possible to suppress damage to the mounting head 24 while suppressing deterioration in maintainability.

Further, according to the surface mounter 1 according to the fifth embodiment, the dynamic brake 44 is turned off when the lower end position of the mounting head is higher than the brake off position set above the upper end position of the component member. It is possible to prevent the life of the brake on/off mechanism from being shortened.

Further, according to the surface mounter 1 according to the fifth embodiment, the dynamic brake 44 is turned on when there is a component member whose upper end position is higher than the lower end position of the mounting head 24 within a certain horizontal distance D from the mounting head 24. .. In other words, even if the lower end position of the mounting head is lower than the upper end position of the constituent member, if there is no constituent member whose upper end position is higher than the lower end position of the mounting head within a certain horizontal distance D from the mounting head, dynamic. Since the brake 44 is not turned on, deterioration of maintainability can be further suppressed.

That is, in the fifth embodiment, the dynamic brake 44 is not turned on only when the necessary condition "the lower end position of the mounting head is lower than the upper end position of the constituent member" is satisfied. The dynamic brake 44 is turned on when another condition "there is no component whose upper end position is higher than the lower end position of the mounting head within the distance D" is satisfied.

Note that, here, even when there is a component whose upper end position is higher than the lower end position of the mounting head 24 (in other words, even when the lower end position of the mounting head 24 is lower than the upper end position of the component), mounting is performed. The case where the dynamic brake 44 is not turned on is described as an example when there is no component that may cause the mounting head 24 to collide with the head 24 within a certain distance D in the horizontal direction. However, the upper end position is lower than the lower end position of the mounting head 24. If there is a high component, the dynamic brake 44 may be turned on regardless of the horizontal distance from the component.

<Other Embodiments>
The technology disclosed in this specification is not limited to the embodiments described above and illustrated in the drawings, and the following embodiments are also included in the technical scope, for example.

(1) In the first to fourth embodiments described above, the case where the dynamic brake 44 is turned on when the lower end position of the mounting head 24 is lower than the brake on position has been described as an example. On the other hand, also in the first to fourth embodiments, similarly to the fifth embodiment, even when the lower end position of the mounting head 24 is lower than the brake-on position, the upper end is within a certain horizontal distance D from the mounting head 24. The dynamic brake 44 may not be turned on unless there is a component whose position is higher than the lower end position of the mounting head 24. In other words, the dynamic brake 44 is provided when the lower end position of the mounting head 24 is lower than the brake-on position and the upper end position is higher than the lower end position of the mounting head 24 within a certain horizontal distance D from the mounting head 24. May be turned on.

(2) In the first to fourth embodiments, the case where the brake-on position is set above the upper end position of the component has been described as an example. The brake-on position may be directly set as the height from the reference surface (for example, the upper surface of the base 10). If the information indicating the upper end position of the constituent member is stored, the information indicating the constituent member serving as the reference of the brake-on position and the position higher than the upper end position of the constituent member as the brake-on position are set. The brake-on position may be indirectly set by setting the margin and the margin.

(3) In the above-described first to fourth embodiments, the case where the brake off position is set above the brake on position has been described as an example, but the brake off position may be the same height as the brake on position. Similarly, in the fifth embodiment, the case where the brake off position is set above the upper end position of the constituent member has been described as an example, but the brake off position may be the same height as the upper end position of the constituent member.

(4) In the above embodiment, the component imaging camera 15, the conveyer 11, and the nozzle changer 16 were described as examples of the constituent members, but the constituent members are limited to these as long as the mounting head 24 may collide with them. Not a thing.

(5) In the above embodiment, the encoder is described as an example of the detection unit, but the detection unit is not limited to the encoder as long as it can detect the vertical position of the mounting head.

(6) In the above embodiment, the suction nozzle is described as an example of the component holding unit, but the component holding unit may be, for example, a so-called chuck that sandwiches and holds the component.

(7) In the above-described first embodiment, the case where the warning is issued when the head unit moves in the horizontal direction by a certain distance or more has been described as an example. However, in the second to fifth embodiments, a warning is issued when the head unit moves in the horizontal direction by the certain distance or more. May be issued. In the second embodiment, the case where a warning is issued when there is a component whose upper end position is higher than the lower end position of the mounting head within a certain horizontal distance from the mounting head has been described as an example. Also in the cases of 3 to 5, a warning may be issued when there is a component member whose upper end position is higher than the lower end position of the mounting head within a certain horizontal distance from the mounting head.

(8) In the above embodiment, the case where there are a plurality of constituent members has been described as an example, but the number of constituent members may be only one.

DESCRIPTION OF SYMBOLS 1... Surface mounter, 11... Conveyor (an example of a constituent member), 13... Head conveying part, 14... Head unit, 15... A component imaging camera (an example of a constituent member), 16... Nozzle changer (an example of a constituent member) , 20... Y-axis servo motor (an example of a motor), 23... X-axis servo motor (an example of a motor), 24... Mounting head, 25... Nozzle shaft (an example of a shaft), 26... Suction nozzle (an example of a component holder) ), 27... Z-axis servo motor (an example of a lifting unit), 30... Control unit, 44... Dynamic brake, 60... Head unit, 61... Head unit, 62... Head transport unit, 63... Head transport unit, 80... Surface Mounting machine

Claims (10)

A head unit having a mounting head that holds and releases components, and an elevating unit that elevates and lowers the mounting head;
A head transport unit that transports the head unit in a horizontal direction using a motor, the head transport unit having a dynamic brake that brakes the motor;
A detection unit for detecting the vertical position of the mounting head,
A component arranged below the head unit in the movable range of the head unit,
A control unit,
Equipped with
The control unit sets a lower end position of the mounting head to be higher than an upper end position of the component member when a predetermined brake-on condition including at least interruption of power supply to the motor is satisfied. It is determined whether it is higher or lower than the brake on position, and the dynamic brake is turned on on the condition that it is determined to be lower, and the lower end position of the mounting head is set above the brake on position. A surface mounter that turns off the dynamic brake when it is higher than the brake off position . The surface mounter is provided with a plurality of the above-mentioned components having different upper end positions,
The surface mounter according to claim 1 , wherein the brake-on position is set above an upper end position of the constituent member having a highest upper end position among the plurality of constituent members. A head unit having a mounting head that holds and releases components, and an elevating unit that elevates and lowers the mounting head;
A head transport unit that transports the head unit in a horizontal direction using a motor, the head transport unit having a dynamic brake that brakes the motor;
A detection unit for detecting the vertical position of the mounting head,
A component arranged below the head unit in the movable range of the head unit,
A control unit,
Equipped with
The control unit sets a lower end position of the mounting head to be higher than an upper end position of the component member when a predetermined brake-on condition including at least interruption of power supply to the motor is satisfied. It is judged whether it is higher or lower than the brake on position, and the dynamic brake is turned on as a necessary condition that it is judged to be lower,
The surface mounter is provided with a plurality of the above-mentioned components having different upper end positions,
The brake-on position is set in accordance with the upper end position of the structural member that is disposed below the location for each location of the movable range of the head unit, surface mount machine. Even if the lower end position of the mounting head is higher than the brake-on position set at the position where the mounting head is located, the control unit may be within a certain horizontal distance from the mounting head. The surface mounter according to claim 3 , wherein the dynamic brake is turned on when there is the component whose upper end position is higher than the lower end position of the mounting head. A plurality of sets of the head unit and the head transport unit,
The brake-on position, for each of the head units, it is set in accordance with the upper end position of the structural member that is disposed below the movable range of the head unit, one of the claims 1 to 4 one The surface mounter according to item. A head unit having a mounting head that holds and releases components, and an elevating unit that elevates and lowers the mounting head;
A head transport unit that transports the head unit in a horizontal direction using a motor, the head transport unit having a dynamic brake that brakes the motor;
A detection unit for detecting the vertical position of the mounting head,
A component arranged below the head unit in the movable range of the head unit,
A control unit,
Equipped with
The mounting head has a shaft and a component holder detachably attached to the shaft,
There are a plurality of types of the component holding section depending on the length,
The mounting head has a reference point set as a reference for detecting the vertical position,
The control unit sets a lower end position of the mounting head to be higher than an upper end position of the component member when a predetermined brake-on condition including at least interruption of power supply to the motor is satisfied. The position of the mounting head is higher than or lower than the brake-on position, and the dynamic brake is turned on on the condition that it is lower than the position, and the mounting head is moved from the vertical position of the reference point detected by the detection unit. the the lower position is determined as the lower end position of the mounting head by a distance corresponding to the type of the component holder attached to, surface mount machine. Wherein, when the lower end position of the mounting head is lower than the brake-on position, the head unit to warn the moving predetermined distance in the horizontal direction, in any one of claims 1 to 6 Surface mounter described. A head unit having a mounting head that holds and releases components, and an elevating unit that elevates and lowers the mounting head;
A head transport unit that transports the head unit in a horizontal direction using a motor, the head transport unit having a dynamic brake that brakes the motor;
A detection unit for detecting the vertical position of the mounting head,
A component arranged below the head unit in the movable range of the head unit,
A control unit,
Equipped with
The control unit sets a lower end position of the mounting head to be higher than an upper end position of the component member when a predetermined brake-on condition including at least interruption of power supply to the motor is satisfied. It is determined whether it is higher or lower than the brake on position, and the dynamic brake is turned on on the condition that it is determined to be lower, and the upper end position is the lower end position of the mounting head within a certain horizontal distance from the mounting head. If there are higher the structural member warn, surface mount machine. A head unit having a mounting head that holds and releases components, and an elevating unit that elevates and lowers the mounting head;
A head transport unit that transports the head unit in a horizontal direction using a motor, the head transport unit having a dynamic brake that brakes the motor;
A detection unit for detecting the vertical position of the mounting head,
A component arranged below the head unit in the movable range of the head unit,
A control unit,
Equipped with
The control unit determines whether the lower end position of the mounting head is higher or lower than the upper end position of the constituent member when a predetermined brake-on condition including at least interruption of power supply to the motor is satisfied. When the dynamic brake is turned on on the condition that it is determined to be low, and there is the above-mentioned component member whose upper end position is higher than the lower end position of the mounting head within a certain horizontal distance from the mounting head. A surface mounter that turns on the dynamic brake . The surface mounter according to claim 9 , wherein the control unit turns off the dynamic brake when a lower end position of the mounting head is higher than a brake off position set above an upper end position of the component member. ..

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