JP6905976B2 - Anti-board work machine - Google Patents

Description

The present invention relates to a substrate working machine.

Conventionally, in a board-to-board work machine that performs board-to-board work such as sucking parts with a nozzle attached to a head and mounting them on a board, an electromagnetic motor is used as a drive source to change the position and orientation of a moving body such as a head. It is built into the head. Further, the board-to-board working machine is provided with an encoder for detecting the displacement of the electromagnetic motor, a linear encoder for detecting the position of the moving body, and a servo amplifier for driving and controlling the electromagnetic motor on the device main body side. Patent Document 1 describes a servo amplifier and a converter that connects an encoder and a servo amplifier.

If the manufacturer of the servo amplifier and the manufacturer of the linear encoder are different, the communication protocol may be different. Therefore, communication is performed by interposing a converter between the servo amplifier and the linear encoder.

Japanese Unexamined Patent Publication No. 2004-185300

However, when the manufacturer of the servo amplifier and the manufacturer of the linear encoder are different, if it is desired to reset the linear encoder, the linear encoder may not be reset even if a converter is inserted. In this case, it is necessary to turn off the power of the servo amplifier and the linear encoder once and then restart them. In this case, it takes time to restart and establish communication between the controller that controls the servo amplifier and the servo amplifier, which may reduce the operating rate of the board-to-board work machine.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a substrate-to-board working machine capable of quickly resetting an encoder.

(1) according to the present-board working machine, allows the first and second servo amplifier, and a controller for controlling the first and second servo amplifier, a linear moving driven by a first servo amplifier A slider device, a linear scale that detects the linear position of the slider device, a linear scale relay that switches the opening and closing of the first power supply line via the first power supply line connected to the linear scale, and the first and second power lines. A fixed part including a servo amplifier and a controller, a first movable part including a slider device, a linear scale, and a relay for a linear scale, a servomotor driven by a second servoamplifier, and an encoder that detects the position of the servomotor. A fixed part, a first movable part, and a relay for an encoder that switches the opening and closing of the second power line via a second power line connected to the encoder, and a second movable part including a servomotor and an encoder. Multiple communication is performed between the second movable unit to multiplex the transmitted and received signals, and the fixed unit, the first movable unit, and the second movable unit each multiplex and receive the transmitted signal. A reset instruction for opening the first power supply line, which includes first, second, and third multiplex communication units that demultiplex the signal and execute multiplex communication, is a linear scale relay from the controller via multiplex communication. It is characterized by being transmitted to and resetting only the linear scale.

According to the board-to-board working machine according to the present application, the encoder can be reset quickly.

It is a block diagram of the work robot which uses the multiplexing communication which concerns on embodiment. It is a figure which shows the breakdown for each data type to be multiplexed communication. It is a perspective view of the electronic component mounting device. It is a schematic plan view of the state in which the upper cover of the electronic component mounting device shown in FIG. 3 is removed.

(Configuration of working robot 10)
A working robot will be described as an example of the anti-board working machine of the present application.
FIG. 1 is a schematic diagram showing a configuration of a working robot 10 that uses multiplexed communication. As shown in FIG. 1, the work robot 10 has a device main body 11 fixedly provided at a place where the work robot 10 is installed, a first movable portion 13 that moves relative to the device main body 11, and a second. A movable portion 15 and the like are provided. The working robot 10 performs work such as attaching a work sandwiched between the robot arms of the second movable portion 15 to an object to be conveyed on the production line.

The apparatus main body 11 includes a multiplexing communication device 21, a controller 23, a Y-axis linear servo amplifier (hereinafter abbreviated as servo amplifier) 25, and an X-axis linear servo amplifier (hereinafter abbreviated as servo amplifier) 26 and 6 axes. It includes a rotary servo amplifier (hereinafter abbreviated as servo amplifier) 27, a display unit 29, and the like. The controller 23 is mainly composed of a computer equipped with a CPU, RAM, and the like. The controller 23 is connected to the servo amplifiers 25 to 27. Each of the controller 23 and the servo amplifiers 25 to 27 is connected to the multiplexing communication device 21.

The display unit 29 includes a plurality of display lamps 29a. The controller 23 controls each of the indicator lamps 29a to be turned on and off via a control circuit (not shown).

The first movable portion 13 is, for example, a slider device that moves the position of the second movable portion 15 in the X-axis direction and the Y-axis direction in the upper part of the device main body 11. The first movable unit 13 includes a multiplexing communication device 31, an X-axis linear motor 37, a Y-axis linear motor 33, a linear scale 34, 38, a converter 35, 39, a power supply 61, 63, a relay 62, 64, and an image processing device. It includes a 71, a parts camera 72, a mark camera 73, and the like.

The X-axis linear motor 37 is a drive source for moving the first movable portion 13 in the X-axis direction. The X-axis linear motor 37 is connected to the X-axis linear servo amplifier 26 of the main body 11 by a power supply line (not shown), and is driven by the X-axis linear servo amplifier 26. The first movable portion 13 moves on the guide rail along the X-axis direction in response to the drive of the X-axis linear motor 37. The linear scale 38 detects the position of the first movable portion 13 in the X-axis direction, and outputs an encoder signal such as the position in the X-axis direction (X coordinate value) to the converter 39.

Similarly, the Y-axis linear motor 33 is a drive source for moving the first movable portion 13 in the Y-axis direction. The Y-axis linear motor 33 is connected to the Y-axis linear servo amplifier 25 of the main body 11 by a power supply line (not shown), and is driven by the Y-axis linear servo amplifier 25. The first movable portion 13 moves on the guide rail along the Y-axis direction in response to the drive of the Y-axis linear motor 33. The linear scale 34 detects the position of the first movable portion 13 in the Y-axis direction, and outputs an encoder signal such as the position in the Y-axis direction (Y coordinate value) to the converter 35.

The power supply 61 and the relay 62 are connected by a power supply line 67a, and the relay 62 and the linear scale 34 are connected by a power supply line 67b. The relay 62 switches between a connected state in which the power supply line 67a and the power supply line 67b are connected and an open state in which the power supply line 67a and the power supply line 67b are opened. In the connected state of the relay 62, the linear scale 34 is supplied with power from the power supply 61 via the relay 62. Similarly, the power supply 63 and the relay 64 are connected by a power supply line 68a, and the relay 64 and the linear scale 38 are connected by a power supply line 68b. The relay 64 switches between a connected state in which the power supply line 68a and the power supply line 68b are connected and an open state in which the power supply line 68a and the power supply line 68b are opened. In the connected state of the relay 64, the linear scale 38 is supplied with power from the power supply 63 via the relay 64.

The parts camera 72 captures an image of a work sandwiched between robot arms (described later) of the second movable portion 15. On the other hand, the mark camera 73 captures an object to which the work is attached. The image data obtained by the mark camera 73 and the image data obtained by the parts camera 72 are signal-processed by the image processing device 71 and output to the multiplexing communication device 31.

The converters 35, 39, relays 62, 64, and image processing device 71 are connected to the multiplexing communication device 31.

The second movable portion 15 is, for example, a 6-axis robot arm that sandwiches and performs work. The second movable unit 15 includes a multiplexing communication device 41, six servomotors 42, an encoder 45 corresponding to each servomotor 42, a converter 43 corresponding to each encoder 45, a sensor 46, a power supply 65, a relay group 66, and a relay group 66. It is equipped with a switch (not shown).

The servomotor 42 is a drive source that rotates the joints of the robot arm around an axis. The servomotor 42 is connected to the servo amplifier 27 of the device main body 11 and a power supply line (not shown), and is driven by the servo amplifier 27. There are six servo motors 42 and servo amplifiers 27, corresponding to six joints. The encoder 45 is, for example, an absolute encoder. The encoder 45 detects the rotation angle, rotation amount, etc. of the servomotor 42, and outputs an encoder signal such as the detected position information to the multiplexing communication device 41.

The sensor 46 is installed in a sandwiching portion that sandwiches the work installed at the tip of the robot arm. The sensor 46 detects the force acting on the sandwiching portion and outputs the detected I / O signal to the multiplexing communication device 41. A switch (not shown) transmits an I / O signal indicating the operating status of the second movable unit. Further, when the switch is pressed by the user, the switch (not shown) transmits an I / O signal informing that the switch has been pressed.

The relay group 66 includes six relays (not shown) corresponding to the six encoders 45. The power supply 65 and the relay included in the relay group 66 are connected by a power supply line 69a, and the relay included in the relay group 66 and the encoder 45 are connected by a power supply line 69b. The relay included in the relay group 66 switches between a connected state in which the power supply line 69a and the power supply line 69b are connected and an open state in which the power supply line 69a and the power supply line 69b are opened. In the connected state of the relay included in the relay group 66, the encoder 45 is supplied with power from the power supply 65 via the relay included in the relay group 66.

The converter 43, the sensor 46, the relay included in the relay group 66, and the switch are connected to the multiplexing communication device 41.

Here, it is assumed that the manufacturer of the servo amplifier 25 and the manufacturer of the linear scale 34 are different. Further, the manufacturer of the servo amplifier 26 and the manufacturer of the linear scale 38 are different from each other. Further, the manufacturer of the servo amplifier 27 and the manufacturer of the encoder 45 are different from each other. Further, it is assumed that the specifications of the communication protocol used by the servo amplifier 25 and the specifications of the communication protocol used by the linear scale 34 are different. Further, it is assumed that the specifications of the communication protocol used by the servo amplifier 26 and the specifications of the communication protocol used by the linear scale 38 are different. Further, it is assumed that the specifications of the communication protocol used by the servo amplifier 27 and the specifications of the communication protocol used by the encoder 45 are different.

The converter 35 bidirectionally converts the communication protocol used by the servo amplifier 25 and the communication protocol used by the linear scale 34 according to the specifications of the transmission destination. Further, the converter 39 bidirectionally converts the communication protocol used by the servo amplifier 26 and the communication protocol used by the linear scale 38. Further, the converter 43 bidirectionally converts the communication protocol used by the servo amplifier 27 and the communication protocol used by the encoder 45. As a result, the servo amplifier 25 and the linear scale 34, the servo amplifier 26 and the linear scale 38, and the servo amplifier 27 and the encoder 45 can communicate with each other.

The multiplexing communication device 21 and the multiplexing communication device 31 are connected by a multiplexing communication cable 51. Further, the multiplexing communication device 31 and the multiplexing communication device 41 are connected by a multiplexing communication cable 52. The multiplexed communication cables 51 and 52 are, for example, LAN cables compliant with the communication standard of Gigabit Ethernet (registered trademark). The multiplexed communication cables 51 and 52 may be other types of cables, for example, an optical fiber cable or a USB cable compliant with the communication standard of USB (Universal Serial Bus) 3.0. Further, the multiplexed communication cable 51 is preferably a cable having anti-bending property.

The encoder signal output from the linear scale 34 is transmitted to the servo amplifier 25 via the multiplexing communication devices 31 and 21 after the communication protocol is converted by the converter 35. The servo amplifier 25 compares the target position in the Y-axis direction of the first movable portion 13 commanded by the controller 23 with the encoder signal output from the linear scale 34, and feedback-controls the Y-axis linear motor 33. Similarly, the encoder signal output from the linear scale 38 is transmitted to the servo amplifier 26 via the converter 39 and the multiplexing communication devices 31 and 21. The servo amplifier 26 compares the target position in the X-axis direction of the first movable portion 13 commanded by the controller 23 with the encoder signal output from the linear scale 38, and feedback-controls the X-axis linear motor 37. Similarly, the encoder signal output from the encoder 45 is transmitted to the servo amplifier 27 via the converter 43 and the multiplexing communication devices 41, 31 and 21. The servo amplifier 27 compares the angle of each joint of the robot arm commanded by the controller 23 with the encoder signal output from each encoder 45, and feedback-controls the servomotor 42.

The image data obtained by the parts camera 72 and the mark camera 73 is transmitted to the controller 23 via the image processing device 71 and the multiplexing communication devices 31 and 21. The controller 23 detects a position error from the set position of the position of the object based on the image data captured by the mark camera 73. Further, the controller 23 detects a position error from the set position of the position of the work held by the robot arm based on the image data captured by the parts camera 72. Next, the controller 23 calculates the correction amount of the position of the robot arm based on the position error of the object and the work, and commands the servo amplifier 27 to a new target angle. Further, the controller 23 causes the work held by the robot arm to be attached to the object. The controller 23 controls the operation of the sandwiching portion that sandwiches the work based on the signal output from the sensor 46.

Next, a method of resetting the linear scales 34, 38 and the encoder 45 when some trouble occurs will be described. In order to clarify the difference between the conventional method and the present embodiment, first, the case where the manufacturer of the servo amplifier and the manufacturer of the linear scale are the same will be described.

When the manufacturer of the servo amplifier and the manufacturer of the linear scale are the same, the specifications of the communication protocol are often the same between the servo amplifier and the linear scale. As described above, when the communication protocols having the same specifications are used, the linear scale can operate according to the signal transmitted from the servo amplifier without using a converter for converting the communication protocol. For example, if the user wants to reset the linear scale, the user is instructed to reset the linear scale using the controller. When the controller receives the reset command of the linear scale, it sends the reset command to the servo amplifier that controls the linear scale. When the servo amplifier receives the reset command, it sends a reset signal to the linear scale. The linear scale resets itself in response to the reset signal it receives.

On the other hand, when the manufacturers of the servo amplifiers 25 to 27 and the manufacturers of the linear scales 34 and 38 and the encoder 45 are different and the communication protocols are different as in the present embodiment, the transmitters 35, 39 and 43 are used. However, the linear scales 34 and 38 and the encoder 45 may not be reset due to differences in design or the like. Therefore, in the present embodiment, the linear scales 34, 38 and the encoder 45 are restarted and reset by cutting off the power supply to the linear scales 34, 38 and the encoder 45.

The case of resetting the linear scale 34 will be described as an example. When the controller 23 receives the reset command of the linear scale 34, the controller 23 transmits a reset signal instructing the relay 62 to switch to the open state. The reset signal transmitted from the controller 23 is transmitted to the relay 62 via the multiplexing communication devices 21 and 31. When the relay 62 receives the reset signal, the relay 62 switches the state to the open state. As a result, the connection between the power supply line 67a and the power supply line 67b is opened, and the power supply to the linear scale 34 is cut off. Next, after a predetermined time, the relay 62 switches to the connected state. As a result, the power supply line 67a and the power supply line 67b are connected, and the power supply to the linear scale 34 is restarted. As a result, the linear scale 34 is restarted and the linear scale 34 is reset. The controller 23 can reliably reset the linear scale 34 by controlling the state of the relay 62.

Similarly, in the case of the linear scale 38 and the encoder 45, the controller 23 resets the linear scale 38 and the encoder 45 by switching the relay states of the corresponding relay 64 and the relay group 66.

Here, the controller 23 individually controls the relays 62 and 64 and the relays included in the relay group 66. The reset signal includes an identifier corresponding to each of the relays included in the relays 62 and 64 and the relay group 66. When the communication between the multiplexing communication devices 21, 31 and 41 is established, the controller 23 distributes the identifier to each of the relays 62 and 64 and the relays included in the relay group 66 to the multiplexing communication devices 31 and 41. The multiplexing communication devices 31 and 41 store the identifiers of the relays 62 and 64 connected to the multiplexing communication devices 31 and 41 and the relays included in the relay group 66 in a storage unit (not shown). When the reset signal transmitted from the controller 23 includes an identifier to be stored, the reset signal is transmitted to any of the relays 62 and 64 and the relays included in the relay group 66.

Multiplexed communication is performed between the multiplexed communication devices 21, 31, and 41. The multiplexing communication device 41 multiplexes the encoder signal output from the encoder 45 and the I / O signal output from the sensor 46 and the switch, and the multiplexed data is transmitted via the multiplexing communication device 31. It is transmitted to the multiplexing communication device 21. The multiplexing communication device 31 multiplexes the encoder signals output from the linear scales 34 and 38 and the image data output from the image processing device 71, and transmits the multiplexed data to the multiplexing communication device 21. The multiplexing communication device 21 separates the received multiplexed data and transmits it to the corresponding destination. Specifically, the encoder signal is output to the corresponding servo amplifiers 25 to 27, and the I / O signal and image data are transmitted to the controller 23.

Further, the multiplexing communication device 21 multiplexes the reset signals to the relays 62 and 64 and the relay group 66 output from the controller 23, and transmits the multiplexed data to the multiplexing communication device 31. The multiplexing communication device 31 separates the multiplexed data and transmits the reset signal to either of the corresponding relays 62 and 64. Further, the reset signal to the relay group 66 is transmitted to the multiplexing communication device 41. The multiplexing communication device 41 separates the received multiplexed data and transmits the reset signal to any of the relays included in the corresponding relay group 66.

Next, the signals transmitted and received by the multiplexing communication will be described by taking the encoder signal output from the encoder 45 as an example.
The servo amplifier 27 transmits and receives an encoder signal to and from the encoder 45, for example, by communication conforming to a communication standard of HDLC (High level Data Link Control procedure). The data frame transmitted by HDLC communication includes synchronization data for synchronization between transmission and reception, a start flag (for example, "7EH" in hexadecimal (0x)), and data (encoder signal output by the encoder 45). , Frame check sequence (parity code), end flag (0x7EH), and the like.

In the multiplexing communication performed by the multiplexing communication devices 21, 31, and 41, a plurality of error detection methods are adopted. The multiplexing communication devices 21, 31, and 41 determine the error detection method to be applied according to the data type of the data to be transmitted and received. FIG. 2 is a diagram showing a breakdown of various data types to be multiplexed and communicated. Three types of data are illustrated. The signal classified in (A) is a high-speed signal. The image data output from the image processing device 71 is illustrated. The signal classified in (B) is a medium speed signal. Reset signals and servo control information are illustrated. Here, the servo control information is an encoder signal. The signal classified in (C) is a low-speed signal. I / O signals are illustrated.

The image data classified in (A) is, for example, 2000 × 2000 pixels per frame, and has a gradation of 8 bits per pixel. The amount of data that constitutes one frame is large. Since the amount of data per frame is large, it is not realistic to retransmit data in response to a bit error. Therefore, it is common to perform error correction at the receiving destination instead of resending. Since the forward error correction code (FEC) of the Hamming code is added to the image data, the amount of data becomes even larger. As a result, a data transfer rate of 1 GBPS or higher is required as a standard for field networks in the FA field. On the other hand, there is some margin in the time until the display of one frame is updated, and it is sufficient that about 1 ms is secured as the data processing time. During this time, data error correction processing is performed and a one-frame screen display is performed. Although the data processing time is longer than that of the servo control information, the total amount of data is enormous. Therefore, a high-speed data transfer rate is set, and a high-speed data request rate is required in combination with the data processing time. Although the accuracy of data is maintained by error correction, it is necessary to transmit a large amount of data at high speed.

The servo control information classified in (B) is, for example, torque information of the servomotor 42 output from the encoder 45, position information output from the linear scale 34, and the like. Since the servo amplifier 25 or the like drives the Y-axis linear motor 33 or the like according to the servo control information, a high-speed response may be required. On the other hand, the amount of data required for servo control information is smaller than that of image data. As a result, a data transfer rate of 125 MBPS is generally used as a standard for field networks in the FA field. On the other hand, the data processing time per command is required to be as high as 1 μs, for example, due to the specifications of the communication protocol or the control restrictions of the servomotor 42 and the like. A medium-speed data request rate is required in combination with these data transfer rates and data processing time. Further, in the data error processing, the certainty of the command may be required for control, and in order to avoid the control value not being transmitted, the processing by the majority logic is performed. For example, the same servo control information is transmitted three times after adding a parity code. Of the three commands, a parity check detects a match / mismatch, and if they match, a heavy coefficient is added and the score for each data value is totaled. As a result, the data value with the highest score is set as the definite value. With multiple data transmissions and majority logic, data values can be reliably transmitted while ensuring certainty. In addition, error processing is simple and high-speed processing can be performed.

The I / O signal classified in (C) is, for example, a signal output from the sensor 46 and a signal input by the switch. High speed is not required for these signals, and for example, it is sufficient to secure a data transfer rate of several KHz and a data processing time of about 1 ms. A low data request rate is required due to the combination of these data transfer rates and the data processing time. Data error processing is performed by a plurality of transmissions after assigning a parity code. In continuous transmission, the transmitted data is acquired by confirming that all the data have the same data value. If the data value is different even once in the continuous transmission, the data transmission is canceled. It is applied to signals that are low-speed signal transmissions and can maintain their original state even when data transmissions are cancelled.

Up to this point, the working robot 10 which is an example of a board-to-board working machine has been described. Next, an electronic component mounting device (hereinafter, abbreviated as mounting device) 110, which is another example of the board-to-board working machine, will be described with reference to FIGS. 3 and 4.

(Configuration of mounting device 110)
As shown in FIG. 3, the mounting device 110 includes a device main body 111, a pair of display devices 113 integrally provided on the device main body 111, and supply devices 115 and 116 detachably provided on the device main body 111. To be equipped. In the mounting device 110 of this embodiment, electronic components (not shown) are mounted on the circuit board 100 transported by the transport device 121 housed in the device main body 111 under the control of a controller (not shown). It is a device that carries out. In this embodiment, as shown in FIGS. 3 and 4, the direction in which the circuit board 100 is conveyed by the transfer device 121 (the left-right direction in FIG. 4) is horizontal to the X-axis direction and the transfer direction of the circuit board 100. The direction perpendicular to the X-axis direction is referred to as the Y-axis direction and will be described.

The device main body 111 includes display devices 113 at one end side in the X-axis direction and at both ends in the Y-axis direction. Each display device 113 is a touch panel type display device, and displays information related to mounting work of electronic components. Further, the supply devices 115 and 116 are mounted on the device main body 111 so as to be sandwiched from both sides in the Y-axis direction. The feeder 115 is a feeder type feeder, and has a plurality of tape feeders 115A in which various electronic components are taped and wound on a reel. The supply device 116 is a tray-type supply device, and has a plurality of component trays 116A (FIG. 4) on which a plurality of electronic components are placed.

FIG. 4 is a schematic plan view showing the mounting device 110 from above (upper side in FIG. 3) with the upper cover 111A (FIG. 3) of the device main body 111 removed. As shown in FIG. 4, the apparatus main body 111 is based on the above-mentioned transport device 121, a head portion 122 for mounting electronic components on the circuit board 100, and a moving device 123 for moving the head portion 122. Prepare on top.

The transport device 121 is provided at a substantially central portion of the base 120 in the Y-axis direction, and moves the pair of guide rails 131, the board holding device 132 held by the guide rails 131, and the board holding device 132. It has an electromagnetic motor 133. The board holding device 132 holds the circuit board 100. In the electromagnetic motor 133, the output shaft is driven and connected to a conveyor belt stretched on the side of the guide rail 131. The electromagnetic motor 133 is, for example, a servomotor capable of accurately controlling the rotation angle. In the transport device 121, the circuit board 100 moves in the X-axis direction together with the board holding device 132 by the conveyor belt rotating around the drive of the electromagnetic motor 133.

The head portion 122 has a suction nozzle 141 that sucks electronic components on the lower surface facing the circuit board 100. The suction nozzle 141 communicates with the negative pressure air and the positive pressure air passage through the solenoid valve of the positive / negative pressure supply device (not shown), and sucks and holds the electronic component with the negative pressure, and a slight positive pressure is supplied. By doing so, the held electronic component is released. The head portion 122 incorporates a plurality of electromagnetic motors as a drive source for raising and lowering the suction nozzle 141 and rotating the suction nozzle 141 around its axis, and holds the electronic component in the vertical position and the electronic component. Change the holding posture of. Further, the suction nozzle 141 is provided with a plurality of nozzles for sucking electronic components, and the head portion 122 has a built-in electromagnetic motor for rotating each nozzle individually. Further, the head portion 122 is provided with a parts camera 147 that captures images of electronic components sucked and held by the suction nozzle 141 from the supply positions of the supply devices 115 and 116. The image data captured by the parts camera 147 is processed by the controller, and the holding position error of the electronic component in the suction nozzle 141 is acquired. The suction nozzle 141 is removable from the head portion 122 and can be changed according to the size, shape, and the like of the electronic component.

Further, the head portion 122 is moved to an arbitrary position on the base 120 by the moving device 123. More specifically, the moving device 123 includes an X-axis direction slide mechanism 150 for moving the head portion 122 in the X-axis direction, and a Y-axis direction slide mechanism 152 for moving the head portion 122 in the Y-axis direction. .. The X-axis direction slide mechanism 150 has an X-axis slider 154 provided on the base 120 so as to be movable in the X-axis direction, and a linear motor as a drive source. The X-axis slider 154 moves to an arbitrary position in the X-axis direction based on the drive of the linear motor. In the linear motor, for example, permanent magnets in which N poles and S poles are alternately arranged are provided on the inner wall of the guide rail 156A arranged on the base 120 as the fixed portion side, and the X axis is provided as the movable portion side. An exciting coil is provided on the slider 154. The X-axis slider 154 moves by the action of the magnetic field generated from the permanent magnet of the guide rail 156A on the fixed portion side by generating a magnetic field by supplying electric power to the exciting coil.

Further, the Y-axis direction slide mechanism 152 has a Y-axis slider 158 provided on the side surface of the X-axis slider 154 so as to be movable in the Y-axis direction, and a linear motor as a drive source. The Y-axis slider 158 moves to an arbitrary position in the Y-axis direction based on the drive of the linear motor. Further, a mark camera for photographing the circuit board 100 is fixed to the Y-axis slider 158 in a state of facing downward. As a result, the mark camera can take an image of the surface of the circuit board 100 at an arbitrary position by moving the Y-axis slider 158. The image data captured by the mark camera is processed by the controller, and information about the circuit board 100, holding position error, and the like are acquired. Then, the head portion 122 is attached to the Y-axis slider 158 and moves to an arbitrary position on the base 120 as the moving device 123 is driven. Further, the head portion 122 is attached to the Y-axis slider 158 via the connector 148 and can be attached and detached with one touch, and can be changed to a different type of head portion, for example, a dispenser head or the like.

Further, the head portion 122 has a built-in head portion encoder (not shown) that detects the rotation angles and the like of a plurality of electromagnetic motors built in the head portion 122. The head encoder outputs the detected encoder signal to the head multiplexing communication device (described later). The head encoder is connected by a power line (not shown) via a power supply (not shown) and a head relay. The head relay switches between a connected state in which the power supply line is connected and an open state in which the power supply line is opened.

The multiplexing communication device 101 provided in the Y-axis direction slide mechanism 152 and the multiplexing communication device 103 provided in the base 120 are connected by a multiplexing communication cable. Further, the multiplexing communication device 101 and the head portion multiplexing communication device (not shown) provided on the head portion 122 are connected by a multiplexing communication cable. The multiplexing communication devices 101 and 103 and the head section multiplexing communication device perform multiplexing communication. A controller is connected to the multiplexing communication device 101. A head encoder is connected to the head multiplexing communication device.

A method of resetting the head encoder in the mounting device 110 will be described. The controller outputs a reset signal for resetting the head encoder to the multiplexing communication device 103. The reset signal is transmitted to the head section relay via the multiplexing communication devices 101 and 103 and the head section multiplexing communication device. When the head relay receives the reset signal, it switches the state to the open state. As a result, the power supply to the head encoder is cut off. After a predetermined time, the head relay switches to the connected state. As a result, the head encoder is restarted and the head encoder is reset.

Here, the working robot 10 is an example of a board-to-board working machine. The slider device driven by the X-axis linear motor 37, the Y-axis linear motor 33, the X-axis linear motor 37, and the Y-axis linear motor 33 is an example of an actuator. The rotary servo amplifier 27 and the robot arm driven by the rotary servo amplifier 27 are examples of actuators. The linear scale 34, the linear scale 38, and the encoder 45 are examples of the encoder. The robot arm is an example of a work head portion. The multiplex communication device 21 is an example of the first multiplex communication unit, and the multiplex communication devices 31 and 41 are an example of the second multiplex communication unit.

Further, the mounting device 110 is an example of a board-to-board working machine. Further, the electromagnetic motor and the head portion 122 built in the head portion 122 are examples of actuators. The multiplexing communication device 103 is an example of the first multiplexing communication unit, and the multiplexing communication device 101 and the head unit multiplexing communication device are examples of the second multiplexing communication unit.

According to the present embodiment described in detail above, the following effects are obtained.
When the relay 62 receives the reset command from the controller 23, the relay 62 opens the power supply lines 67a and 67b. As a result, the power supply to the linear scale 34 is cut off, and the power supply to the linear scale 34 is turned off. Even if the manufacturer of the servo amplifier and the manufacturer of the linear encoder are different and the communication protocol used is different, the controller 23 can reset the linear scale 34 by transmitting a reset command. Similarly, when the relay 64 receives the reset command from the controller 23, the relay 64 opens the power supply lines 68a and 678b. When the relay included in the relay group 66 receives the reset command from the controller 23, the power lines 69a and 69b are opened. The controller 23 can reset the linear scale 38 and the encoder 45 by transmitting a reset command.

The position of the slider device driven by the servo amplifiers 25 and 26 can be applied to the configuration detected by the linear scales 34 and 38. It can be applied to the configuration in which the encoder 45 detects the position of the robot arm driven by the servo amplifier 27.

For work in which multiplexing communication is performed between the multiplexing communication device 21 provided in the fixed portion, the multiplexing communication device 31 provided in the first movable portion, and the multiplexing communication device 41 provided in the second movable portion. It is applied in the robot 10. The reset instruction transmitted from the controller 23 is transmitted to the relays 62 and 64 and the relays included in the relay group 66 by multiplexing communication. The reset instruction includes an identifier corresponding to each of the relays 62 and 64 and the relay group 66. As a result, the reset command is reliably transmitted to each of the relays 62 and 64 of the transmission destination and the relays included in the relay group 66. A converter 35 is provided between the servo amplifier 25 and the linear scale 34. Similarly, a converter 39 is provided between the servo amplifier 26 and the linear scale 38, and a converter 43 is provided between the servo amplifier 27 and the encoder 45. The converters 35, 39, 43 convert the communication protocol.

When the head relay receives the reset signal from the controller, it switches to the open state. As a result, the power supply to the head encoder is cut off, and the power of the head encoder is turned off. The controller can reset the head encoder by transmitting a reset signal.

The present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention.
For example, in the above embodiment, the present invention is applied to data communication conforming to the HDLC communication standard, but it may be applied to other types of communication standards. For example, it may be applied to data communication conforming to the communication standard of Industrial Ethernet (registered trademark). The industrial Ethernet referred to here is, for example, EtherCAT (registered trademark), MECHATROLINK (registered trademark) -III, and the like.

Further, although the working robot 10 has been described in the above embodiment, the present application is not limited to this, and other than a mounting device for mounting electronic components on a circuit board, a screen printing device for printing solder on a circuit board, and the like. It can be applied to the equipment of.

Further, although it has been explained that the linear scales 34, 38 and the encoder 45 are supplied with power from the power supplies 61, 63, 65 via the relays 62, 64 and the relay group 66, respectively, the power supply is not limited to the power supplies 61, 63, 65. .. Any of the servo amplifiers 25 to 27 may be used as the power supply. For example, the present application can be applied to the case where the linear scale 34 is supplied with power from the servo amplifier 25 via the relay 62.

Further, the case where the manufacturer of the servo amplifier 25 and the manufacturer of the linear scale 34 are different has been described as an example, but the case is not limited to the case where the manufacturers are different. The manufacturer of the servo amplifier 25 and the manufacturer of the linear scale 34 may be the same. Further, for example, it can be applied even when the linear scale 34 does not have a reset function.

21, 31, 41 Multiplexed communication device 23 Controller 25 Y-axis linear servo amplifier 26 X-axis linear servo amplifier 27 Rotary servo amplifier 33 Y-axis linear motor 34, 38 Linear scale 35, 39, 43 Converter 37 X-axis Linear motor 42 Servo motor 45 Encoder 61, 63, 65 Power supply 62, 64 Relay 66 Relay group 67a, 67b, 68a, 68b, 69a, 69b Power supply line

Claims (3)

With the 1st and 2nd servo amplifiers
A controller that controls the first and second servo amplifiers,
A slider device that enables linear movement driven by the first servo amplifier, and
A linear scale that detects the linear position of the slider device, and
A linear scale relay that switches the opening and closing of the first power supply line via the first power supply line connected to the linear scale.
A fixed portion including the first and second servo amplifiers and the controller,
A first movable part including the slider device, the linear scale, and the relay for the linear scale,
The servo motor driven by the second servo amplifier and
An encoder that detects the position of the servo motor and
An encoder relay that intervenes in the second power supply line connected to the encoder and switches the opening and closing of the second power supply line.
The servomotor and the second movable part including the encoder are provided.
Multiplex communication is performed between the fixed portion, the first movable portion, and the second movable portion to multiplex and communicate signals to be transmitted and received.
The fixed portion, the first movable portion, and the second movable portion each have a first, second, and third multiplexing that multiplex the transmission signal and demultiplex the reception signal to execute the multiplex communication. Equipped with a communication unit
A board-to-board working machine characterized in that a reset command for opening the first power supply line is transmitted from the controller to the linear scale relay via the multiplex communication to reset only the linear scale. The error detection method of the information included in the reset command transmitted via the multiplex communication is the same as the error detection method of the linear scale servo control information transmitted via the multiplex communication, and the multiplex communication. The on-board working machine according to claim 1, wherein the error detection method for a medium speed signal is one of the error detection methods for a high speed signal, the error detection method for a medium speed signal, and the error detection method for a low speed signal. .. The first movable portion is interposed between the first servo amplifier and the linear scale, and converts signals transmitted and received between the first servo amplifier and the linear scale according to the specifications of the transmission destination. The anti-board working machine according to claim 1 or 2, wherein the converter is provided.

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