JP7257620B2 - COMPONENT MOUNTING APPARATUS, COMPONENT MOUNTING METHOD, AIR CYLINDER CONTROL METHOD, AND PROGRAM - Google Patents

Description

The present invention relates to a component mounting apparatus, a component mounting method, an air cylinder control method, and a program.

2. Description of the Related Art Conventionally, component mounting apparatuses for mounting components on display boards, circuit boards and the like have been widely used. Japanese Unexamined Patent Application Publication No. 2002-200001 discloses a component mounting apparatus that drives a transfer arm for transferring a substrate using an air cylinder.

Japanese Patent No. 3275743

A conventional component mounting apparatus equipped with an air cylinder moves the piston of the air cylinder in a predetermined first direction and in a second direction opposite to the first direction by supplying air to the air cylinder. drive the Typically, the piston is driven to the end of each of a first predetermined direction and a second direction opposite to the first direction.

Here, for example, when the component mounting apparatus suddenly stops driving due to a malfunction or the like, the piston moves in a predetermined first direction and in a second direction opposite to the first direction. It may not be driven to each end and stop halfway between each end. In this case, the component mounting apparatus may remove all the air (compressed air) in the air cylinder from the viewpoint of safety, that is, return the inside of the air cylinder to the atmospheric pressure. In such a case, when the driving of the piston is resumed, the compressed air is suddenly supplied to the air cylinder, so that the piston is driven at an abnormal speed, and the carrier arm holds it. Damage to the substrate, failure of the air cylinder, etc. may occur. Therefore, the component mounting apparatus is required to safely restore and drive the air cylinder.

The present invention provides a component mounting apparatus and the like that can safely restore and drive an air cylinder.

A component mounting apparatus according to an aspect of the present invention includes a transfer arm, an air cylinder having a piston that drives the transfer arm, a first sensor that detects that the piston is positioned at a limit position in a first direction, A second sensor for detecting that the piston is positioned at a limit position in a second direction opposite to the first direction, and controlling the supply of air to the air cylinder, thereby controlling the driving of the transfer arm. and a control unit, wherein the control unit is capable of supplying air to the air cylinder so that the piston moves by a predetermined movement amount per unit time, and supplying air to the air cylinder is interrupted to bring the inside of the air cylinder to the atmospheric pressure and stop the driving of the transfer arm. Based on the result, when the piston is not positioned at the limit position in the first direction or the limit position in the second direction, the amount of movement of the piston per unit time is smaller than the predetermined amount of movement. After resuming the supply of air to the air cylinder, the first return process is performed to move the piston to the limit position in the first direction or the limit position in the second direction.

Further, in a component mounting method according to an aspect of the present invention, by supplying air to an air cylinder and driving a piston provided in the air cylinder so as to move by a predetermined movement amount per unit time, the component mounting method is connected to the piston. After a drive step of driving a transfer arm, a stop step of stopping the drive of the transfer arm by cutting off the supply of air to the air cylinder so that the inside of the air cylinder is brought to atmospheric pressure, and the stop step, a determination step of determining whether the piston is positioned at the limit position in the first direction or the limit position in the second direction based on the detection results of the first sensor and the second sensor; When it is determined that the position is neither the limit position in the first direction nor the limit position in the second direction, the movement amount of the piston per unit time is set to be smaller than the predetermined movement amount. and a control step of performing a first return process of moving the piston to the limit position in the first direction or the limit position in the second direction after resuming the supply of air to the air cylinder.

Further, a control method for an air cylinder according to one aspect of the present invention is a control method for an air cylinder having a piston, wherein air is supplied to the air cylinder to move the piston by a predetermined amount per unit time. a driving step of driving; a stopping step of stopping the driving of the piston by cutting off the supply of air to the air cylinder so that the inside of the air cylinder is brought to atmospheric pressure; a determination step of determining whether the piston is positioned at the limit position in the first direction or the limit position in the second direction based on the detection result of the second sensor; or the limit position in the second direction, the movement of the piston per unit time to the air cylinder is smaller than the predetermined movement amount. and a control step of performing a return process of moving the piston to the limit position in the first direction or the limit position in the second direction after resuming the supply of air.

A program according to an aspect of the present invention is a program for causing a computer to execute the air cylinder control method.

In addition, these general or specific aspects may be realized by a system, method, integrated circuit, computer program, or a recording medium such as a computer-readable CD-ROM. and any combination of recording media.

According to the component mounting apparatus and the like according to one aspect of the present invention, the air cylinder can be safely restored and driven.

FIG. 1 is a schematic configuration diagram showing a component mounting apparatus according to an embodiment. FIG. 2 is a schematic configuration diagram showing a first example of operation of the component mounting apparatus according to the embodiment. FIG. 3 is a schematic configuration diagram showing a second example of operation of the component mounting apparatus according to the embodiment. FIG. 4 is a schematic configuration diagram showing a third example of operation of the component mounting apparatus according to the embodiment. FIG. 5 is a schematic configuration diagram showing a fourth example of operation of the component mounting apparatus according to the embodiment. FIG. 6 is a schematic configuration diagram for explaining the details of the configuration for driving the air cylinder provided in the component mounting apparatus according to the embodiment. FIG. 7 is a table for explaining operating states of electromagnetic valves included in the component mounting apparatus according to the embodiment. FIG. 8 is a flowchart for explaining the operation procedure when the operation of the component mounting apparatus according to the embodiment is brought to an emergency stop. FIG. 9 is a flow chart for explaining the operation procedure when restoring the operation of the component mounting apparatus according to the embodiment. 10A is a graph for explaining a first example of return processing executed by the component mounting apparatus according to the embodiment; FIG. 10B is a graph for explaining a second example of return processing executed by the component mounting apparatus according to the embodiment; FIG. FIG. 10C is a graph for explaining a third example of return processing executed by the component mounting apparatus according to the embodiment; FIG. 11 is a schematic configuration diagram for explaining the details of the configuration for driving the air cylinder provided in the component mounting apparatus according to the modification of the embodiment.

DETAILED DESCRIPTION OF THE INVENTION A component mounting apparatus and the like according to embodiments of the present invention will be described in detail below with reference to the drawings. It should be noted that each of the embodiments described below is a specific example of the present invention. Therefore, the numerical values, shapes, materials, components, arrangement and connection of components, steps and order of steps, etc. shown in the following embodiments are examples and are not intended to limit the present invention. Therefore, among the constituent elements in the following embodiments, constituent elements that are not described in independent claims representing the highest level concept of the present invention will be described as optional constituent elements.

Each figure is a schematic diagram and is not necessarily strictly illustrated. The drawings are schematic diagrams with appropriate emphasis, omission, and ratio adjustment to illustrate the present invention, and may differ from the actual shape, positional relationship, and ratio.

Moreover, in each figure, the same code|symbol is attached|subjected about the same component.

(Embodiment)
[composition]
First, the configuration of a component mounting apparatus according to an embodiment of the present invention will be described with reference to FIGS. 1 to 7. FIG.

FIG. 1 is a schematic configuration diagram showing a component mounting apparatus 1 according to an embodiment. 1, illustration of a configuration for driving the air cylinder 70 shown in FIG. 6 is omitted.

The component mounting apparatus 1 is one apparatus of a component mounting line including a plurality of apparatuses for performing a plurality of processes on a substrate 500 such as a liquid crystal panel. A component mounting line is a part that performs a plurality of operations inline.

A component mounting line including the component mounting apparatus 1 is a mounting system that mounts components such as flexible components (flexible printed circuit/FPC) on the board 500 or the like. Specifically, the component mounting line adheres an anisotropic conductive member (ACF) such as an ACF (Anisotropic Conductive Film) to a substrate 500 on which an electrode portion configured by electrodes is formed, and mounts the substrate via the ACF. 500 and a part are thermo-compression-bonded.

The component mounting apparatus 1 includes a loader section 10 on which a substrate 500 transported from upstream is placed, an ACF attaching section 20 for attaching an ACF to the substrate 500, a temporary crimping section 30 for temporarily crimping a component to the ACF, A final crimping section 40 that thermally crimps (finally crimping) components together with the ACF to ensure electrical continuity between the board 500 and the components, and an unloader section 50 that unloads the board 500 with the components thermally crimped downstream. Prepare.

Further, the substrate 500 is sequentially transferred to the loader section 10 , the ACF attaching section 20 , the temporary pressure bonding section 30 , the final pressure bonding section 40 and the unloader section 50 in this order by the transfer section 600 .

The loader unit 10 is a device into which the board 500 that has undergone predetermined work in the upstream equipment arranged upstream of the component mounting apparatus 1 is loaded. The loader section 10 includes, for example, a stage on which the substrate 500 is placed. The stage holds the substrate 500 carried in from the upstream equipment.

The ACF attaching unit 20 is a kind of adhesive tape, and is a device for attaching an ACF, which is a tape-shaped anisotropic conductive film, to the substrate 500 .

The temporary crimping unit 30 is a device that temporarily crimps a component onto the ACF attached to the substrate 500 by the ACF attaching unit 20 .

The final press-bonding unit 40 is a device that thermally presses (finally press-bonds) the component temporarily press-bonded to the substrate 500 by the temporary press-bonding unit 30 . This press-bonding takes a longer time than attaching the ACF to the substrate 500 and temporarily press-bonding the component to the substrate 500 . Therefore, the component mounting apparatus 1 may have a plurality of final crimping sections 40 . In the present embodiment, the component mounting apparatus 1 includes a first final pressure bonding section 41 and a second final pressure bonding apparatus, both of which are apparatuses for thermocompression bonding (permanent pressure bonding) of the component temporarily pressure bonded to the board 500 by the temporary pressure bonding section 30 . A portion 42 is provided. When the operations of the first main crimping portion 41 and the second main crimping portion 42 are not distinguished, the first main crimping portion 41 and the second main crimping portion 42 may be collectively referred to as the main crimping portion 40. .

The unloader unit 50 is a device on which the substrate 500 is placed when the substrate 500 to which the components are crimped by the main crimping unit 40 is unloaded to the downstream equipment arranged downstream of the component mounting apparatus 1 . For example, the unloader section 50 has a stage on which the substrate 500 is placed. The substrate 500 held on the stage is carried out to downstream equipment by a carry-out device (not shown) capable of taking out the substrate 500 and carrying it out to the downstream side.

The loader section 10, the ACF attaching section 20, the temporary pressure bonding section 30, the first final pressure bonding section 41, the second final pressure bonding section 42, and the unloader section 50 are arranged side by side in this order in the first direction.

The component mounting apparatus 1 also includes a transport section 600 .

The transfer section 600 is a device that transfers the substrate 500 to the loader section 10 , the ACF attachment section 20 , the temporary pressure bonding section 30 , the first final pressure bonding section 41 , the second final pressure bonding section 42 , and the unloader section 50 .

The transport unit 600 includes transport arms 61 to 64 , air cylinders 71 and 72 , a base 80 and an electric cylinder 90 .

The transport arms 61 to 64 are arms for holding the substrate 500 and transporting the substrate 500 in the first direction. The transfer arms 61 to 64 have the function of grasping (holding) or releasing the substrate 500 . The transfer arms 61 to 64 include, for example, suction pads for holding the substrate 500 by suction, and connecting portions connected to the base 80 or the air cylinders 71 and 72 .

The transfer arms 61 and 62 are connected to a base 80, for example. The transport arms 61 and 62 are driven (that is, moved) in accordance with the movement of the base 80 .

Further, the transfer arm 63 is connected to an air cylinder 71, for example. The transfer arms 61 and 62 are driven according to the motion of the air cylinder 71 .

Also, the transport arm 64 is connected to, for example, an air cylinder 72 . The transfer arms 61 and 62 are driven according to the motion of the air cylinder 72 .

The air cylinders 71 and 72 are air cylinders that are driven in a first direction or in a second direction opposite to the first direction by being supplied with air (compressed air). The air cylinders 71 and 72 have pistons 76 (see FIG. 6) that drive the transfer arms 61 and 62 . Air cylinders 71 and 72 (specifically, cylinder 75 (see FIG. 6) described later) are fixed to base 80 .

The first direction is the direction in which the air cylinders 71 and 72 are driven and the direction in which the substrate 500 is transported by the transport arms 61-64. The second direction is the direction in which the air cylinders 71 and 72 are driven, and is opposite to the first direction.

The base 80 is a table to which the transfer arms 61 and 62 are connected and on which the air cylinders 71 and 72 are mounted. The base 80 is connected to an electric cylinder 90 and is driven in the first direction or the second direction by driving the electric cylinder 90 . Therefore, the transfer arms 61 and 62 and the air cylinders 71 and 72 are driven in the first direction or the second direction according to the driving of the electric cylinder 90 .

The electric cylinder 90 is a cylinder that is connected to the base 80 and drives the base 80 . The electric cylinder 90 includes, for example, an electric motor and is electrically driven by the electric motor.

In this manner, the transport arms 61 to 64 are driven in the first direction or the second direction by driving the air cylinders 71 and 72 and the electric cylinder 90 .

The component mounting apparatus 1 also includes a control section 100 , a storage section 110 , a notification section 120 and an acquisition section 130 .

The control unit 100 is a control device that controls the operation of each component included in the component mounting apparatus 1 . The control unit 100 is communicably connected to each component included in the component mounting apparatus 1 via a control line or the like, and controls the operation of each component, the timing of the operation, and the like.

For example, the control unit 100 controls the transport unit 600 so that the transport unit 600 includes the loader unit 10, the ACF attaching unit 20, the temporary pressure bonding unit 30, the first final pressure bonding unit 41, the second final pressure bonding unit 42, Then, the substrate 500 is transferred between the unloader sections 50 . Specifically, the control unit 100 controls the driving of the transfer arms 63 and 64 by controlling the supply of air to the air cylinders 71 and 72 .

Next, a specific example of the transport operation of the substrate 500 by the transport unit 600 will be described with reference to FIGS. 2 to 5. FIG. 2 to 5, some of the components of the component mounting apparatus 1, such as the storage unit 110, are omitted.

FIG. 2 is a schematic configuration diagram showing a first example of operation of the component mounting apparatus 1 according to the embodiment.

For example, assume that the substrate 500 located at the temporary pressure bonding section 30 is transported to the first permanent pressure bonding section 41 . In this case, as shown in (a) of FIG. 2 , the control section 100 causes the transfer arm 63 to hold the substrate 500 positioned at the temporary pressure bonding section 30 .

Next, as shown in (b) of FIG. 2 , the control unit 100 controls the electric cylinder 90 to drive the base 80 in the first direction, so that the substrate 500 is first pressed by the transfer arm 63 . Move to part 41 .

FIG. 3 is a schematic configuration diagram showing a second example of operation of the component mounting apparatus 1 according to the embodiment.

For example, assume that the substrate 500 positioned at the temporary pressure bonding section 30 is transported to the second final pressure bonding section 42 . In this case, as shown in (a) of FIG. 3 , the control section 100 causes the transfer arm 63 to hold the substrate 500 positioned at the temporary pressure bonding section 30 .

Next, as shown in (b) of FIG. 3, the control unit 100 controls the electric cylinder 90 to drive the base 80 in the first direction, and controls the air cylinder 71 to drive the base 80 in the first direction. By driving, the transfer arm 63 moves the substrate 500 to the second main pressure bonding portion 42 . When the air cylinder 71 is driven, the control unit 100 also drives the air cylinder 72 . When the air cylinder 71 and the air cylinder 72 are positioned at the same height, when only the air cylinder 71 is driven in the first direction, it interferes (contacts) with the air cylinder 72 . In order to prevent such interference, when the air cylinder 71 is driven in the first direction, the controller 100 also drives the air cylinder in the first direction.

FIG. 4 is a schematic configuration diagram showing a third example of operation of the component mounting apparatus 1 according to the embodiment.

For example, assume that the substrate 500 located in the first main compression bonding section 41 is transported to the unloader section 50 . In this case, as shown in (a) of FIG. 4 , the control section 100 causes the transfer arm 64 to hold the substrate 500 positioned at the first main pressure bonding section 41 .

Next, as shown in (b) of FIG. 4, the control unit 100 controls the electric cylinder 90 to drive the base 80 in the first direction, and controls the air cylinder 72 to drive the base 80 in the first direction. By driving, the transfer arm 64 moves the substrate 500 to the unloader section 50 .

FIG. 5 is a schematic configuration diagram showing a fourth example of operation of the component mounting apparatus 1 according to the embodiment.

For example, assume that the substrate 500 positioned at the second main compression unit 42 is transported to the unloader unit 50 . In this case, as shown in (a) of FIG. 5 , the control unit 100 first controls the air cylinder 72 to drive it in the first direction, thereby conveying the substrate 500 positioned at the second final pressure bonding unit 42 . It is held by arm 64 .

Next, as shown in (b) of FIG. 5 , the control unit 100 controls the electric cylinder 90 to drive the base 80 in the first direction, thereby transferring the substrate 500 to the unloader unit 50 by the transfer arm 64 . move.

As described above, the control unit 100 controls and drives the air cylinders 71 and 72 and the electric cylinder 90, thereby driving the transfer arms 61 to 64 holding the substrate 500 in the first direction to move the substrate. 500 is transported. Further, the control unit 100 can supply air to the air cylinders 71 and 72 so that the pistons 76 provided in the air cylinders 71 and 72 move by a predetermined movement amount (in other words, distance) per unit time. .

Further, for example, when an emergency stop signal is received, the control unit 100 cuts off the supply of air to the air cylinders 71 and 72 so that the insides of the air cylinders 71 and 72 are brought to the atmospheric pressure and the transfer arms 63 and 72 are moved. 64 is stopped.

Here, the emergency stop signal is a signal including an instruction to stop the operation of the component mounting apparatus 1 . For example, the acquisition unit 130 of the control unit 100 receives a signal for stopping the operation of the component mounting apparatus 1 from the operator.

Based on the detection results of the first sensor 400 (see FIG. 6) and the second sensor 410 (see FIG. 6), the control unit 100 determines whether the piston 76 (see FIG. 6) is at the limit position in the first direction or in the second direction. , the supply of air to the air cylinders 71 and 72 is resumed so that the piston 76 does not move from one limit position to the other limit position. A second recovery process is performed.

On the other hand, based on the detection results of the first sensor 400 and the second sensor 410, if the piston 76 is not positioned at the limit position in the first direction or the limit position in the second direction, the control unit 100 Air supply to the air cylinder 70 is resumed so that the movement amount per unit time becomes smaller than the predetermined movement amount, and then the piston 76 is moved to the limit position in the first direction or the limit position in the second direction. 1 Perform return processing.

The predetermined amount of movement is a distance (length) determined by the sizes of the air cylinders 71 and 72, the amount of air supplied to the air cylinder 70, and the like. The predetermined amount of movement may be determined arbitrarily. For example, the control unit 100 does not change the amount of air supplied to the air cylinder 70 per unit time between when the substrate 500 is transported by the transport arm 60 and during the return process. For example, the control unit 100 changes the opening/closing control of a second electromagnetic valve 220 (see FIG. 6) described later and a third electromagnetic valve 230 (see FIG. 6) described later, thereby controlling the movement of the piston 76 per unit time. A predetermined amount of movement is changed between the case where the substrate 500 is transferred by the transfer arm 60 and the return process.

The control unit 100 is implemented, for example, by a control program stored in the storage unit 110 shown in FIG. 1 and a processor such as a CPU (Central Processing Unit) that executes the control program.

Referring to FIG. 1 again, storage unit 110 is a storage device that stores control programs executed by control unit 100 . The storage unit 110 is implemented by a memory such as a ROM (Read Only Memory) or a RAM (Random Access Memory).

The notification unit 120 is a device for notifying an operator (user) or the like who uses the component mounting apparatus 1 of the operating state of the component mounting apparatus 1 . The notification unit 120 only needs to be able to notify the operating state of the component mounting apparatus 1. For example, the notification unit 120 may be a display that displays an image or a speaker that emits sound.

The acquisition unit 130 acquires an emergency stop signal, which is a signal including an instruction to stop the operation of the component mounting apparatus 1, or a reset signal including an instruction to restart the operation of the component mounting apparatus 1 that has been stopped in an emergency.

The acquisition unit 130 may be a button for transmitting an emergency stop signal, a reset signal, or the like to the control unit 100 by being operated by an operator. Further, for example, each of the loader section 10, the ACF attaching section 20, the temporary pressure bonding section 30, the first final pressure bonding section 41, the second final pressure bonding section 42, and the unloader section 50 has an openable and closable door portion and the door. If a sensor unit that detects whether the unit is opened and transmits an emergency stop signal or a reset signal is provided, the acquisition unit 130 receives the emergency stop signal or reset signal from the sensor unit. It may be a communication interface for

For example, when an emergency stop signal is received via the acquisition unit 130, the control unit 100 stops the operation of each device provided in the component mounting apparatus 1 such as the conveying unit 600 that is being driven. Further, for example, when a reset signal is received via the acquisition unit 130, the control unit 100 restarts the operation of each device included in the component mounting apparatus 1 such as the conveying unit 600 that has been stopped.

Next, the details of the configuration for driving the air cylinders 71 and 72 will be described.

FIG. 6 is a schematic configuration diagram for explaining the details of the configuration for driving the air cylinder 70 provided in the component mounting apparatus 1 according to the embodiment. Note that FIG. 6 omits some of the constituent elements such as the loader section 10 and the ACF attaching section 20 provided in the component mounting apparatus 1 shown in FIG. 6, the air cylinders 71 and 72 shown in FIG. 1 are collectively referred to as an air cylinder 70. As shown in FIG. 6, the transfer arms 63 and 64 shown in FIG. 1 are collectively referred to as a transfer arm 60. As shown in FIG.

As shown in FIG. 6, the component mounting apparatus 1 includes a transfer arm 60, an air cylinder 70, an air source 200, a first solenoid valve 210, a second solenoid valve 220, a third solenoid valve 230, a speed A control valve 250 , a speed control valve 251 , a first air pipe 300 , a second air pipe 310 , a third air pipe 320 , a first sensor 400 and a second sensor 410 are provided.

Air cylinder 70 drives transfer arm 60 for transferring substrate 500 . The air cylinder 70 has a cylinder 75 and a piston 76 .

The cylinder 75 is a cylinder elongated in the first direction. The cylinder 75 is hermetically sealed so that the air supplied inside is not released to the outside.

A piston 76 is connected to the transfer arm 60 and drives in a first direction or a second direction. Specifically, the piston 76 has an end 77 that divides the space within the cylinder 75 such that air cannot move. When air is supplied to the travel limit 73 side of the cylinder 75, the end portion 77 is driven by the pressure of the air toward the return limit 74 side, that is, in the second direction, thereby driving the entire piston 76 in the second direction. be done. Further, when air is supplied to the return limit 74 side of the cylinder 75, the end portion 77 is driven by the pressure of the air toward the travel limit 73 side, that is, in the first direction, so that the entire piston 76 moves in the first direction. driven by

The end portion 77 is the part of the piston 76 which is located within the cylinder 75 and which is driven to the travel limit 73 or the return limit 74 by the pressure of the air when the cylinder 75 is supplied with air.

The travel limit 73 is the limit position to which the piston 76 (specifically, the end 77 of the piston 76) can move within the cylinder 75 in the first direction.

Return limit 74 is the limit position at which piston 76 (specifically, end 77 of piston 76) can move within cylinder 75 in the second direction.

The air source 200 is an air supply source for supplying air to the air cylinder 70 . The air source 200 is, for example, an air tank filled with air to be supplied to the air cylinder 70 .

The first solenoid valve 210 is provided in the middle of the first air pipe 300 and is a solenoid valve for switching between supplying and stopping the air from the air source 200 . Specifically, the first solenoid valve 210 is provided between the air source 200 and the air cylinder 70 in the first air pipe 300 to supply and stop the supply of air from the air source 200 to the air cylinder 70 (air It is a solenoid valve for controlling the cutoff of the supply of

The first electromagnetic valve 210 has a first supply valve 211 and a first exhaust valve 212 .

The first supply valve 211 is provided between the air source 200 and the air cylinder 70 in the first air pipe 300, and is an electromagnetic valve for switching between supplying and stopping the supply of air from the air source 200 to the air cylinder 70. is.

The first exhaust valve 212 is an electromagnetic valve for extracting the air in the first air pipe 300 and the air cylinder 70, that is, returning the inside of the first air pipe 300 and the air cylinder 70 to the atmospheric pressure.

The second solenoid valve 220 is provided in the middle of the second air pipe 310 and is a solenoid valve for switching between supplying and stopping the air from the air source 200 . Specifically, the second solenoid valve 220 is provided between the air source 200 (specifically, the first air pipe 300) and the air cylinder 70 in the second air pipe 310, and the first air pipe 300 It is a solenoid valve for switching supply and stop of the air from the air cylinder 70 to the air cylinder 70 .

The second electromagnetic valve 220 has a second supply valve 221 and a second exhaust valve 222 .

The second supply valve 221 is provided between the first air pipe 300 and the air cylinder 70 in the second air pipe 310, and switches between supplying and stopping the air from the first air pipe 300 to the air cylinder 70. It is a solenoid valve for

The second exhaust valve 222 is an electromagnetic valve for extracting air from the second air pipe 310 and the air cylinder 70, that is, returning the inside of the second air pipe 310 and the air cylinder 70 to the atmospheric pressure.

The third solenoid valve 230 is provided in the middle of the third air pipe 320 and is a solenoid valve for switching between supply and stop of air supply from the air source 200 . Specifically, the third solenoid valve 230 is provided between the air source 200 (specifically, the first air pipe 300) and the air cylinder 70 in the third air pipe 320, and the first air pipe 300 It is a solenoid valve for switching supply and stop of the air from the air cylinder 70 to the air cylinder 70 .

The third solenoid valve 230 has a third supply valve 231 and a third exhaust valve 232 .

The third supply valve 231 is provided between the first air pipe 300 and the air cylinder 70 in the third air pipe 320, and switches between supplying and stopping the air from the first air pipe 300 to the air cylinder 70. It is a solenoid valve for

The third exhaust valve 232 is an electromagnetic valve for extracting air from the third air pipe 320 and the air cylinder 70, that is, returning the inside of the third air pipe 320 and the air cylinder 70 to the atmospheric pressure.

The control unit 100 opens one of the second electromagnetic valve 220 (more specifically, the second supply valve 221) or the third electromagnetic valve 230 (more specifically, the third supply valve 231), and Closing the other drives (that is, moves) the piston 76 in the first or second direction.

The speed control valve 250 is provided in the middle of the second air pipe 310 and is a valve for controlling the moving speed of the piston 76 . Specifically, the speed control valve 250 is provided between the second solenoid valve 220 and the air cylinder 70, and has a structure in which a check valve and a throttle valve are combined in parallel. The speed control valve 250 controls the moving speed of the piston 76 by controlling the amount of air discharged from the first space 78 which is the space on the return limit 74 side in the air cylinder 70 with a throttle valve. The speed control valve 250 controls the moving speed of the piston 76 by controlling the amount of air supplied to the first space 78, which is the space on the return limit 74 side in the air cylinder 70, with a throttle valve. good too.

The speed control valve 251 is provided in the middle of the third air pipe 320 and is a valve for controlling the moving speed of the piston 76 . Specifically, the speed control valve 251 is provided between the third solenoid valve 230 and the air cylinder 70, and has a structure in which a check valve and a throttle valve are combined in parallel. The speed control valve 251 controls the moving speed of the piston 76 by controlling the amount of air discharged from the second space 79 which is the space on the travel end 73 side in the air cylinder 70 with a throttle valve. The speed control valve 251 controls the moving speed of the piston 76 by controlling the amount of air supplied to the second space 79, which is the space on the travel end 73 side in the air cylinder 70, by means of a throttle valve. good too.

The first air pipe 300, the second air pipe 310, and the third air pipe 320 are pipes through which the air supplied from the air source 200 passes. The first air pipe 300 is connected to the air source 200 . Specifically, first air pipe 300 has one end connected to air source 200 and the other end branched and connected to second air pipe 310 and third air pipe 320 .

The second air pipe 310 has one end connected to the air source 200 via the first air pipe 300, and the other end connected to the air cylinder 70 (specifically, the first space 78). The second air pipe 310 branches off from the first air pipe 300 downstream of the first solenoid valve 210 and is a pipe for supplying the air cylinder 70 with air for moving the piston 76 in the first direction.

The third air pipe 320 has one end connected to the air source 200 via the first air pipe 300 and the other end connected to the air cylinder 70 (specifically, the second space 79). The third air pipe 320 branches off from the first air pipe 300 downstream of the first electromagnetic valve 210 and is a pipe for supplying the air cylinder 70 with air for moving the piston 76 in the second direction.

A first sensor 400 and a second sensor 410 are sensors for detecting the position of the piston 76 in the air cylinder 70, respectively.

Specifically, the first sensor 400 is a sensor for detecting that the piston 76 is positioned at the limit position in the first direction. More specifically, first sensor 400 is a sensor for detecting whether or not end 77 of piston 76 is positioned at travel limit 73 . The type of sensor employed for the first sensor 400 is not particularly limited as long as it can detect whether or not the end portion 77 of the piston 76 is positioned at the travel limit 73 . For example, the type of sensor employed for first sensor 400 is a magnetic sensor.

The second sensor 410 is a sensor for detecting that the piston 76 is positioned at the limit position in the second direction opposite to the first direction. More specifically, the second sensor 410 is a sensor for detecting whether or not the end 77 of the piston 76 is positioned at the return limit 74 . The type of sensor employed for the second sensor 410 is not particularly limited as long as it can detect whether or not the end portion 77 of the piston 76 is positioned at the return limit 74 . For example, the type of sensor employed for second sensor 410 is a magnetic sensor.

Control unit 100 opens and closes first solenoid valve 210, second solenoid valve 220, third solenoid valve 230, and speed control valves 250 and 251 based on the detection results of first sensor 400 and second sensor 410. By controlling the supply of air from the air source 200 to the air cylinder 70 , the drive of the carrier arm 60 connected to the piston 76 is controlled.

For example, when the control unit 100 receives an emergency stop signal, the controller 100 controls the first electromagnetic valve 210 to cut off the air supply to the air cylinder 70, thereby making the inside of the air cylinder 70 atmospheric pressure and conveying. Stop driving the arm 60 . Further, for example, based on the detection results of the first sensor 400 and the second sensor 410, the control unit 100 controls the second solenoid valve 220 and the third solenoid valve Control the state of 230 to correspond to the position of the piston 76 .

Here, "to control so as to correspond to the position of the piston 76" means that, for example, when the control unit 100 restarts the driving of the transfer arm 60 and the piston 76 is at the travel limit 73, the second electromagnetic This is control to turn the valve 220 to the ON state in which air can be supplied to the air cylinder 70 and to turn the third electromagnetic valve 230 to the OFF state to prevent air from being supplied to the air cylinder 70 . Further, "to control so as to correspond to the position of the piston 76" means that, for example, when the control unit 100 restarts the driving of the transfer arm 60 and the piston 76 is at the return limit 74, the second electromagnetic valve 220 is turned OFF, in which air cannot be supplied to the air cylinder 70, and the third electromagnetic valve 230 is turned ON, in which air can be supplied to the air cylinder 70. In this way, when the air supply to the air cylinder 70 is started, the control unit 100 drives the piston 76 positioned at the travel limit 73 or the return limit 74 in the direction in which the piston 76 is positioned. Control. Therefore, the piston 76 is not driven immediately after the supply of air to the air cylinder 70 is started. Therefore, the inside of the air cylinder 70 can be filled with air (compressed air) without driving the piston 76 .

Further, for example, in the first return process after the air cylinder 70 is brought to atmospheric pressure and stopped, the control unit 100 controls the second return process so that the piston 76 does not move to either the travel limit 73 or the return limit 74 . The opening and closing of the solenoid valve 220 and the third solenoid valve 230 are alternately switched. After alternately switching the opening and closing of the second solenoid valve 220 and the third solenoid valve 230 so that the piston 76 does not move to either the travel limit 73 or the return limit 74, the control unit 100 further opens and closes the second solenoid valve 220 and the third solenoid valve 230. The solenoid valve 220 or the third solenoid valve 230 is opened to move the piston 76 to either the travel limit 73 or the return limit 74 .

Note that the control unit 100 may move the piston 76 to either the travel limit 73 or the return limit 74 after the return process. For example, when the piston 76 is brought to an emergency stop, the control unit 100 determines whether the piston 76 was finally moved in the first direction (that is, whether the second solenoid valve 220 was opened) or in the second direction ( That is, whether the third electromagnetic valve 230 was opened) may be stored in the storage unit 110 . The control unit 100 may control the second solenoid valve 220 and the third solenoid valve 230 so as to drive the piston 76 in the direction in which it was last driven when emergency stopping the piston 76 after the return process.

FIG. 7 is a table for explaining operating states of the first electromagnetic valve 210, the second electromagnetic valve 220, and the third electromagnetic valve 230 included in the component mounting apparatus 1 according to the embodiment.

As shown in FIG. 7, when the transfer arm 60 is driven in the first direction, the control unit 100 opens (opens) the first supply valve 211 in the first electromagnetic valve 210, and opens the first exhaust valve. 212 is closed (closed state), the first electromagnetic valve 210 is turned ON, in which air can be supplied from the air source 200 to the air cylinder 70 . By doing so, air is supplied from the air source 200 to the first air pipe 300 and passes through the first air pipe 300 . Further, for example, the control unit 100 opens the second supply valve 221 of the second solenoid valve 220 and closes the second exhaust valve 222 , thereby causing the second solenoid valve 220 to operate as air. It is in the ON state in which the supply of air from the source 200 to the air cylinder 70 is possible. By doing so, the air is supplied from the first air pipe 300 to the second air pipe 310 , passes through the second air pipe 310 , and is further supplied to the first space 78 inside the air cylinder 70 . On the other hand, for example, the control unit 100 closes the third supply valve 231 of the third solenoid valve 230 and opens the third exhaust valve 232, thereby causing the third solenoid valve 230 to operate as air. The OFF state is set in which the supply of air from the source 200 to the air cylinder 70 is disabled. By doing so, air is not supplied to the second space 79 of the air cylinder 70 . As such, the piston 76 is driven in the first direction. Thereby, the transport arm 60 is driven in the first direction.

Further, when driving the transfer arm 60 in the second direction, the control unit 100 opens the first supply valve 211, closes the first exhaust valve 212, closes the second supply valve 221, and closes the second supply valve 221. The second exhaust valve 222 is opened, the third supply valve 231 is opened, and the third exhaust valve 232 is closed. By doing so, air is supplied to the second space 79 of the air cylinder 70 and not supplied to the first space 78 . As such, the piston 76 is driven in the second direction. Thereby, the transport arm 60 is driven in the second direction.

When the transport arm 60 is stopped while being driven in the first direction, the control unit 100 closes the first supply valve 211 and opens the first exhaust valve 212 . By doing so, the control unit 100 brings the air cylinder 70 into a state in which air is not supplied from the air source 200 . Further, the control unit 100 opens the second supply valve 221 , closes the second exhaust valve 222 , closes the third supply valve 231 , and opens the third exhaust valve 232 . In this way, when the air cylinder 70 is to be restarted, the control unit 100 only controls the first solenoid valve 210 without controlling the second solenoid valve 220 and the third solenoid valve 230, and immediately , the transfer arm 60 can be driven in the first direction in the same manner as when stopped.

Further, when the transfer arm 60 is stopped while being driven in the second direction, the control unit 100 closes the first supply valve 211 and opens the first exhaust valve 212 so that the first electromagnetic valve 210 is set to an OFF state in which air cannot be supplied from the air source 200 to the air cylinder 70 . By doing so, the control unit 100 brings the air cylinder 70 into a state in which air is not supplied from the air source 200 . Further, the control unit 100 closes the second supply valve 221, opens the second exhaust valve 222, opens the third supply valve 231, and closes the third exhaust valve 232. In this way, when the air cylinder 70 is to be restarted, the control unit 100 only controls the first solenoid valve 210 without controlling the second solenoid valve 220 and the third solenoid valve 230, and immediately , the transfer arm 60 can be driven in the same second direction as before the air supply to the air cylinder 70 is stopped.

As described above, the control unit 100 controls the first supply valve 211 and the first exhaust valve 212 so that they are opened and closed in opposite directions. Further, the control unit 100 controls the second supply valve 221 and the second exhaust valve 222 so that they are opened and closed in opposite directions. In addition, the control unit 100 controls the second supply valve 221 and the third supply valve 231 to be in the opposite opening/closing state. In addition, the control unit 100 controls the second exhaust valve 222 and the third exhaust valve 232 to be in opposite open/closed states. In addition, the control unit 100 controls the third supply valve 231 and the third exhaust valve 232 so that they are opened and closed in opposite directions.

[Processing procedure]
Next, operation procedures of the component mounting apparatus 1 according to the embodiment will be described in detail with reference to FIGS. 8 and 9. FIG.

<Emergency stop action>
FIG. 8 is a flow chart for explaining the operation procedure when the operation of the component mounting apparatus 1 according to the embodiment is brought to an emergency stop.

First, the controller 100 causes the transport arm 60 to transport the substrate 500 by driving the transport arm 60 using the air cylinder 70 (step S101).

Next, control unit 100 determines whether or not an emergency stop signal has been received (step S102). At step S102, for example, the control unit 100 determines whether the acquisition unit 130 has acquired an emergency stop signal.

If the control unit 100 has not received an emergency stop signal (No in step S102), the control unit 100 returns the process to step S101, and drives the transfer arm 60 using the air cylinder 70 to transfer the substrate 500 to the transfer arm. Keep 60 running.

On the other hand, when the control unit 100 receives the emergency stop signal (Yes in step S102), the control unit 100 turns off the first solenoid valve 210 (that is, closes the first supply valve 211 and opens the first exhaust valve 212). By doing so, the supply of air to the air cylinder 70 is stopped, air is released from the air cylinder 70 to atmospheric pressure, and the transfer arm 60 is stopped (step S103).

<Recovery action>
FIG. 9 is a flow chart for explaining the operation procedure when restoring the operation of the component mounting apparatus 1 according to the embodiment.

Note that the flowchart of FIG. 9 is an operation procedure executed after step S103 shown in FIG. 8, for example.

As shown in FIG. 9, first, it is assumed that the control unit 100 receives a reset signal (step S201). Specifically, in step S<b>201 , control unit 100 receives a reset signal via acquisition unit 130 .

Next, the control unit 100 determines whether or not the emergency stop signal is still present (step S202). Specifically, for example, in step S202, the control unit 100 determines whether or not the emergency stop signal is still being received. For example, if the acquisition unit 130 is a button that transmits an emergency stop signal to the control unit 100 when pressed by an operator, the control unit 100 determines whether the button remains pressed.

If the control unit 100 determines that the emergency stop signal is still present (Yes in step S202), it does not restart the supply of air to the air cylinder 70 and causes the notification unit 120 to notify the first error notification (step S203). ). For example, in step S203, if the notification unit 120 is a display device such as a display, the control unit 100 notifies an image including characters such as "The emergency stop signal is not turned off, so it cannot be started" as the first error display. 120 is caused to display.

On the other hand, when the controller 100 determines that there is no emergency stop signal (No in step S202), the first sensor 400 is ON, that is, the first sensor 400 detects the end portion 77 of the piston 76. (step S204). Specifically, in step S<b>204 , control unit 100 determines whether or not end 77 of piston 76 is positioned at travel limit 73 based on the detection result of first sensor 400 .

If the first sensor 400 is not ON (No in step S204), the control unit 100 detects that the second sensor 410 is ON. (step S205). Specifically, in step S<b>205 , control unit 100 determines whether or not end portion 77 of piston 76 is positioned at return limit 74 based on the detection result of second sensor 410 .

When the second sensor 410 is not ON (No in step S205), the control unit 100 supplies air to the air cylinder so that the amount of movement of the piston 76 per unit time becomes smaller than a predetermined amount of movement. is resumed, a first return process is performed to move the piston 76 to the travel limit 73 or the return limit 74 (step S206).

FIG. 10A is a graph for explaining a first example of return processing executed by the component mounting apparatus 1 according to the embodiment. Each graph shown in (a) to (f) of FIG. 10A shows the change over time from the state in which the control unit 100 stops the driving of the piston 76 by interrupting the air supply to the air cylinder 70. indicates FIG. 10A is a graph showing the return processing when the piston 76 is positioned at the travel limit 73. FIG.

Specifically, (a) of FIG. 10A is a graph showing the ON state or OFF state of the first electromagnetic valve 210 . (b) of FIG. 10A is a graph showing the ON state or OFF state of the second solenoid valve 220 . (c) of FIG. 10A is a graph showing the ON state or the OFF state of the third solenoid valve 230 . (d) of FIG. 10A is a graph showing the ON state or OFF state of the first sensor 400 . (e) of FIG. 10A is a graph showing the ON state or OFF state of the second sensor 410 . (f) of FIG. 10A is a graph showing the position of the piston 76. FIG.

As shown in (d) and (e) of FIG. 10A , it is assumed that the piston 76 is neither at the travel limit 73 nor at the return limit 74 at time 0 when the control unit 100 stops the movement of the piston 76 . do. In this case, both the first sensor 400 and the second sensor 410 are turned off. Based on the detection results of the first sensor 400 and the second sensor 410, the control unit 100 determines the position of the piston 76, in this example, whether the piston 76 is positioned at neither the travel limit 73 nor the return limit 74. .

When the control unit 100 determines that the piston 76 is neither at the travel limit 73 nor at the return limit 74, it performs the first return processing. For example, at time t1, the control unit 100 turns on the first electromagnetic valve 210 as shown in (a) of FIG. 10A. At time t1, the second solenoid valve 220 is in the ON state as shown in (b) of FIG. 10A, and the third solenoid valve 230 is in the OFF state as shown in (c) of FIG. 10A. Therefore, air is supplied to the first space 78 of the air cylinder 70 . As a result, the piston 76 moves toward the travel limit 73 .

Next, at time t2, before the piston 76 reaches the travel limit 73 as shown in (f) of FIG. 220 is turned off, and as shown in (c) of FIG. 10A, the third electromagnetic valve 230 is turned on. By doing so, the piston 76 moves toward the return limit 74 before reaching the travel limit 73 .

Next, at time t3, before the piston 76 reaches the return limit 74 as shown in (f) of FIG. 220 is turned on, and as shown in A(c) of FIG. 10, the third electromagnetic valve 230 is turned off. By doing so, the piston 76 moves toward the travel limit 73 before reaching the return limit 74 .

As from time t1 to time t3, control unit 100 executes the first return process to repeatedly switch second solenoid valve 220 and third solenoid valve 230 between the ON state and the OFF state until time t4.

By repeatedly switching the second electromagnetic valve 220 and the third electromagnetic valve 230 between the ON state and the OFF state by the control unit 100, the first space 78 and the second space 79 in the air cylinder 70 are filled with air. To go. The air filled in the first space 78 and the second space 79 in the air cylinder 70 has the effect of suppressing the moving speed of the piston 76 .

For example, at time t4 when the air cylinder 70 is filled with air, the control unit 100 turns on the second electromagnetic valve 220 as shown in (b) of FIG. , the third solenoid valve 230 is turned off. By doing so, the piston 76 reaches the travel limit 73 at time t5, for example, in a state where the movement speed is suppressed by the air filled in the air cylinder 70 . At this time, since the first sensor 400 is in the ON state, the control unit 100 can determine that the piston 76 is positioned at the travel limit 73 .

Thus, in the return process, the control unit 100 alternately switches between opening and closing the second electromagnetic valve 220 and the third electromagnetic valve 230 so that the piston 76 does not move to either the travel limit 73 or the return limit 74. , and finally move the piston 76 to either the go limit 73 or the return limit 74 .

The number of times the control unit 100 repeatedly switches the second solenoid valve 220 and the third solenoid valve 230 between the ON state and the OFF state from time t1 to time t4 is not particularly limited. In this embodiment, the number is 7, but it may be 6 or less, or 8 or more. In the return process, the control unit 100 may finally move the piston 76 to the travel limit 73 or the return limit 74 .

Also, the control method of the first return process of the control unit 100 shown in FIG. 10A is merely an example.

FIG. 10B is a graph for explaining a second example of return processing executed by the component mounting apparatus 1 according to the embodiment.

Specifically, (a) of FIG. 10B is a graph showing the ON state or OFF state of the first solenoid valve 210 . (b) of FIG. 10B is a graph showing the ON state or OFF state of the second solenoid valve 220 . (c) of FIG. 10B is a graph showing the ON state or the OFF state of the third solenoid valve 230 . (d) of FIG. 10B is a graph showing the ON state or OFF state of the first sensor 400 . (e) of FIG. 10B is a graph showing the ON state or OFF state of the second sensor 410 . (f) of FIG. 10B is a graph showing the position of the piston 76. FIG.

As shown in (d) and (e) of FIG. 10B , it is assumed that the piston 76 is neither at the travel limit 73 nor at the return limit 74 at time 0 when the control unit 100 stops the movement of the piston 76 . do.

When the control unit 100 determines that the piston 76 is neither at the travel limit 73 nor at the return limit 74, it performs the first return processing. For example, as in the first example, the control unit 100 turns on the first electromagnetic valve 210 as shown in FIG. 10B (a), and turns the second electromagnetic valve 210 ON as shown in FIG. 220 to cycle between ON and OFF states.

Here, in the second example, as shown in (c) of FIG. 10B, the third solenoid valve 230 is kept in the OFF state.

Thus, for example, when the second solenoid valve 220 and the third solenoid valve 230 are configured to be opened and closed independently of each other, the control unit 100 controls the second solenoid valve 220 or the third solenoid valve 230 in the first return process. One side of the third electromagnetic valve 230 may be repeatedly switched between opening and closing. The control unit 100 may move the piston 76 to either the travel limit 73 or the return limit 74 after repeatedly switching opening and closing of either the second electromagnetic valve 220 or the third electromagnetic valve 230 . In this manner, the control unit 100 intermittently supplies air to one of the first space 78 and the second space 79 in the air cylinder 70 to gradually move the piston 76, that is, to increase the movement speed of the piston 76. may be moved to the forward limit 73 or the return limit 74 while is suppressed.

Note that, in the second example shown in FIG. 10B, the control unit 100 repeatedly switches between opening and closing only the second solenoid valve 220 out of the second solenoid valve 220 and the third solenoid valve 230 . Of course, the control unit 100 may repeatedly switch between opening and closing only the third solenoid valve 230 out of the second solenoid valve 220 and the third solenoid valve 230 .

FIG. 10C is a graph for explaining a third example of return processing executed by the component mounting apparatus 1 according to the embodiment.

Specifically, (a) of FIG. 10C is a graph showing the ON state or OFF state of the first electromagnetic valve 210 . (b) of FIG. 10C is a graph showing the ON state or the OFF state of the second solenoid valve 220 . (c) of FIG. 10C is a graph showing the ON state or the OFF state of the third solenoid valve 230 . (d) of FIG. 10C is a graph showing the ON state or OFF state of the first sensor 400 . (e) of FIG. 10C is a graph showing the ON state or OFF state of the second sensor 410 . (f) of FIG. 10C is a graph showing the position of the piston 76. FIG.

As shown in (d) and (e) of FIG. 10C , it is assumed that the piston 76 is neither at the travel limit 73 nor at the return limit 74 at time 0 when the control unit 100 stops the movement of the piston 76 . do.

When the control unit 100 determines that the piston 76 is neither at the travel limit 73 nor at the return limit 74, it performs the first return processing. For example, as in the first example, the control unit 100 turns on the first electromagnetic valve 210 as shown in (a) of FIG. 10C.

Here, in the third example, as shown in (b) of FIG. 10C, the second electromagnetic valve 220 is kept in the ON state, and as shown in (c) of FIG. (in this embodiment, the period from time t1 to time t4).

In this way, when the second solenoid valve 220 and the third solenoid valve 230 are configured to be able to open and close independently of each other, the control unit 100, for example, in the first recovery process, controls the second solenoid valve 220 and the third solenoid valve 230 Both of the third solenoid valves 230 may be opened. Further, the control unit 100 may move the piston 76 to either the travel limit 73 or the return limit 74 after opening both the second solenoid valve 220 and the third solenoid valve 230 .

When the first space 78 and the second space 79 in the air cylinder 70 are filled with air, the piston 76 remains in the air cylinder 70 when moving to the travel limit 73 or the return limit 74. Movement is impeded to some extent by air. That is, by filling both the first space 78 and the second space 79 in the air cylinder 70 with air, it is possible to prevent the piston 76 from moving at an abnormal speed. Therefore, for example, in the first return process, the control unit 100 opens both the second electromagnetic valve 220 and the third electromagnetic valve 230, that is, turns them on, so that the first space 78 in the air cylinder 70 and the After both of the second spaces 79 are filled with air, the movement speed of the piston 76 is suppressed by the air filled in the air cylinder 70, and the travel limit 73 is reached without moving the piston 76 at an abnormal speed. Alternatively, the piston 76 may be moved to any of the return limits 74 .

Referring to FIG. 9 again, when the second sensor 410 is ON (Yes in step S205), the control unit 100 sets the second electromagnetic valve 220 and the third electromagnetic valve 230 to the return limit control state ( step S207). Here, the return limit control state is a state in which the second electromagnetic valve 220 is turned off and the third electromagnetic valve 230 is turned on. That is, in step S207, the control unit 100 performs control to turn off the second electromagnetic valve 220 and turn on the third electromagnetic valve 230. FIG.

Next, the control unit 100 turns on the first solenoid valve 210 (step S209), thereby starting the supply of air to the air cylinder .

Further, when the first sensor 400 is ON (Yes in step S204), the control unit 100 sets the second electromagnetic valve 220 and the third electromagnetic valve 230 to the limit control state (step S208). Here, the travel limit control state is a state in which the second electromagnetic valve 220 is turned on and the third electromagnetic valve 230 is turned off. That is, in step S208, the control unit 100 performs control to turn on the second electromagnetic valve 220 and turn off the third electromagnetic valve 230. FIG.

Next, the control unit 100 turns on the first solenoid valve 210 (step S209), thereby starting the supply of air to the air cylinder .

As shown in steps S207 and S208, based on the detection results of the first sensor 400 and the second sensor 410, the control unit 100 determines whether the piston 76 is positioned at the limit position of either the travel limit 73 or the return limit 74. 2, a second return process is performed to restart the supply of air to the air cylinders 71 and 72 so that the piston 76 does not move from one position to the other. That is, in the second return process, the control unit 100 puts the second solenoid valve 220 and the third solenoid valve 230 into the go limit control state or the return limit control state based on the detection results of the first sensor 400 and the second sensor 410. By doing so, air is supplied into the air cylinder 70 without moving the piston 76 . After that, the control unit 100 starts supplying air to the air cylinder 70 and starts moving the piston 76 .

[Effects, etc.]
As described above, the component mounting apparatus 1 according to the present embodiment detects the transfer arm 60, the air cylinder 70 having the piston 76 for driving the transfer arm 60, and the position of the piston 76 at the travel limit 73. a second sensor 410 for detecting that the piston 76 is at the return limit 74; 100 and. The control unit 100 can supply air to the air cylinder 70 so that the piston 76 moves by a predetermined amount per unit time. Further, the controller 100 cuts off the supply of air to the air cylinder 70 so that the inside of the air cylinder 70 is brought to the atmospheric pressure and stops driving the transfer arm 60 . Further, when restarting the driving of the conveying arm 60 that has stopped, the control unit 100 determines whether the piston 76 is at the travel limit 73 or the return limit 74 based on the detection results of the first sensor 400 and the second sensor 410. If the piston 76 is not positioned at either the forward limit 73 or the return limit 74, the air supply to the air cylinder is restarted so that the movement amount of the piston 76 per unit time becomes smaller than the predetermined movement amount. Perform the first return processing to move.

According to such a configuration, when the piston 76 (specifically, the end portion 77 ) is not positioned at the travel limit 73 or the return limit 74 , the control unit 100 gradually moves toward the travel limit 73 or the return limit 74 . It controls the movement of the piston 76 . Therefore, when the supply of air to the air cylinder 70 is resumed, the piston 76 is driven at an abnormal speed, which may cause damage to the substrate 500 held by the transfer arm 60, failure of the air cylinder 70, and the like. Occurrence is suppressed. Thereby, according to the component mounting apparatus 1, the air cylinder 70 can be safely restored and driven.

Further, for example, when restarting the driving of the conveying arm 60 that has stopped, the control unit 100 determines whether the piston 76 reaches the travel limit 73 or the return limit 74 based on the detection results of the first sensor 400 and the second sensor 410 . If the piston 76 is positioned at either end, a second return process is performed to restart the supply of air to the air cylinder 70 so that the piston 76 does not move from one of the travel limit 73 and the return limit 74 to the other.

With such a configuration, the control unit 100 supplies air into the air cylinder 70 without moving the piston 76 . Therefore, when the supply of air to the air cylinder 70 is resumed, the piston 76 is driven at an abnormal speed, which may cause damage to the substrate 500 held by the transfer arm 60, failure of the air cylinder 70, and the like. Occurrence is suppressed. Thereby, according to the component mounting apparatus 1, the air cylinder 70 can be safely restored and driven.

Further, for example, the component mounting apparatus 1 includes a first air pipe 300 connected to an air source 200 and a first air pipe 300 provided in the first air pipe 300 for switching between supply and stop of air supply from the air source 200 . a solenoid valve 210, a second air pipe 310 branched downstream of the first solenoid valve 210 in the first air pipe 300, and for supplying the air cylinder 70 with air for moving the piston 76 in the first direction; , a third air pipe 320 for supplying air to the air cylinder 70 for moving the piston 76 in the second direction; a second electromagnetic valve 220 provided in the second air pipe 310; A third solenoid valve 230 is further provided. In this case, for example, the control unit 100 controls the first solenoid valve 210 to cut off the supply of air to the air cylinder 70, thereby making the inside of the air cylinder 70 atmospheric pressure and stopping the driving of the transfer arm 60. . Further, for example, in the first return process, the control unit 100 controls the first solenoid valve 210 to start supplying air to the downstream side of the first solenoid valve 210, and then the second solenoid valve 220 and the first The supply of air to the air cylinder 70 is restarted by alternately switching the opening and closing of the three solenoid valves 230 .

According to such a configuration, the control unit 100 repeatedly moves the piston 76 to the travel limit 73 or the return limit 74 before reaching the travel limit 73 or the return limit 74, and then moves the piston 76 to the travel limit 73 or the return limit 74. be positioned at By doing so, the control unit 100 can gradually move the piston 76 to the travel limit 73 or the return limit 74 .

Further, for example, in the first return process, the control unit 100 repeatedly switches between opening and closing one of the second electromagnetic valve 220 and the third electromagnetic valve 230 to restart the supply of air to the air cylinder 70 .

According to such a configuration, the control unit 100 can gradually move the piston 76 to the travel limit 73 or the return limit 74 only by controlling the opening and closing of only the second solenoid valve 220 or the third solenoid valve 230. can. Therefore, the content of control executed by the control unit 100 can be simplified.

Further, for example, in the return process, the control unit 100 opens both the second solenoid valve 220 and the third solenoid valve 230 to restart the supply of air to the air cylinder 70 .

According to such a configuration, the control unit 100 can fill the inside of the air cylinder 70 with air by supplying air to the air cylinder 70 without moving the piston 76 at an abnormal speed.

Further, in the component mounting method according to the present embodiment, air is supplied to the air cylinder 70 to drive the piston 76 provided in the air cylinder 70 so as to move by a predetermined amount per unit time. a drive step for driving the transfer arm 60, a stop step for stopping the drive of the transfer arm 60 by cutting off the supply of air to the air cylinder 70 so that the inside of the air cylinder 70 is brought to atmospheric pressure, and after the stop step , a determination step of determining whether the piston 76 is at the travel limit 73 or the return limit 74 based on the detection results of the first sensor 400 and the second sensor 410; When it is determined that the piston 76 is not positioned at any of the return limits 74, the air supply to the air cylinder 70 is resumed so that the amount of movement of the piston 76 per unit time becomes smaller than the predetermined amount of movement, and then the piston is moved. and a control step of performing a first return process of moving 76 to go limit 73 or return limit 74 .

Further, for example, when it is determined in the control step that the piston 76 is positioned at either the travel limit 73 or the return limit 74 in the determination step, one of the travel limit 73 or the return limit 74 at which the piston 76 is positioned is determined. A second return process is performed to restart the supply of air to the air cylinder 70 so as not to move from one side to the other side.

According to these methods, the same effect as the component mounting apparatus 1 can be obtained.

Further, the control method of the air cylinder 70 according to the present embodiment is a control method of the air cylinder 70 having the piston 76, in which air is supplied to the air cylinder 70 to move the piston 76 by a predetermined amount per unit time. a drive step for driving the air cylinder 70, a stop step for stopping the driving of the piston 76 by stopping the supply of air to the air cylinder 70 to bring the inside of the air cylinder 70 to atmospheric pressure, and after the stop step, the first sensor 400 and the detection results of the second sensor 410; If it is determined that the piston 76 is not located in either of these positions, the air supply to the air cylinder 70 is resumed so that the movement amount of the piston 76 per unit time becomes smaller than the predetermined movement amount, and then the piston 76 moves forward. and a control step of performing a first return process to move to limit 73 or return limit 74 .

According to this method, the piston 76 can be gradually moved to the travel limit 73 or the return limit 74 when the piston 76 is not positioned at the travel limit 73 or the return limit 74 . Therefore, when the supply of air to the air cylinder 70 is resumed, the occurrence of malfunction of the air cylinder 70 due to the piston 76 being driven at an abnormal speed is suppressed. Thus, according to the control method of the air cylinder 70 according to the embodiment, the air cylinder 70 can be safely restored and driven.

Further, for example, in the control step, when it is determined in the determination step that the piston 76 is positioned at either the travel limit 73 or the return limit 74, the piston 76 is positioned at either the travel limit 73 or the return limit 74. A second return process is performed to restart the supply of air to the air cylinder 70 so as not to move from one side to the other.

According to this method, in the control step, air is supplied into the air cylinder 70 without moving the piston 76 . Therefore, when the supply of air to the air cylinder 70 is resumed, the occurrence of malfunction of the air cylinder 70 due to the piston 76 being driven at an abnormal speed is suppressed. Thus, according to the control method of the air cylinder 70 according to the embodiment, the air cylinder 70 can be safely restored and driven.

In addition, these general or specific aspects may be realized by a system, method, integrated circuit, computer program, or a recording medium such as a computer-readable CD-ROM. and any combination of recording media.

For example, a program according to one aspect of the present invention is a program for causing a computer to execute a control method for the air cylinder 70 .

[Modification]
Next, a component mounting apparatus according to a modified example of the embodiment will be described.

In addition, in the description of the component mounting apparatus according to the modified example of the embodiment described below, the differences from the component mounting apparatus 1 according to the embodiment will be mainly described. Therefore, in the description of the component mounting apparatus according to the modification of the embodiment, the same components as those of the component mounting apparatus 1 according to the embodiment are denoted by the same reference numerals, and the description may be omitted or simplified. be.

FIG. 11 is a schematic configuration diagram for explaining the details of the configuration for driving the air cylinder 70 provided in the component mounting apparatus 2 according to the modification of the embodiment. 11 is a diagram corresponding to the component mounting apparatus 1 shown in FIG.

The component mounting apparatus 2 differs from the component mounting apparatus 1 in the control contents of the control section 101 and the transport section 600a.

The control unit 101 is a control device that controls the operation of each device included in the component mounting apparatus 2 .

The conveying unit 600a includes a conveying arm 60, an air cylinder 70, an air source 200, a first solenoid valve 210a, a fourth solenoid valve 240, a fifth solenoid valve 241, a speed control valve 250, and a speed control valve. 251 , a first air pipe 300 a , a second air pipe 310 a , a third air pipe 320 a , a first sensor 400 and a second sensor 410 .

The first solenoid valve 210a is a solenoid valve in which the first supply valve 211 and the second exhaust valve 222 of the first solenoid valve 210 are integrated. Thus, the type of electromagnetic valve provided in the component mounting apparatus according to the present invention is not particularly limited.

Further, the fourth electromagnetic valve 240 is provided in the middle of the first air pipe 300a and is an electromagnetic valve for supplying or blocking the air from the air source 200. As shown in FIG. Specifically, the fourth solenoid valve 240 is provided between the first solenoid valve 210a and the air cylinder 70 in the first air pipe 300a, and supplies air from the air source 200 to the air cylinder 70, or , is a solenoid valve for controlling shutoff.

Here, the control unit 101 causes the air source 200 to supply air to the air cylinder 70 by opening both the first solenoid valve 210 a and the fourth solenoid valve 240 . For example, when at least one of the first solenoid valve 210a and the fourth solenoid valve 240 is in a closed state, air is not supplied from the air source 200 to the air cylinder .

According to such a configuration, when the air cylinder 70 is stopped, it is possible to prevent air from being supplied to the air cylinder 70 due to malfunction due to, for example, a failure of the first electromagnetic valve 210a.

In particular, a component mounting apparatus 2 having a plurality of air cylinders 70 is provided with a plurality of fifth electromagnetic valves 241 for controlling air supply to the first space 78 and the second space 79 of the air cylinders 70. In the case of this modification, the reliability of the circuit (air driving circuit) for driving the piston 76 of the air cylinder 70 by supplying and discharging the air constituting the conveying section 600a to and from the air cylinder 70 is relatively low. It is possible to improve the quality. As a method of increasing the reliability of the air drive circuit, for example, multiplexing of the plurality of fifth solenoid valves 241 for driving the plurality of air cylinders 70 can be considered. The number of the fifth solenoid valves 241 required is the number of air cylinders 70 provided in 2 multiplied by the degree of multiplexing (for example, 2 in the case of doubling), which increases the cost. In contrast, in the case of this modification, a plurality of solenoid valves (specifically, the first One solenoid valve 210a and a fourth solenoid valve 240) are provided and multiplexed. Therefore, even if the fifth solenoid valve 241 is not multiplexed, a highly reliable air drive circuit can be realized at low cost.

Also, the first air pipe branches via the fifth solenoid valve 241 and is connected to the second air pipe 310a and the third air pipe 320a.

The fifth solenoid valve 241 is a solenoid valve provided in the middle of the second air pipe 310a and the third air pipe 320a for supplying or blocking the air from the air source 200. As shown in FIG. Specifically, the fifth solenoid valve 241 is provided between the air source 200, specifically, the first air pipe 300a and the air cylinder 70, in the second air pipe 310a, and the third air pipe The air source 200 at 320a, specifically, is provided between the first air pipe 300a and the air cylinder 70, and supplies or cuts off the air from the first air pipe 300 to the air cylinder 70. A solenoid valve for control. That is, the fifth solenoid valve 241 has the functions of both the second solenoid valve 220 and the third solenoid valve 230 shown in FIG.

Thus, the second solenoid valve 220 and the third solenoid valve 230 shown in FIG. 6 may be separate bodies as shown in FIG. 6, or may be integrally formed like the fifth solenoid valve 241 shown in FIG. may be

The control unit 101 controls the supply of air to each of the first space 78 and the second space 79 in the air cylinder 70 by controlling the fifth electromagnetic valve 241 .

(Other embodiments)
As described above, the component mounting apparatus and the like according to the present embodiment have been described based on the above embodiment, but the present invention is not limited to the above embodiment.

For example, in the above embodiments, all or part of the components of the processing unit such as the control unit may be configured with dedicated hardware, or by executing a software program suitable for each component. may be implemented. Each component of the processing unit is realized by a program execution unit such as a CPU (Central Processing Unit) or a processor reading and executing a software program recorded in a recording medium such as a HDD (Hard Disk Drive) or a semiconductor memory. may be

Also, the components of the processing unit may be composed of one or more electronic circuits. Each of the one or more electronic circuits may be a general-purpose circuit or a dedicated circuit.

One or more electronic circuits may include, for example, a semiconductor device, an IC (Integrated Circuit), or an LSI (Large Scale Integration). An IC or LSI may be integrated on one chip or may be integrated on a plurality of chips. Although they are called ICs or LSIs here, they may be called system LSIs, VLSIs (Very Large Scale Integration), or ULSIs (Ultra Large Scale Integration) depending on the degree of integration. An FPGA (Field Programmable Gate Array) that is programmed after the LSI is manufactured can also be used for the same purpose.

In addition, it can be realized by applying various modifications to each embodiment that a person skilled in the art can think of, or by arbitrarily combining the constituent elements and functions of each embodiment without departing from the spirit of the present invention. Forms are also included in the present invention.

According to the component mounting apparatus of the present invention, the air cylinder can be safely restored and operated. Useful.

Reference Signs List 1, 2 component mounting device 10 loader section 20 ACF attaching section 30 temporary pressure bonding section 40 final pressure bonding section 41 first final pressure bonding section 42 second final pressure bonding section 50 unloader section 60, 61, 62, 63, 64 transport arm 70, 71, 72 air cylinder 73 travel limit 74 return limit 75 cylinder 76 piston 77 end 78 first space 79 second space 80 base 90 electric cylinder 100, 101 control unit 110 storage unit 120 notification unit 130 acquisition unit 200 air source 210 , 210a first solenoid valve 211 first supply valve 212 first exhaust valve 220 second solenoid valve 221 second supply valve 222 second exhaust valve 230 third solenoid valve 231 third supply valve 232 third exhaust valve 240 fourth solenoid Valve 241 Fifth electromagnetic valve 250, 251 Speed control valve 300, 300a First air pipe 310, 310a Second air pipe 320, 320a Third air pipe 400 First sensor 410 Second sensor 500 Substrate 600, 600a Transfer unit t1, t2, t3, t4, t5 time

Claims (16)

a transfer arm;
an air cylinder having a piston that drives the transfer arm;
a first sensor for detecting that the piston is positioned at a limit position in a first direction;
a second sensor for detecting that the piston is positioned at a limit position in a second direction opposite to the first direction;
a control unit that controls the driving of the transfer arm by controlling the supply of air to the air cylinder;
a first air pipe connected to an air source;
a first solenoid valve provided in the first air pipe for switching between supply and stop of air from the air source;
a second air pipe for supplying air for moving the piston in the first direction to the air cylinder, which is branched downstream of the first solenoid valve in the first air pipe; a third air pipe for supplying the air cylinder with air for moving in the second direction;
a second solenoid valve provided in the second air pipe;
a third solenoid valve provided in the third air pipe,
The control unit
It is possible to supply air to the air cylinder so that the piston moves by a predetermined amount per unit time,
controlling the first electromagnetic valve to cut off the supply of air to the air cylinder, thereby making the inside of the air cylinder atmospheric pressure and stopping the driving of the transfer arm;
When restarting the driving of the stopped transfer arm, the piston is positioned at either the limit position in the first direction or the limit position in the second direction based on the detection results of the first sensor and the second sensor. If it is not located at either position, the air supply to the air cylinder is resumed so that the amount of movement of the piston per unit time becomes smaller than the predetermined amount of movement, and then the piston is moved in the first direction. performing a first return process of moving to the limit position or the limit position in the second direction;
In the first return process, the first solenoid valve is controlled to start supplying air to the downstream side of the first solenoid valve, and then the piston moves to the limit position in the first direction and to the second position. The supply of air to the air cylinder is restarted by alternately switching the opening and closing of the second solenoid valve and the third solenoid valve so as not to move to any of the directional limit positions.
Component mounting equipment. Furthermore, comprising a fourth solenoid valve provided in the first air pipe,
The control unit
By opening both the first solenoid valve and the fourth solenoid valve, air is supplied from the air source to the air cylinder;
The component mounting apparatus according to claim 1 . a transfer arm;
an air cylinder having a piston that drives the transfer arm;
a first sensor for detecting that the piston is positioned at a limit position in a first direction;
a second sensor for detecting that the piston is positioned at a limit position in a second direction opposite to the first direction;
a control unit that controls the driving of the transfer arm by controlling the supply of air to the air cylinder;
a first air pipe connected to an air source;
a first solenoid valve and a fourth solenoid valve provided in the first air pipe for switching supply and stop of air from the air source;
a second air pipe that is branched downstream of the first solenoid valve and the fourth solenoid valve in the first air pipe and supplies air to the air cylinder for moving the piston in the first direction; and a third air pipe for supplying the air cylinder with air for moving the piston in the second direction;
a second solenoid valve provided in the second air pipe;
a third solenoid valve provided in the third air pipe,
The control unit
supplying air from the air source to the air cylinder by opening both the first solenoid valve and the fourth solenoid valve;
It is possible to supply air to the air cylinder so that the piston moves by a predetermined amount per unit time,
controlling the first electromagnetic valve and the fourth electromagnetic valve to cut off the supply of air to the air cylinder, thereby making the inside of the air cylinder atmospheric pressure and stopping the driving of the transfer arm;
When restarting the driving of the stopped transfer arm, the piston is positioned at either the limit position in the first direction or the limit position in the second direction based on the detection results of the first sensor and the second sensor. If it is not located at either position, the air supply to the air cylinder is resumed so that the amount of movement of the piston per unit time becomes smaller than the predetermined amount of movement, and then the piston is moved in the first direction. performing a first return process of moving to the limit position or the limit position in the second direction;
In the first return process, after controlling the first solenoid valve and the fourth solenoid valve to start supplying air to the downstream side of the first solenoid valve and the fourth solenoid valve, The supply of air to the air cylinder is restarted by repeatedly opening and closing one of the two solenoid valves or the third solenoid valve.
Component mounting equipment. a transfer arm;
an air cylinder having a piston that drives the transfer arm;
a first sensor for detecting that the piston is positioned at a limit position in a first direction;
a second sensor for detecting that the piston is positioned at a limit position in a second direction opposite to the first direction;
a control unit that controls the driving of the transfer arm by controlling the supply of air to the air cylinder;
a first air pipe connected to an air source;
a first solenoid valve and a fourth solenoid valve provided in the first air pipe for switching supply and stop of air from the air source;
a second air pipe that is branched downstream of the first solenoid valve and the fourth solenoid valve in the first air pipe and supplies air to the air cylinder for moving the piston in the first direction; and a third air pipe for supplying the air cylinder with air for moving the piston in the second direction;
a second solenoid valve provided in the second air pipe;
a third solenoid valve provided in the third air pipe,
The control unit
supplying air from the air source to the air cylinder by opening both the first solenoid valve and the fourth solenoid valve;
It is possible to supply air to the air cylinder so that the piston moves by a predetermined amount per unit time,
controlling the first electromagnetic valve and the fourth electromagnetic valve to cut off the supply of air to the air cylinder, thereby making the inside of the air cylinder atmospheric pressure and stopping the driving of the transfer arm;
When restarting the driving of the stopped transfer arm, the piston is positioned at either the limit position in the first direction or the limit position in the second direction based on the detection results of the first sensor and the second sensor. If it is not located at either position, the air supply to the air cylinder is resumed so that the amount of movement of the piston per unit time becomes smaller than the predetermined amount of movement, and then the piston is moved in the first direction. performing a first return process of moving to the limit position or the limit position in the second direction;
In the first return process, after controlling the first solenoid valve and the fourth solenoid valve to start supplying air to the downstream side of the first solenoid valve and the fourth solenoid valve, By opening both the second solenoid valve and the third solenoid valve, the supply of air to the air cylinder is resumed.
Component mounting equipment. When restarting the driving of the transfer arm that has stopped, the control unit determines whether the piston is at the limit position in the first direction or in the second direction based on the detection results of the first sensor and the second sensor. second return process for restarting the supply of air to the air cylinder so that the piston does not move from one limit position to the other limit position I do,
The component mounting apparatus according to any one of claims 1 to 4 . a transfer arm;
an air cylinder having a piston that drives the transfer arm;
a first sensor for detecting that the piston is positioned at a limit position in a first direction;
a second sensor for detecting that the piston is positioned at a limit position in a second direction opposite to the first direction;
a first air pipe connected to an air source;
a first solenoid valve provided in the first air pipe for switching between supply and stop of air from the air source;
a second air pipe for supplying air for moving the piston in the first direction to the air cylinder, which is branched downstream of the first solenoid valve in the first air pipe; a third air pipe for supplying the air cylinder with air for moving in the second direction;
a second solenoid valve provided in the second air pipe;
A component mounting method using a component mounting apparatus comprising a third solenoid valve provided in the third air pipe,
a driving step of supplying air to the air cylinder to drive the piston so as to move a predetermined amount per unit time, thereby driving the transfer arm;
a stopping step of stopping the driving of the transfer arm by controlling the first electromagnetic valve to cut off the supply of air to the air cylinder, thereby making the inside of the air cylinder atmospheric pressure;
After the stopping step, it is determined whether the piston is positioned at the limit position in the first direction or the limit position in the second direction based on the detection results of the first sensor and the second sensor. a step;
When it is determined in the determining step that the piston is not positioned at the limit position in the first direction or the limit position in the second direction, the amount of movement of the piston per unit time is the predetermined amount of movement. a control step of performing a first return process of moving the piston to the limit position in the first direction or the limit position in the second direction after restarting the supply of air to the air cylinder so that the including
In the first return process, the first solenoid valve is controlled to start supplying air to the downstream side of the first solenoid valve, and then the piston moves to the limit position in the first direction and to the second position. The supply of air to the air cylinder is restarted by alternately switching the opening and closing of the second solenoid valve and the third solenoid valve so as not to move to any of the directional limit positions.
Component mounting method. The component mounting apparatus further comprises a fourth solenoid valve provided in the first air pipe,
In the component mounting method, by opening both the first solenoid valve and the fourth solenoid valve, air is supplied from the air source to the air cylinder.
The component mounting method according to claim 6. a transfer arm;
an air cylinder having a piston that drives the transfer arm;
a first sensor for detecting that the piston is positioned at a limit position in a first direction;
a second sensor for detecting that the piston is positioned at a limit position in a second direction opposite to the first direction;
a first air pipe connected to an air source;
a first solenoid valve and a fourth solenoid valve provided in the first air pipe for switching supply and stop of air from the air source;
a second air pipe that is branched downstream of the first solenoid valve and the fourth solenoid valve in the first air pipe and supplies air to the air cylinder for moving the piston in the first direction; and a third air pipe for supplying the air cylinder with air for moving the piston in the second direction;
a second solenoid valve provided in the second air pipe;
A component mounting method using a component mounting apparatus comprising a third solenoid valve provided in the third air pipe,
In the component mounting method, both the first solenoid valve and the fourth solenoid valve are released to supply air from the air source to the air cylinder,
The component mounting method includes:
a driving step of supplying air to the air cylinder to drive the piston so as to move a predetermined amount per unit time, thereby driving the transfer arm;
a stop step of controlling the first solenoid valve and the fourth solenoid valve to cut off the supply of air to the air cylinder, thereby making the inside of the air cylinder atmospheric pressure and stopping the driving of the transfer arm;
After the stopping step, it is determined whether the piston is positioned at the limit position in the first direction or the limit position in the second direction based on the detection results of the first sensor and the second sensor. a step;
When it is determined in the determining step that the piston is not positioned at the limit position in the first direction or the limit position in the second direction, the amount of movement of the piston per unit time is the predetermined amount of movement. a control step of performing a first return process of moving the piston to the limit position in the first direction or the limit position in the second direction after restarting the supply of air to the air cylinder so that the including
In the first return process, after controlling the first solenoid valve and the fourth solenoid valve to start supplying air to the downstream side of the first solenoid valve and the fourth solenoid valve, The supply of air to the air cylinder is restarted by repeatedly opening and closing one of the two solenoid valves or the third solenoid valve.
Component mounting method. a transfer arm;
an air cylinder having a piston that drives the transfer arm;
a first sensor for detecting that the piston is positioned at a limit position in a first direction;
a second sensor for detecting that the piston is positioned at a limit position in a second direction opposite to the first direction;
a first air pipe connected to an air source;
a first solenoid valve and a fourth solenoid valve provided in the first air pipe for switching supply and stop of air from the air source;
a second air pipe that is branched downstream of the first solenoid valve and the fourth solenoid valve in the first air pipe and supplies air to the air cylinder for moving the piston in the first direction; and a third air pipe for supplying the air cylinder with air for moving the piston in the second direction;
a second solenoid valve provided in the second air pipe;
A component mounting method using a component mounting apparatus comprising a third solenoid valve provided in the third air pipe,
In the component mounting method, both the first solenoid valve and the fourth solenoid valve are released to supply air from the air source to the air cylinder,
The component mounting method includes:
a driving step of supplying air to the air cylinder to drive the piston so as to move a predetermined amount per unit time, thereby driving the transfer arm;
a stop step of controlling the first solenoid valve and the fourth solenoid valve to cut off the supply of air to the air cylinder, thereby making the inside of the air cylinder atmospheric pressure and stopping the driving of the transfer arm;
After the stopping step, it is determined whether the piston is positioned at the limit position in the first direction or the limit position in the second direction based on the detection results of the first sensor and the second sensor. a step;
When it is determined in the determining step that the piston is not positioned at the limit position in the first direction or the limit position in the second direction, the amount of movement of the piston per unit time is the predetermined amount of movement. a control step of performing a first return process of moving the piston to the limit position in the first direction or the limit position in the second direction after restarting the supply of air to the air cylinder so that the including
In the first return process, after controlling the first solenoid valve and the fourth solenoid valve to start supplying air to the downstream side of the first solenoid valve and the fourth solenoid valve, By opening both the second solenoid valve and the third solenoid valve, the supply of air to the air cylinder is resumed.
Component mounting method. In the control step, when it is determined in the determination step that the piston is positioned at either the limit position in the first direction or the limit position in the second direction, one limit position at which the piston is positioned is determined. performing a second return process for resuming the supply of air to the air cylinder so as not to move from one position to the other limit position;
The component mounting method according to any one of claims 6 to 9 . A control method for an air cylinder having a piston, comprising:
In the air cylinder control method,
a first solenoid valve provided in a first air pipe connected to an air source for switching between supply and stop of air from the air source;
a second solenoid valve provided in a second air pipe for supplying air for moving the piston in the first direction to the air cylinder, the second solenoid valve being branched downstream of the first solenoid valve in the first air pipe; ,
a third solenoid valve provided in a third air pipe for supplying air for moving the piston in a second direction opposite to the first direction to the air cylinder; controls the air supply to
The air cylinder control method includes:
a driving step of supplying air to the air cylinder to drive the piston so as to move a predetermined amount of movement per unit time;
a stopping step of stopping the driving of the piston by controlling the first solenoid valve to cut off the supply of air to the air cylinder, thereby making the inside of the air cylinder atmospheric pressure;
After the stopping step, a first sensor that detects that the piston is positioned at the limit position in the first direction and a second sensor that detects that the piston is positioned at the limit position in the second direction. a determination step of determining whether the piston is positioned at the limit position in the first direction or the limit position in the second direction based on the detection result;
When it is determined in the determining step that the piston is not positioned at the limit position in the first direction or the limit position in the second direction, the amount of movement of the piston per unit time is the predetermined amount of movement. a control step of performing a first return process of moving the piston to the limit position in the first direction or the limit position in the second direction after restarting the supply of air to the air cylinder so that the including
In the first return process, the first solenoid valve is controlled to start supplying air to the downstream side of the first solenoid valve, and then the piston moves to the limit position in the first direction and to the second position. The supply of air to the air cylinder is restarted by alternately switching the opening and closing of the second solenoid valve and the third solenoid valve so as not to move to any of the directional limit positions.
Air cylinder control method. In the air cylinder control method, the air supply to the air cylinder is further controlled by controlling a fourth solenoid valve provided in the first air pipe,
By opening both the first solenoid valve and the fourth solenoid valve, air is supplied from the air source to the air cylinder;
The air cylinder control method according to claim 11. A control method for an air cylinder having a piston, comprising:
In the air cylinder control method,
a first solenoid valve and a fourth solenoid valve provided in a first air pipe connected to an air source for switching between supply and stop of air from the air source;
A second air pipe branched downstream of the first solenoid valve and the fourth solenoid valve in the first air pipe and provided in a second air pipe for supplying air to the air cylinder for moving the piston in the first direction a second solenoid valve,
a third solenoid valve provided in a third air pipe for supplying air for moving the piston in a second direction opposite to the first direction to the air cylinder; controls the air supply to
In the air cylinder control method, by opening both the first solenoid valve and the fourth solenoid valve, air is supplied from the air source to the air cylinder,
The method for controlling the air cylinder includes:
a driving step of supplying air to the air cylinder to drive the piston so as to move a predetermined amount of movement per unit time;
a stop step of controlling the first solenoid valve and the fourth solenoid valve to cut off the supply of air to the air cylinder, thereby making the inside of the air cylinder atmospheric pressure and stopping the driving of the piston;
After the stopping step, a first sensor that detects that the piston is positioned at the limit position in the first direction and a second sensor that detects that the piston is positioned at the limit position in the second direction. a determination step of determining whether the piston is positioned at the limit position in the first direction or the limit position in the second direction based on the detection result;
When it is determined in the determining step that the piston is not positioned at the limit position in the first direction or the limit position in the second direction, the amount of movement of the piston per unit time is the predetermined amount of movement. a control step of performing a first return process of moving the piston to the limit position in the first direction or the limit position in the second direction after restarting the supply of air to the air cylinder so that the including
In the first return process, after controlling the first solenoid valve and the fourth solenoid valve to start supplying air to the downstream side of the first solenoid valve and the fourth solenoid valve, The supply of air to the air cylinder is restarted by repeatedly opening and closing one of the two solenoid valves or the third solenoid valve.
Air cylinder control method. A control method for an air cylinder having a piston, comprising:
In the air cylinder control method,
a first solenoid valve and a fourth solenoid valve provided in a first air pipe connected to an air source for switching between supply and stop of air from the air source;
A second air pipe branched downstream of the first solenoid valve and the fourth solenoid valve in the first air pipe and provided in a second air pipe for supplying air to the air cylinder for moving the piston in the first direction a second solenoid valve,
a third solenoid valve provided in a third air pipe for supplying air for moving the piston in a second direction opposite to the first direction to the air cylinder; controls the air supply to the
In the air cylinder control method, by opening both the first solenoid valve and the fourth solenoid valve, air is supplied from the air source to the air cylinder,
The air cylinder control method includes:
a driving step of supplying air to the air cylinder to drive the piston so as to move a predetermined amount of movement per unit time;
a stop step of controlling the first solenoid valve and the fourth solenoid valve to cut off the supply of air to the air cylinder, thereby making the inside of the air cylinder atmospheric pressure and stopping the driving of the piston;
After the stopping step, a first sensor that detects that the piston is positioned at the limit position in the first direction and a second sensor that detects that the piston is positioned at the limit position in the second direction. a determination step of determining whether the piston is positioned at the limit position in the first direction or the limit position in the second direction based on the detection result;
When it is determined in the determining step that the piston is not positioned at the limit position in the first direction or the limit position in the second direction, the amount of movement of the piston per unit time is the predetermined amount of movement. a control step of performing a first return process of moving the piston to the limit position in the first direction or the limit position in the second direction after restarting the supply of air to the air cylinder so that the including
In the first return process, after controlling the first solenoid valve and the fourth solenoid valve to start supplying air to the downstream side of the first solenoid valve and the fourth solenoid valve, By opening both the second solenoid valve and the third solenoid valve, the supply of air to the air cylinder is resumed.
Air cylinder control method. In the control step, when it is determined in the determination step that the piston is positioned at either the limit position in the first direction or the limit position in the second direction, one limit position at which the piston is positioned is determined. performing a second return process for resuming the supply of air to the air cylinder so as not to move from one position to the other limit position;
The air cylinder control method according to any one of claims 11 to 14 . A program for causing a computer to execute the air cylinder control method according to any one of claims 11 to 15 .

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