JP6737892B2 - Component mounter - Google Patents

Description

The present invention relates to a component mounter including a Z-axis drive mechanism that vertically moves a mounting head and/or a suction nozzle held by the mounting head.

In a component mounter that mounts components on a circuit board, for example, as described in Patent Document 1 (WO2013/190608), a mounting head holds a plurality of suction nozzles, and during component suction operation, A Z-axis drive mechanism that moves the suction nozzle in the vertical direction (Z-axis direction) during the component mounting operation is provided, and a control signal is transmitted from the controller of the component mounter to the mounting head side to serve as a drive source for the Z-axis drive mechanism. There is one that controls the Z-axis motor.

WO2013/190608

By the way, if the operation of the computer that constitutes the control device for the component mounter hangs up due to a program error or the signal line between the mounting head and the mounting head is broken, the control signal is sent from the control device to the mounting head side. Therefore, the Z-axis motor becomes uncontrollable, and as a result, the Z-axis slide, which is an elevating member of the Z-axis drive mechanism, is lowered by its own weight, and the suction nozzle is lowered freely. Contact the circuit board or electronic component located below it, or interfere with the structure inside the component mounter, and the suction nozzle is damaged, or the circuit board, electronic component, or structure due to contact with the suction nozzle Etc. could be damaged.

Therefore, the problem to be solved by the present invention is to prevent the suction nozzle from freely descending when an abnormal operation such as a hang-up of a control device of a component mounting machine or a disconnection of a signal line occurs, and suction is performed. This is to prevent damage to the circuit board, electronic parts, structures, etc. due to damage to the nozzle or contact with the suction nozzle.

In order to solve the above problems, the present invention includes a Z-axis drive mechanism that moves a mounting head and/or a suction nozzle held by the mounting head in a vertical direction, and the Z-axis driving mechanism is used during a component suction operation or a component mounting operation. In a component mounter that vertically moves the mounting head and/or the suction nozzle by an axis drive mechanism, control for controlling an operation of sucking a component supplied by a component supply device by the suction nozzle and mounting the component on a circuit board. An apparatus and a Z-axis control unit that drives a Z-axis motor, which is a drive source of the Z-axis drive mechanism, according to an instruction from the control device, and the Z-axis control unit monitors the operation status of the control device. A monitoring unit is provided, and the Z-axis control unit stops the Z-axis motor when the monitoring unit cannot detect a normal operation of the control device.

According to this configuration, the monitoring unit provided in the Z-axis control unit monitors the operation status of the control device of the component mounter, so that abnormal operation such as hang-up of the control device and disconnection of the signal line must occur. For example, the monitoring unit can detect the normal operation of the control device, but if the abnormal operation of the control device or the disconnection of the signal line occurs, the monitoring unit provided in the Z-axis control unit cannot detect the normal operation of the control device. Based on the detection result, it is found that the abnormal operation of the control device or the disconnection of the signal line has occurred. Therefore, according to the present invention, when the monitoring unit provided in the Z-axis control unit cannot detect the normal operation of the control device, it is determined that the abnormal operation of the control device or the disconnection of the signal line has occurred, and the Z-axis control is performed. The portion stops the Z-axis motor, which can prevent the suction nozzle from freely descending when abnormal operation of the control device or disconnection of the signal line occurs, and damage to the suction nozzle or suction nozzle. It is possible to prevent damage to the circuit board, electronic components, etc. due to contact with

In this case, the monitoring unit monitors the operation status of the control device by monitoring a memory value updated by the control device in a predetermined cycle, and performs the control when the memory value is not updated within a predetermined time. The operation of the apparatus may be determined to be abnormal.

Furthermore, the monitoring unit determines that when the memory value cannot be read, the signal line to the control device is disconnected and normal operation of the control device cannot be detected. You can In this way, by monitoring the memory value updated by the control device in a predetermined cycle by the monitoring unit, it is possible to detect the abnormal operation of the control device and the disconnection of the signal line separately.

Alternatively, the monitoring unit monitors the operation status of the control device by monitoring a signal output by the control device in a predetermined cycle, and if the signal cannot be received within a predetermined time, the control device It may be determined that the operation is abnormal or the signal line to the control device is disconnected and the normal operation of the control device cannot be detected. In this case, the abnormal operation of the control device and the disconnection of the signal line cannot be detected separately, but the Z-axis control unit stops the Z-axis motor regardless of whether the abnormal operation of the control device or the disconnection of the signal line occurs. Can be made.

Further, according to the present invention, the Z-axis motor is provided with a brake that holds the stopped state, and the Z-axis control unit maintains the brake in the inoperative state during the control of the Z-axis motor. The Z-axis motor is driven according to an instruction from the control device, and when the monitoring unit cannot detect the normal operation of the control device, the Z-axis motor is stopped and the brake is operated to operate the Z-axis motor. The stopped state may be retained. With this configuration, since the lifting member (Z-axis slide or the like) of the Z-axis driving mechanism is heavy, the lifting force of the Z-axis driving mechanism is lowered by its own weight only by the holding force of the reduction mechanism of the Z-axis motor. Even when it is not possible to prevent the suction nozzle from moving downward, it is possible to reliably prevent the Z-axis motor from being stopped by the braking force of the brake and to prevent the lifting member of the Z-axis drive mechanism from lowering due to its own weight (the suction nozzle lowering).

The Z-axis motor may have any configuration as long as it can control the rotational position (rotation angle) of the motor. However, when a servo motor is used as the Z-axis motor, the Z-axis motor can be used. The control unit drives the Z-axis motor in accordance with an instruction from the control device while maintaining the brake in the servo-on state during the control of the Z-axis motor, and the monitoring unit normalizes the control device. When the operation cannot be detected, the Z-axis motor may be stopped and the brake may be operated to maintain the stopped state of the Z-axis motor, and then the servo is turned off. With this configuration, it is possible to prevent the elevating member of the Z-axis drive mechanism from being lowered by its own weight (the suction nozzle is lowered) from the time when the Z-axis motor is stopped until the servo is turned off, and the stop position of the Z-axis motor is displaced. Can also be prevented.

Further, the present invention may be configured to include an alarm unit that performs an alarm operation when the monitoring unit cannot detect a normal operation of the control device. The alarm unit may turn on or blink a warning light, display a warning on a display device of a component mounter or a mobile terminal carried by an operator, or give a warning sound or voice. This alarm promptly informs the operator that the Z-axis motor has stopped due to abnormal operation of the control device or disconnection of the signal line, and checks the program installed in the control device and the connection state of the signal line. Can be prompted to do.

Further, according to the present invention, the control device is provided with a Z-axis operation monitoring unit that monitors an operation state of the Z-axis control unit, and the control device is configured such that the Z-axis operation monitoring unit is a normal operation of the Z-axis control unit. The power supply to the Z-axis motor may be cut off when the operation cannot be detected. With this configuration, when the Z-axis operation monitoring unit provided in the control device monitors the operation status of the Z-axis control unit and the Z-axis operation monitoring unit cannot detect the normal operation of the Z-axis control unit. Since the power supply to the Z-axis motor is cut off, the Z-axis motor can be stopped even when the operation of the Z-axis control unit becomes abnormal.

FIG. 1 is a front view showing a configuration of a mounting head of a component mounting machine and its peripheral portion in an embodiment of the present invention. FIG. 2 is a block diagram showing the configuration of the control system of the component mounter. FIG. 3 is a block diagram showing a configuration of a mutual operation monitoring system between the controller of the component mounter and the Z-axis controller of the mounting head. FIG. 4 is a flowchart showing the flow of processing of the control device operation monitoring program. FIG. 5 is a flowchart showing the processing flow of the Z-axis operation monitoring program.

Hereinafter, an embodiment that embodies a mode for carrying out the present invention will be described.
First, the configuration of the mounting head unit 10 of the component mounting machine will be described with reference to FIG.

The mounting head unit 10 of this embodiment includes a rotary mounting head 11, an R-axis drive mechanism 24, a Q-axis drive mechanism 27, a Z-axis drive mechanism 37, and the like, and has the following configuration.
A plurality of nozzle holders 12 are supported on the rotary mounting head 11 so as to be movable up and down at predetermined intervals in the circumferential direction, and suction nozzles 13 for sucking components are replaceable and vertically mounted on each nozzle holder 12. It is engaged and held so as to be vertically movable in the direction (Z-axis direction). In FIG. 1, only two nozzle holders 12 (suction nozzles 13) are shown, and the other nozzle holders 12 (suction nozzles 13) are omitted.

The head moving mechanism 15 that moves the mounting head unit 10 in the X-axis direction (the substrate transport direction) and the Y-axis direction, which is a direction perpendicular to the X-axis direction, is moved by the X-axis ball screw 16 in the X-axis direction (direction perpendicular to the plane of FIG. 1). The XY robot includes an X-axis slide 17 that slides in the direction of Y, and a Y-axis slide 18 that moves in a Y-axis direction that is orthogonal to the X-axis direction by a Y-axis ball screw (not shown). The X-axis slide 17 is slidably supported in the X-axis direction along an X-axis guide rail 19 provided on the Y-axis slide 18, and the Y-axis slide 18 is a Y-axis guide provided on the component mounting machine main body side. It is slidably supported in the Y-axis direction along a rail (not shown).

The support frame 21 of the mounting head 11 is detachably attached to the X-axis slide 17. The mounting head 11 is fitted to the lower end of an R shaft 22 (also called an index shaft) extending in the vertical direction, and the upper side of the R shaft 22 is rotatably supported by the support frame 21. The R shaft 22 is rotationally driven by an R shaft motor 23 fixed to the support frame 21 side. The rotation of the R-axis 22 causes the mounting head 11 to rotate about the R-axis 22, so that the plurality of nozzle holders 12 supported by the mounting head 11 are integrated with the plurality of suction nozzles 13. The mounting head 11 is swiveled in the circumferential direction. An R-axis drive mechanism 24 is composed of the R-axis motor 23, the R-axis 22 and the like.

Two upper and lower Q-axis gears 28 and 29 of a Q-axis drive mechanism 27 are rotatably inserted into the R-axis 22, and gears fitted to the upper ends of the nozzle holders 12 are attached to the lower Q-axis gear 29. 30 are in mesh. A gear 33 connected to a Q-axis motor 31 fixed to the support frame 21 side meshes with the upper Q-axis gear 28, and the Q-axis gears 28 and 29 are integrally formed by rotation of the gear 33 of the Q-axis motor 31. By rotating, each gear 30 that meshes with the lower Q-axis gear 29 rotates, and each nozzle holder 12 rotates around the axial center line (Q axis) of each nozzle holder 12, whereby each nozzle holder 12 The direction (angle) of each component sucked by each suction nozzle 13 held by is corrected. The Q axis may also be referred to as the θ axis.

Further, a Z-axis drive mechanism 37 for individually lowering the nozzle holder 12 is provided on the side of the R-axis drive mechanism 24, and the Z-axis drive mechanism 37 causes the nozzle to move at a predetermined position of the orbit of the nozzle holder 12. The holder 12 is individually lowered, and the suction nozzle 13 held by the nozzle holder 12 is lowered. The Z-axis drive mechanism 37 may be arranged at only one place around the mounting head 11 or may be arranged at two or more places.

The Z-axis drive mechanism 37 rotates the Z-axis ball screw 38 rotatably supported on the support frame 21 side by the Z-axis motor 39 to move the Z-axis slide 40 in the vertical direction (Z-axis direction). The upper end flange 41 of the nozzle holder 12 is engaged (contacted) with the engagement piece 42 of the Z-axis slide 40 from above to move the nozzle holder 12 up and down. In this case, the upper end flange 41 of each nozzle holder 12 is engaged with the engaging piece 42 of the Z-axis slide 40 from below by urging each nozzle holder 12 upward by the spring 43 attached to each nozzle holder 12. The nozzle holder 12 is held in the abutting state, and the nozzle holder 12 is raised by the pushing force of the spring 43 as the engaging piece 42 of the Z-axis slide 40 is raised.

The R-axis motor 23, the Q-axis motor 31, and the Z-axis motor 39 may be any type of motor as long as the rotation position (rotation angle) can be positionally controlled. However, in the present embodiment, Each is configured using a servo motor.

On the other hand, on the side of the mounting head 11, an image pickup device 46 for picking up an image of the component sucked by the suction nozzle 13 from the side is arranged. The image pickup device 46 is composed of a camera 48, an illumination light source 49, and the like, which are fixed to the support frame 21 side via a holder 47. The height position of the camera 48 is such that when the suction nozzle 13 rises to the upper limit position (standby position) of the ascending/descending range after the component suction operation and stands by, the tip of the suction nozzle 13 (lower end) falls within the visual field of the camera 48. ) Is set so that a side surface image around the tip of the suction nozzle 13 including the suctioned component can be captured.

Correspondingly, at the central portion on the lower surface side of the mounting head 11, a cylindrical light that reflects the illumination light from the illumination light source 49 when the component sucked by the suction nozzle 13 is imaged from the side by the camera 48. A reflector 51 is provided. The height position of the lower end of the light reflection plate 51 is set to a height position at which the light reflection plate 51 does not interfere with a component or the like when the suction nozzle 13 is lowered to suction the component.

The controller 55 (see FIG. 2) of the component mounter is mainly composed of a computer, and executes a predetermined component mounter control program, whereby the R-axis motor 23 of the R-axis drive mechanism 24 and the Q-axis drive mechanism 27. Of the Q-axis motor 31, the Z-axis motor 39 of the Z-axis drive mechanism 37, and the X-axis and Y-axis motors (not shown) of the head moving mechanism 15 to control the operation of the component feeder 56 such as a tape feeder. (See FIG. 2) The suction nozzle 13 sucks the component supplied by the suction nozzle 13 and controls the operation of mounting the component on the circuit board.

Next, a configuration for controlling the Z-axis motor 39 of the Z-axis drive mechanism 37 by the controller 55 of the mounter will be described with reference to FIG.
In this embodiment, the Z-axis motor 39 of the Z-axis drive mechanism 37 is composed of a servo motor, and an encoder 60 for detecting the rotational position (rotation angle), rotational speed, rotational direction, etc. of the Z-axis motor 39, and the Z-axis. An electromagnetic brake 62 (brake) for holding the stopped state of the motor 39 is mounted. As this electromagnetic brake 62, a non-excitation actuated electromagnetic brake is used, and when the electromagnetic brake 62 is energized, it is brought into a non-actuated state (a state in which the braking force is released) and the Z-axis motor 39 is rotatable. When the electromagnetic brake 62 is turned off and the power supply to the electromagnetic brake 62 is turned off, the operating state (the state in which the braking force is applied) is established and the stopped state of the Z-axis motor 39 is maintained.

The mounting head unit 10 is provided with a Z-axis controller 61 that drives the Z-axis motor 39 in accordance with an instruction from the servo controller 64 of the controller 55 of the component mounter. The Z-axis control unit 61 is configured by using a programmable logic device such as FPGA, feedback-controls the Z-axis motor 39 based on the encoder signal transmitted from the encoder 60, and controls the servo of the controller 55. When a braking instruction is issued from the control unit 64, the electromagnetic brake 62 is operated to mechanically fix the output shaft of the Z-axis motor 25 to maintain the stopped state of the Z-axis motor 25.

The Z-axis control unit 61 is provided with a monitoring unit 63 that monitors the operating status of the control device 55. The Z-axis control unit 61 holds the stopped state of the Z-axis motor 39 by stopping the Z-axis motor 39 and operating the electromagnetic brake 62 when the monitoring unit 63 cannot detect the normal operation of the control device 55. The servo is turned off from. The servo control unit 64 of the control device 55 is connected to the Z-axis control unit 61 via the servo amplifier 65, and controls the Z-axis motor 39 via the servo amplifier 65 and the Z-axis control unit 61.

The monitoring unit 63 of the Z-axis control unit 61 monitors the operation status of the control device 55 by monitoring the value of the memory 66 updated by the control device 55 in a predetermined cycle, and the value of the memory 66 is updated within a predetermined time. If not, the operation of the control device 55 is determined to be abnormal such as hang-up. Further, when the monitoring unit 63 becomes unable to read the value of the memory 66, the signal line between the control unit 55 and the memory 66 is disconnected and the normal operation of the control unit 55 cannot be detected. I try to judge. In this way, if the monitoring unit 63 monitors the value of the memory 66 updated by the control device 55 in a predetermined cycle, it is possible to detect an abnormal operation such as a hang-up of the control device 55 and a disconnection of the signal line separately. ..

In the present embodiment, an alarm unit 68 is provided for performing an alarm when the monitoring unit 63 of the Z-axis control unit 61 cannot detect the normal operation of the control device 55. The alarm unit 68 lights or blinks a warning light provided on the mounting head unit 10 (or the component mounting machine), and displays a warning on a display device (not shown) of the component mounting machine or a portable terminal carried by an operator. Alternatively, a warning sound or a voice may be used for warning. This alarm action promptly informs the operator that the Z-axis motor 39 has stopped due to the abnormal operation of the control device 55 or the disconnection of the signal line, and checks the program installed in the control device 55 and the connection state of the signal line. Can be urged to perform inspections, etc.

Further, in the present embodiment, the controller 55 is provided with a Z-axis operation monitor 67 that monitors the operation status of the Z-axis controller 61, and in the controller 55, the Z-axis operation monitor 67 is installed in the Z-axis controller 61. When the normal operation of Z is not detected, the power supply to the Z-axis motor 39 (Z-axis control unit 61) and the electromagnetic brake 62 is cut off, the Z-axis motor 39 is stopped, and the electromagnetic brake 62 is operated to operate the Z The stop state of the shaft motor 39 is maintained.

The Z-axis control unit 61 of the mounting head unit 10 repeatedly executes the control device operation monitoring program of FIG. 4 in a predetermined cycle while the component mounting machine is in operation (in production), and thereby the operation of the control device 55 of the component mounting machine. The situation is monitored by the monitoring unit 63 of the Z-axis control unit 61, and when the monitoring unit 63 of the Z-axis control unit 61 cannot detect the normal operation of the control device 55, the Z-axis motor 39 is stopped and the electromagnetic brake 62 is used. Is operated to hold the stopped state of the Z-axis motor 39, and then the servo is turned off. The processing contents of the control device operation monitoring program of FIG. 4 will be described below.

When the control device operation monitoring program of FIG. 4 is started, first, in step 101, the control device 55 performs a process of reading the value of the memory 66 that is updated in a predetermined cycle, and in the next step 102, the monitoring unit 63 It is determined whether the value in the memory 66 of the control device 55 has been read. As a result, if it is determined that the monitoring unit 63 cannot read the value of the memory 66 of the control device 55, the process proceeds to step 103, and the signal line between the monitoring unit 63 and the memory 66 of the control device 55 is disconnected. Then, in step 107, the Z-axis motor 39 is stopped, and in the next step 108, the electromagnetic brake 62 is operated to maintain the stopped state of the Z-axis motor 39, and then the process proceeds to step 109 to turn off the servo. .. After that, the process proceeds to step 110 and the alarm unit 68 is activated to notify the operator.

On the other hand, if it is determined in step 102 that the monitoring unit 63 has read the value of the memory 66 of the control device 55, the process proceeds to step 104, and it is determined whether the value of the memory 66 of the control device 55 has been updated. To do. As a result, if it is determined that the value of the memory 66 of the control device 55 has been updated, the process proceeds to step 105, it is determined that the operation of the control device 55 is normal, and this program ends.

On the other hand, if it is determined in step 104 that the value in the memory 66 of the control device 55 has not been updated, it is determined that the control device 55 is abnormally operating such as hanging up, and the process proceeds to step 107. Then, the Z-axis motor 39 is stopped, and in the next step 108, the electromagnetic brake 62 is operated to maintain the stopped state of the Z-axis motor 39, and then the process proceeds to step 109 to turn off the servo. After that, the process proceeds to step 110 and the alarm unit 68 is activated to notify the operator.

On the other hand, the controller 55 of the mounter monitors the operation status of the Z-axis controller 61 by repeatedly executing the Z-axis operation monitoring program of FIG. 5 at a predetermined cycle during operation (production) of the mounter. Then, when the Z-axis operation monitoring unit 67 cannot detect the normal operation of the Z-axis control unit 61, the power supply to the Z-axis motor 39 (Z-axis control unit 61) and the electromagnetic brake 62 is cut off, and Z The shaft motor 39 is stopped and the electromagnetic brake 62 is operated to maintain the stopped state of the Z-axis motor 39. The processing contents of the Z-axis operation monitoring program of FIG. 5 will be described below.

When the Z-axis operation monitoring program of FIG. 5 is started, first, in step 201, it is determined whether or not the Z-axis operation monitoring unit 67 of the control device 55 can detect the normal operation of the Z-axis control unit 61. This determination may be made based on whether or not the memory value of the Z-axis control unit 61 has been updated, or by monitoring a signal output by the Z-axis control unit 61 in a predetermined cycle. It is also possible to monitor the operation status of 61 and determine whether the Z-axis operation monitoring section 67 of the control device 55 has received the signal within a predetermined time.

If it is determined in step 201 that the Z-axis operation monitoring section 67 of the control device 55 has detected the normal operation of the Z-axis control section 61, the process proceeds to step 202 and it is determined that the Z-axis control section 61 operates normally. Then, this program ends.

On the other hand, if it is determined in step 201 that the Z-axis operation monitoring section 67 of the control device 55 cannot detect the normal operation of the Z-axis control section 61, the process proceeds to step 203 and the Z-axis control section 61 executes When it is determined that the operation is abnormal or the signal line between the Z-axis operation monitoring unit 67 of the control device 55 and the Z-axis control unit 61 is broken, the process proceeds to step 204, and the Z-axis motor 39 (Z-axis control unit 61) and the electromagnetic After the power supply to the brake 62 is cut off, the Z-axis motor 39 is stopped and the electromagnetic brake 62 is operated to maintain the stopped state of the Z-axis motor 39, the routine proceeds to step 205, where the servo is turned off. In this case as well, the warning light provided on the component mounter may be turned on or off, a warning may be displayed on the display device of the control device 55 or a mobile terminal carried by the worker, or an alarm sound or voice may be issued. good.

In the present embodiment described above, the monitoring unit 63 of the Z-axis control unit 61 provided in the mounting head unit 10 monitors the operation status of the control device 55 of the component mounter, so that an abnormality such as a hang-up of the control device 55 occurs. If no operation or disconnection of the signal line has occurred, the monitoring unit 63 of the Z-axis control unit 61 can detect normal operation of the control device 55, but if abnormal operation of the control device 55 or disconnection of the signal line occurs, Z Since the monitoring unit 63 of the axis control unit 61 cannot detect the normal operation of the control device 55, it is determined based on the detection result that the abnormal operation of the control device 55 or the disconnection of the signal line has occurred. Therefore, in the present embodiment, when the monitoring unit 63 of the Z-axis control unit 61 cannot detect the normal operation of the control device 55, it is determined that the abnormal operation of the control device 55 or the disconnection of the signal line has occurred. The axis control unit 61 stops the Z-axis motor 39, so that when an abnormal operation of the control device 55 or a disconnection of a signal line occurs, the Z-axis slide 40, which is an elevating member of the Z-axis drive mechanism 37. Can be prevented from descending due to its own weight and the suction nozzle 13 can be lowered freely, and damage to the suction nozzle 13 and damage to the circuit board, electronic parts, etc. due to contact with the suction nozzle 13 can be prevented.

Moreover, in the present embodiment, the monitoring unit 63 of the Z-axis control unit 61 monitors the operation status of the control device 55 by monitoring the value of the memory 66 updated by the control device 55 in a predetermined cycle, and within a predetermined time. When the value of the memory 66 of the control device 55 is not updated, it is determined that the operation of the control device 55 is abnormal, and the monitoring unit 63 of the Z-axis control unit 61 cannot read the value of the memory 66 of the control device 55. Since it is determined that the signal line between the control device 55 and the control device 55 is disconnected when the status becomes a state, there is an advantage that the abnormal operation of the control device 55 and the disconnection of the signal line can be distinguished and detected. is there.

However, the present invention is not limited to the above-mentioned configuration, and the monitoring unit 63 of the Z-axis control unit 61 monitors the operation status of the control device 55 by monitoring the signal output by the control device 55 at a predetermined cycle. When the signal cannot be received within the time, it is determined that the operation of the control device 55 is abnormal or the signal line between the control device 55 and the control device 55 is broken and the normal operation of the control device 55 cannot be detected. You may do it. In this case, the abnormal operation of the control device 55 and the disconnection of the signal line cannot be detected separately, but the Z-axis control section 61 causes the Z-axis controller 61 to detect the abnormal operation of the control device 55 and the disconnection of the signal line. The motor 39 can be stopped, and the intended purpose of the present invention can be achieved.

Further, in the present embodiment, the Z-axis motor 39 is provided with the electromagnetic brake 62 that holds the stopped state, and the Z-axis control unit 61 maintains the electromagnetic brake 62 in the inactive state during the control of the Z-axis motor 39. The Z-axis motor 39 is driven according to an instruction from the control device 55, and the Z-axis motor 39 is stopped and the electromagnetic brake 62 is operated when the monitoring unit 63 of the Z-axis control unit 61 cannot detect the normal operation of the control device 55. Is operated to maintain the stopped state of the Z-axis motor 39. Therefore, the weight of the elevating member (Z-axis slide 40 etc.) of the Z-axis drive mechanism 37 is heavy. Even when the holding force alone cannot prevent the lifting/lowering member of the Z-axis drive mechanism 37 from lowering due to its own weight (lowering of the suction nozzle 13), the braking force of the electromagnetic brake 62 holds the stopped state of the Z-axis motor 39, and It is possible to reliably prevent the lowering (lowering of the suction nozzle 13) of the elevating member of the drive mechanism 37 due to its own weight.

In addition, in the present embodiment, a servo motor is used as the Z-axis motor 39, and the Z-axis control unit 61 maintains the servo-on state and maintains the electromagnetic brake 62 in the inactive state during the control of the Z-axis motor 39, thereby controlling the control device. The Z-axis motor 39 is driven according to an instruction from 55, and when the monitoring unit 63 of the Z-axis control unit 61 cannot detect the normal operation of the control device 63, the Z-axis motor 39 is stopped and the electromagnetic brake 62 is operated. Since the Z-axis motor 39 is held in the stopped state and the servo is turned off, the elevating member of the Z-axis drive mechanism 37 is lowered by its own weight until the Z-axis motor 39 is stopped and the servo is turned off. It is possible to prevent it from descending and also to prevent the stop position of the Z-axis motor 39 from shifting.

Further, in the present embodiment, the control device 55 is provided with a Z-axis operation monitoring unit 67 for monitoring the operation status of the Z-axis control unit 61, and in the control device 55, the Z-axis operation monitoring unit 67 is the Z-axis control unit 61. Since the power supply to the Z-axis motor 39 is cut off when the normal operation cannot be detected, the Z-axis operation monitoring section 67 of the control device 55 monitors the operation status of the Z-axis control section 61, and Z When the axis operation monitoring section 67 cannot detect the normal operation of the Z axis control section 61, the Z axis motor 39 can be stopped by cutting off the power supply to the Z axis motor 39. The Z-axis motor 39 can be stopped even when the operation of (3) becomes abnormal.

The present invention is not limited to the above-described embodiment, and for example, the Z-axis operation monitoring unit 67 may be omitted from the controller 55 of the component mounter, the electromagnetic brake 62 may be omitted from the Z-axis motor 39, or the mounting head may be omitted. The configuration of the unit 10 may be changed, or the number of the suction nozzles 13 held by the mounting head 11 may be changed (it may be only one).

In addition, the present invention can be applied to a component mounting machine that moves the mounting head in the vertical direction by the Z-axis drive mechanism and a component mounting machine that does not rotate the mounting head. It goes without saying that it can be carried out.

10... Mounting head unit, 11... Mounting head, 12... Nozzle holder, 13... Suction nozzle, 15... Head moving mechanism, 37... Z-axis drive mechanism, 39... Z-axis motor, 40... Z-axis slide, 55... Control device , 61... Z-axis control section, 62... Electromagnetic brake (brake), 63... Monitoring section, 64... Servo control section, 65... Servo amplifier, 66... Memory, 67... Z-axis operation monitoring section, 68... Warning section

Claims (8)

The mounting head and/or the suction head held by the mounting head is provided with a Z-axis driving mechanism that moves in the vertical direction, and the mounting head and/or the suction is performed by the Z-axis driving mechanism during a component suction operation or a component mounting operation. In a component mounter that moves the nozzle up and down,
A control device for controlling the operation of sucking the component supplied by the component supply device with the suction nozzle and mounting the component on the circuit board;
A Z-axis control unit that drives a Z-axis motor, which is a drive source of the Z-axis drive mechanism, according to an instruction from the control device,
The Z-axis control unit is provided with a monitoring unit that monitors the operation status of the control device,
The component mounter, wherein the Z-axis control unit stops the Z-axis motor when the monitoring unit cannot detect a normal operation of the control device. The monitoring unit monitors the operation status of the control device by monitoring a memory value updated by the control device in a predetermined cycle, and operates the control device when the memory value is not updated within a predetermined time. The component mounting machine according to claim 1, wherein the component mounting machine is determined to be abnormal. The monitoring unit determines that when the memory value cannot be read, the signal line with the control device is disconnected and normal operation of the control device cannot be detected. The component mounter according to claim 2. The monitoring unit monitors the operation status of the control device by monitoring a signal output by the control device in a predetermined cycle, and if the signal cannot be received within a predetermined time, the operation of the control device is abnormal. Alternatively, the component mounter according to claim 1, wherein it is determined that a signal line between the control device and the control device is disconnected and a normal operation of the control device cannot be detected. The Z-axis motor is provided with a brake for holding the stopped state,
The Z-axis control unit maintains the brake in an inoperative state during the control of the Z-axis motor and drives the Z-axis motor according to an instruction from the control device, and the monitoring unit causes the normal operation of the control device. 5. The component mounter according to claim 1, wherein the Z-axis motor is stopped and the brake is operated to hold the stopped state of the Z-axis motor when the above-mentioned cannot be detected. .. The Z-axis motor is composed of a servo motor,
The Z-axis control unit drives the Z-axis motor in accordance with an instruction from the control device while maintaining the brake in the servo-on state and the non-operating state during the control of the Z-axis motor, and the monitoring unit controls the control. 6. The Z-axis motor is stopped when the normal operation of the device cannot be detected and the brake is operated to maintain the stopped state of the Z-axis motor, and then the servo is turned off. Component mounter. 7. The component mounter according to claim 1, further comprising an alarm unit that alarms when the monitoring unit cannot detect a normal operation of the control device. The control device is provided with a Z-axis operation monitoring unit for monitoring the operation status of the Z-axis control unit,
8. The control device shuts off the power supply to the Z-axis motor when the Z-axis operation monitoring unit cannot detect a normal operation of the Z-axis control unit. Component mounting machine described in Crab.

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