JP7357198B2 - Work system, correction method, and evaluation system - Google Patents

Description

The present disclosure relates to a work system, a correction method, and an evaluation system. More specifically, the present disclosure relates to a work system including a work unit that performs a predetermined work, a correction method, and an evaluation system.

Patent Document 1 describes an electronic component mounting machine (work device) that inserts and mounts electronic components onto a circuit board or the like. In the electronic component mounting machine described in Patent Document 1, two types of linear scales having different coefficients of thermal expansion are used to position the mounting means (working part) by detecting a difference in detection position between the two linear scales. Calculate the offset value of

Japanese Patent Application Publication No. 9-246792

In an electronic component mounting machine such as that described in Patent Document 1, it is desired that the state of the electronic component mounting machine can be evaluated.

An object of the present disclosure is to provide a work system, a correction method, and an evaluation system that can evaluate the state of a work device.

A work system according to one aspect of the present disclosure includes a work device and an evaluation section. The working device includes a movable body and a holding member. The movable body includes a working part that performs a predetermined work. The holding member movably holds the movable body . The evaluation unit evaluates information regarding maintenance of the working device based on the detection strength of the reference body provided by the detection unit that detects the reference body provided on the holding member .
A work system according to another aspect of the present disclosure includes a movable body, a holding member, and a control unit. The movable body includes a working part that performs a predetermined work. The holding member movably holds the movable body. The control unit performs a correction process for correcting the operation of the movable body based on the detection intensity of the reference body by a detection unit that detects the reference body provided on the holding member.

A correction method according to one aspect of the present disclosure is a correction method for a working device including a movable body and a holding member. The movable body includes a working part that performs a predetermined work. The holding member movably holds the movable body . In the correction method , a correction process is performed to correct the operation of the movable body based on the detection intensity of the reference body by a detection unit that detects the reference body provided on the holding member.

An evaluation system according to one aspect of the present disclosure is an evaluation system for a working device including a movable body and a holding member. The movable body includes a working part that performs a predetermined work. The holding member movably holds the movable body . The evaluation system includes an evaluation section. The evaluation unit evaluates information regarding maintenance of the working device based on the detection strength of the reference body provided by the detection unit that detects the reference body provided on the holding member .

An evaluation system according to one aspect of the present disclosure includes an acquisition unit. The acquisition unit acquires both information regarding distance information between the scale and the detection unit and the position information from a linear scale having a scale and a detection unit that acquires position information from the scale.

According to the present disclosure, there is an effect that the state of the working device can be evaluated.

FIG. 1 is a block diagram of a work system and an evaluation system according to one embodiment. FIG. 2 is a schematic diagram showing the configuration of the same work system as above. FIG. 3 is a diagram schematically showing the work system same as above. FIG. 4 is a sectional view taken along line A1-A2 in FIG. FIG. 5 is a sectional view taken along line B1-B2 in FIG. FIGS. 6A and 6B are diagrams showing the relationship between the position coordinates of the movable body and the reading intensity at the position coordinates in the same work system as above. FIG. 7 is a diagram for explaining the operation of the work system and evaluation system same as above.

Hereinafter, a work system and an evaluation system according to an embodiment will be described with reference to the drawings.

FIG. 2, FIG. 3, FIG. 4, and FIG. 5 referred to in the following embodiments are all schematic diagrams. Therefore, the size and thickness ratios of each component in the drawings do not necessarily reflect the actual size ratios.

(Embodiment)
(1) Overview Hereinafter, an overview of the work system 1 and evaluation system 10 according to the embodiment will be described with reference to FIGS. 1 and 2.

The work system 1 according to this embodiment is a system for performing predetermined work. The "predetermined work" as used in the present disclosure includes various work performed on the work object during the manufacture of a product, and includes, for example, work such as mounting, painting, printing, pressing, cutting, welding, and photographing. The “work object” in the present disclosure is an object to which work such as processing is performed by the work system 1, and for example, in the case of work to mount the second object 8 on the first object 7. In this case, the first object 7 is the work object. In this embodiment, the predetermined work is, for example, a mounting work of mounting the second object 8 on the first object 7. That is, in this embodiment, the work system 1 is a surface mounter (chip mounter) that mounts the second object 8 on the first object 7.

The first object 7 is, for example, a rectangular printed circuit board (hereinafter also referred to as "board 7"). The second object 8 is, for example, an electronic component (hereinafter also referred to as "component 8") such as a capacitor, a resistor, an inductor, a transformer, an IC (Integrated Circuit), a connector, or a switch. Note that the component 8 is not limited to the electronic component described above, and may be any other component as long as it can be mounted on the board 7.

The work system 1 according to this embodiment includes a work device 6 and an evaluation section 111, as shown in FIGS. 1 and 2. The working device 6 includes a movable body 5, a holding member 2, and an acquisition section 12. The movable body 5 includes a working part 4 that performs a predetermined work. The holding member 2 movably holds the movable body 5. The acquisition unit 12 acquires first information. The first information is information regarding distance information between a reference point provided on the movable body 5 and a reference body provided on the holding member 2. The evaluation unit 111 evaluates the second information based on changes in the first information over time. The second information is information regarding maintenance of the working device 6. The evaluation system 10 according to this embodiment is a system for evaluating the working device 6. The evaluation system 10 includes an evaluation section 111. In this embodiment, the reference point is, for example, the detection unit 122 of the linear scale 12, which will be described later. Further, in this embodiment, the reference body is, for example, the scale 121 of the linear scale 12.

“Information regarding distance information” in the present disclosure includes all information (data) that changes depending on the distance between the reference point and the reference object. As an example, information related to distance information includes information on the distance itself, information on intensity (electric field strength, light intensity (reflection intensity), magnetic flux density), correction data (correction data such as sensitivity of the linear scale 12), and distance measurement information. The detection result of a sensor (including optical type and contact type) may be used. In this embodiment, the information regarding distance information (first information) is, for example, information on the reflection intensity of light.

In the work system 1 according to the present embodiment, the acquisition unit 12 acquires information regarding distance information between a reference point provided on the movable body 5 and a reference body provided on the holding member 2. The evaluation unit 111 evaluates the information (second information) regarding the maintenance of the working device 6 based on changes over time in the information (first information) acquired by the acquisition unit 12. That is, the evaluation unit 111 can evaluate the positional relationship between the movable body 5 and the holding member 2, and as a result, the state of the working device 6 can be evaluated.

(2) Details Details of the work system 1 and evaluation system 10 according to this embodiment will be described below with reference to FIGS. 1 to 5.

(2.1) Structure of work system First, the structure of the work system 1 according to this embodiment will be explained with reference to FIGS. 1 to 5. In the following explanation, the moving direction of the movable body 5 is the Y-axis direction, the moving direction of the working part 4 is the X-axis direction, and the direction perpendicular to both the moving direction of the movable body 5 and the moving direction of the working part 4 is the Z-axis direction. It is stipulated that However, these directions are not intended to limit the directions in which the working device 6 is used. Further, the arrows in the drawings are only shown for explanation and have no substance.

The work system 1 according to this embodiment includes a work device 6, as shown in FIGS. 1 and 2.

The working device 6 includes a movable body 5 and a pair of holding members 2, as shown in FIGS. 2 to 5. The movable body 5 includes a working part 4 and a pair of shaft members 3.

Each of the pair of holding members 2 is, for example, a member (Y beam) long in the Y-axis direction. The pair of holding members 2 are lined up with a predetermined interval in the X-axis direction. One of the pair of holding members 2 holds one end of each of the pair of shaft members 3 in the X-axis direction, and the other holding member 2 of the pair of holding members 2 holds one end of each of the pair of shaft members 3 in the X-axis direction. The other end of each of the pair of shaft members 3 is held. The pair of holding members 2 hold the pair of shaft members 3 in a state where the pair of shaft members 3 are movable along the Y-axis direction. That is, the pair of holding members 2 hold the movable body 5 in a state in which the movable body 5 is movable along the Y-axis direction. Each of the pair of holding members 2 is attached to a corresponding one of the pair of bases 9, as shown in FIGS. 4 and 5. Each of the pair of bases 9 extends vertically along the Z-axis direction. The pair of bases 9 are lined up with a predetermined interval in the X-axis direction. The working device 6 is fixed to the floor via a pair of bases 9.

The working unit 4 is, for example, a mounting unit (hereinafter also referred to as “mounting unit 4”) for mounting the second object 8 on the first object 7. That is, the working unit 4 performs a mounting operation of mounting the second object 8 on the first object 7 as a predetermined operation. The mounting section 4 includes a suction nozzle 41. The mounting section 4 holds the suction nozzle 41 in a state where the suction nozzle 41 is movable along the Z-axis direction. Therefore, when mounting the component 8 on the board 7 , the suction nozzle 41 can move toward the board 7 and away from the board 7 . Further, when suctioning the component 8, the suction nozzle 41 is movable toward a component supply section (for example, a tape feeder) that supplies the component 8 and away from the component supply section. The suction nozzle 41 can be switched between a suction state in which the component 8 is suctioned and a release state in which the suction state of the component 8 is released.

Each of the pair of shaft members 3 is, for example, a member (X beam) long in the X-axis direction. The pair of shaft members 3 are lined up with a predetermined interval in the Y-axis direction. The pair of shaft members 3 hold the mounting portion 4 in a state in which the mounting portion 4 is movable along the X-axis direction.

In such a working device 6, the movable body 5 may be attached to the pair of holding members 2 at a normal position, as shown by the solid line in FIG. In some cases, the movable body 5 is attached to the pair of holding members 2 in a distorted state. When the movable body 5 is attached to the pair of holding members 2 in a distorted state, the movable body 5 is attached to the pair of holding members 2 in a normal position. Even if the component 8 is operated, there is a possibility that the component 8 cannot be mounted at the correct mounting position. Therefore, in such a case, it is necessary to correct the target position of the movable body 5, as will be described later.

(2.2) Configuration of work system Next, the configuration of the work system 1 according to the present embodiment will be described with reference to FIG. 1.

The work system 1 according to this embodiment includes a control section 11 and an acquisition section 12, as shown in FIG. Further, the work system 1 further includes a first drive section 13 , a second drive section 14 , a storage section 15 , a first linear motor 16 , and a second linear motor 17 . In this embodiment, the acquisition unit 12 is included in the work device 6. In other words, the work device 6 includes the acquisition section 12 .

The control unit 11 controls the first drive unit 13 and the second drive unit 14 separately. Specifically, the control unit 11 outputs a first control signal to the first drive unit 13 and outputs a first control signal to the second drive unit 14 so that the suction nozzle 41 of the mounting unit 4 reaches the target position. A second control signal is output. In this embodiment, the target position is the mounting position of the second object 8 on the first object 7. The first control signal includes position information in the X-axis direction among the position information of the target position. The second control signal includes position information in the Y-axis direction among the position information of the target position. That is, the control unit 11 controls the operation of the working device 6.

The control unit 11 further performs a correction process to correct the operation of the work device 6. In the correction process, the control unit 11 performs at least one of the first correction and the second correction. In the first correction, the control unit 11 corrects a shift in the target position (mounting position) of the movable body 5 caused by the positional relationship between the movable body 5 and the holding member 2. The control unit 11 performs the first correction when the absolute value of the amount of change in the clearance C1 (see FIG. 5) between the movable body 5 and the holding member 2 exceeds a predetermined value. In the second correction, the control unit 11 corrects in real time a shift in the target position of the movable body 5 caused by thermal expansion due to heat generated as the working device 6 operates. Therefore, even if the positional relationship between the movable body 5 and the holding member 2 changes (distortion occurs) or thermal expansion occurs in at least one of the movable body 5 and the holding member 2, the first correction and the second The mounting accuracy of the component 8 on the board 7 can be improved by at least one of the correction and the correction.

The control section 11 includes an evaluation section 111. The evaluation unit 111 evaluates the second information based on changes in the first information acquired by the acquisition unit 12 over time. The second information is information regarding maintenance of the working device 6. The second information includes, for example, adjustment timing information indicating when to adjust the positional relationship between the movable body 5 and the holding member 2. That is, the evaluation unit 111 evaluates the timing to adjust the positional relationship between the movable body 5 and the holding member 2 based on the change in the first information acquired by the acquisition unit 12.

Here, the second information may include correction amount information indicating the correction amount in the correction process of the control unit 11. The "correction amount" in the present disclosure includes at least one of the correction amount (shift amount) of the movable body 5 in the X-axis direction and the correction amount (shift amount) of the movable body 5 in the Y-axis direction. The correction amount is determined, for example, based on the amount of change in the clearance C1 between the movable body 5 and the holding member 2. Then, by evaluating the correction amount information by the evaluation unit 111, it can be determined whether the target position of the movable body 5 has been corrected correctly. Specifically, the evaluation unit 111 compares the data of the actual mounting position of the movable body 5 acquired by the acquisition unit 12 and the data of the target position of the movable body 5 in which the amount of correction is taken into account, and determines whether the two are in agreement. If it does, it is determined that the correction has been made correctly. "Match" as used in the present disclosure includes not only a case where two pieces of data completely match, but also a case where a difference between two pieces of data falls within a predetermined range.

Further, the second information may include correction timing information indicating when the control unit 11 performs the correction process. In this case, the correction timing information may be the first period, which is the timing for the correction processing that the control unit 11 is scheduled to perform in the future, or the first period, which is the timing for the correction processing that the control unit 11 has already performed. It may be two periods. Further, the correction timing information may include both the first period and the second period. Thereby, the user can be informed about the timing of the correction process by the control unit 11.

The main configuration of the control unit 11 is, for example, a computer system having one or more processors and one or more memories. The functions of the control section 11 (including the evaluation section 111) are realized by the processor of the computer system executing the program recorded in the memory of the computer system. The program may be pre-recorded in a memory, or may be provided via a telecommunications line such as the Internet, or recorded on a non-temporary recording medium such as a memory card.

In this embodiment, the evaluation system 10 includes a control section 11 having an evaluation section 111. That is, in this embodiment, the evaluation system 10 includes the evaluation section 111.

The acquisition unit 12 acquires first information. The first information is information regarding distance information between a reference point provided on the movable body 5 and a reference body provided on the holding member 2. The acquisition unit 12 is, for example, an optical reflective linear scale (hereinafter also referred to as "linear scale 12"). The linear scale 12 includes a scale 121 and a detection section 122, as shown in FIGS. 2, 4, and 5. As shown in FIG. 4, the scale 121 is provided along the longitudinal direction (Y-axis direction) of the holding member 2, and functions as a reference body. In FIG. 4, the scale 121 is provided over the entire length of the holding member 2 in the Y-axis direction, but it is sufficient that it is provided at least within the movable range of the movable body 5. The scale 121 is attached to the base 9, for example. The scale 121 is provided with slits 1211 at predetermined intervals along its longitudinal direction. The detection unit 122 is provided on the movable body 5, as shown in FIGS. 2, 4, and 5, and functions as a reference point.

A clearance C1 (see FIG. 5) is provided between the scale 121 and the detection section 122. The clearance C1 is, for example, 0.4 mm±0.1 mm. The detection unit 122 includes a light emitting element and a light receiving element. In the linear scale 12, light emitted from the light emitting element passes through the scale 121 at positions where the slits 1211 are provided in the scale 121, and is reflected by the scale 121 at positions where the slits 1211 are not provided. The detection unit 122 detects the relative position with respect to the initial position (origin position), for example, based on the number of pulses of reflected light received by the light receiving element. That is, the detection unit 122 acquires position information of the movable body 5 based on the number of pulses of the reflected light reflected by the scale 121.

Furthermore, the detection unit 122 further acquires the intensity of the light reflected by the scale 121 (hereinafter also referred to as "reflection intensity"). That is, the acquisition unit 12 acquires the reflection intensity of light as the first information. In other words, the first information includes the detection intensity of the scale 121 by the detection unit 122. In this embodiment, the detected intensity is the reflected intensity of light. Note that the first information may be utilized as big data.

Here, the linear scale 12 may be an incremental linear scale or an absolute linear scale. Further, by making the incremental linear scale multi-track, it is also possible to detect the moving direction of the movable body 5 with respect to the holding member 2.

Further, in this embodiment, as shown in FIG. 5, the linear scale 12 is provided for each of the pair of holding members 2, but for at least one of the pair of holding members 2, It is sufficient if the linear scale 12 is provided. Thereby, the state of the working device 6 can be evaluated from the positional relationship between at least one of the holding members 2 and the movable body 5.

The first drive unit 13 has a one-to-one correspondence with the first linear motor 16, creates a first drive signal based on the first control signal from the control unit 11, and transfers the created first drive signal to the first drive signal. Output to the linear motor 16. The first linear motor 16 moves along the X-axis direction according to the first drive signal from the first drive unit 13. As a result, the mounting portion 4 also moves along the X-axis direction by the driving force from the first linear motor 16, and the suction nozzle 41 reaches the target position in the X-axis direction.

The second drive unit 14 has a one-to-one correspondence with the second linear motor 17, creates a second drive signal based on the second control signal from the control unit 11, and transfers the created second drive signal to the second drive signal. Output to the linear motor 17. The second linear motor 17 moves along the Y-axis direction according to the second drive signal from the second drive unit 14 . As a result, the movable body 5 (shaft member 3) also moves along the Y-axis direction by the driving force from the second linear motor 17, and the suction nozzle 41 reaches the target position in the Y-axis direction.

The storage unit 15 is configured with a device selected from ROM (Read Only Memory), RAM (Random Access Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), and the like. The storage unit 15 stores the name data of the component 8 and the mounting position (target position) data of the component 8 on the board 7 in association with each other. Therefore, when the component 8 to be mounted on the board 7 is selected, the control section 11 reads the mounting position data of the selected component 8 from the storage section 15 . Then, the control unit 11 outputs the mounting position data read from the storage unit 15 to the first drive unit 13 and the second drive unit 14. Of the mounting position data, the control unit 11 outputs mounting position data in the X-axis direction to the first drive unit 13 and outputs mounting position data in the Y-axis direction to the second drive unit 14. Furthermore, the storage unit 15 associates and stores data on the position coordinates of the movable body 5 sent from (the detection unit 122 of) the linear scale 12 and data on the reading intensity (gain intensity) at each position coordinate. do. In this embodiment, the reading intensity is the reflection intensity of light reflected by the scale 121. The control unit 11 can read reading intensity data from the storage unit 15 for each position coordinate of the movable body 5.

6A and 6B are graphs showing the relationship between the position coordinates (X coordinate, Y coordinate) of the movable body 5 and the reading intensity at each position coordinate. FIG. 6A is a graph in the initial state when the work system 1 is installed, and FIG. 6B is a graph after three years have passed since the work system 1 was installed.

Tables 1 and 2 are tables showing the relationship between the position coordinates of the movable body 5 and the reading intensity at each position coordinate. Table 1 is a table in the initial state when work system 1 is installed, and Table 2 is a table after three years have passed since work system 1 was installed.

From FIG. 6A and Table 1, for example, when the X coordinate of the movable body 5 in the X-axis direction is 0 and the Y coordinate, which is the coordinate in the Y-axis direction, is 4, the reading intensity is 1 dB. Further, from FIG. 6A and Table 1, when the X coordinate of the movable body 5 is 3 and the Y coordinate is 1, the reading intensity is 4 dB.

On the other hand, from FIG. 6B and Table 2, for example, when the X coordinate of the movable body 5 is 0 and the Y coordinate is 4, the reading intensity is 5 dB. In this case, since the reading intensity has increased from 1 dB to 5 dB, at the position where the X coordinate of the movable body 5 is 0 and the Y coordinate is 4, there is a difference between the movable body 5 and the holding member 2 in the X-axis direction. It can be seen that the clearance C1 has become smaller. Further, from FIG. 6B and Table 2, when the X coordinate of the movable body 5 is 3 and the Y coordinate is 1, the reading intensity is 1 dB. In this case, since the reading intensity has decreased from 4 dB to 1 dB, at the position where the X coordinate of the movable body 5 is 3 and the Y coordinate is 1, the distance between the movable body 5 and the holding member 2 in the X-axis direction is It can be seen that the clearance C1 has become larger.

(3) Operation Next, the operation of the work system 1 according to this embodiment will be explained with reference to FIG. 7. The operation described below is performed in real time when the movable body 5 moves along the Y-axis direction with respect to the pair of holding members 2, but here, the movable body 5 is moved to the target position (mounting position). The operation at the time of reaching this point will be explained as an example.

When the movable body 5 reaches the target position (mounting position), the acquisition unit 12 acquires the position information and first information of the movable body 5 (step S1). Specifically, the acquisition unit 12 acquires the light intensity (reflection intensity) of the reflected light reflected by the scale 121 as the first information. The evaluation unit 111 reads the reflection intensity acquired at the time of installation of the work system 1 from the storage unit 15, and calculates the difference from the reflection intensity acquired this time (step S2). The evaluation unit 111 then compares the above difference with a preset threshold (step S3). If the difference is less than or equal to the threshold (step S3: No), the evaluation unit 111 determines that the positional relationship between the movable body 5 and the holding member 2, that is, the clearance C1, is normal. On the other hand, if the above-mentioned difference is larger than the threshold (step S3: Yes), the evaluation unit 111 determines that the positional relationship between the movable body 5 and the holding member 2, that is, the clearance C1 is not normal, and that the movable body 5 and the holding member 2 It is determined (evaluated) that it is time to correct the positional relationship of (step S4). In this case, the evaluation unit 111 may display on the display unit that it is time to correct the positional relationship between the movable body 5 and the holding member 2, or may output a message from the audio output unit (for example, a speaker) as a sound. You may. Furthermore, the evaluation unit 111 may perform both display on the display unit and audio output on the audio output unit.

In the work system 1 according to the present embodiment, the acquisition unit 12 acquires reflection intensity (first information) that is information regarding distance information between the movable body 5 and the holding member 2. Then, the evaluation unit 111 determines (evaluates) whether the clearance C1 between the movable body 5 and the holding member 2 is normal based on the change over time in the reflection intensity acquired by the acquisition unit 12. There is. Therefore, the evaluation unit 111 can evaluate the state of the working device 6 from the state of the clearance C1 between the movable body 5 and the holding member 2.

By the way, since the detection accuracy of the linear scale 12 that detects the clearance C1 between the movable body 5 and the holding member 2 also decreases with the passage of time, the linear scale 12 is also configured to detect the presence or absence of an abnormality. It is preferable that That is, it is preferable that the second information includes status information indicating the presence or absence of an abnormality in the acquisition unit (linear scale) 12. In this case, the evaluation unit 111 calculates the data of the target position (mounting position) of the movable body 5 in the Y-axis direction and the data of the position coordinate of the movable body 5 in the Y-axis direction detected by the detection unit 122 of the linear scale 12. compare. Then, the evaluation unit 111 determines that the linear scale 12 is abnormal unless the difference between the two falls within a predetermined range. In this case, the evaluation unit 111 may display on the display unit that the linear scale 12 should be replaced, or may output the message from an audio output unit (for example, a speaker) in the form of audio. Furthermore, the evaluation unit 111 may perform both display on the display unit and audio output on the audio output unit. Furthermore, even if the difference is within a predetermined range, the evaluation unit 111 may evaluate when to replace the linear scale 12 depending on the magnitude of the difference. That is, the second information may include replacement timing information indicating when to replace the acquisition unit (linear scale) 12. This allows the user to be informed about when to replace the acquisition unit 12.

Further, assume that at least one of the light emitting element and the light receiving element is dirty with grease or the like. In this case, since the abnormality has suddenly occurred, the reflection intensity detected by the detection unit 122 will change rapidly. That is, in this case, the difference in reflection intensity is equal to or greater than the threshold value. Therefore, when the difference in reflection intensity exceeds the threshold value, the evaluation unit 111 determines that there is an abnormality in the linear scale 12, and displays a message to that effect on the display unit to prompt the user to perform maintenance on the linear scale 12. It is preferable to display the information or output it as a sound from an audio output unit (for example, a speaker). Thereby, even if a sudden abnormality occurs in the linear scale 12, the user can promptly deal with it. Even in this case, the evaluation unit 111 may perform both display on the display unit and audio output on the audio output unit.

(4) Modifications The embodiment described above is just one of various embodiments of the present disclosure. The embodiments described above can be modified in various ways depending on the design, etc., as long as the objective of the present disclosure can be achieved. Further, functions similar to those of the work system 1 and the evaluation system 10 may be realized by a maintenance method, a computer program, a non-temporary recording medium on which a computer program is recorded, or the like.

A maintenance method according to one embodiment is a maintenance method for a working device 6 that includes a movable body 5, a holding member 2, and an acquisition unit 12. The movable body 5 includes a working part 4 that performs a predetermined work. The holding member 2 movably holds the movable body 5. The acquisition unit 12 acquires first information. The first information is information regarding distance information between a reference point provided on the movable body 5 and a reference body provided on the holding member 2. In the maintenance method, the second information is evaluated based on changes in the first information over time. The second information is information regarding maintenance of the working device 6.

Modifications of the above embodiment will be listed below. The modified examples described below can be applied in combination as appropriate.

The work system 1 and the evaluation system 10 in the present disclosure include, for example, a computer system in the control unit 11. A computer system mainly consists of a processor and a memory as hardware. The functions of the work system 1 and the evaluation system 10 in the present disclosure are realized by a processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunications line, or may be recorded on a non-transitory storage medium readable by the computer system, such as a memory card, optical disc, hard disk drive, etc. may be provided. A processor in a computer system is comprised of one or more electronic circuits including semiconductor integrated circuits (ICs) or large scale integrated circuits (LSIs). The integrated circuits such as IC or LSI referred to herein have different names depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Furthermore, an FPGA (Field-Programmable Gate Array), which is programmed after the LSI is manufactured, or a logic device that can reconfigure the connections inside the LSI or reconfigure the circuit sections inside the LSI, may also be used as a processor. I can do it. The plurality of electronic circuits may be integrated into one chip, or may be provided in a distributed manner over a plurality of chips. A plurality of chips may be integrated into one device, or may be distributed and provided in a plurality of devices. The computer system herein includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including semiconductor integrated circuits or large-scale integrated circuits.

Furthermore, it is not an essential configuration for the work system 1 that multiple components of the work system 1 are integrated into one housing, and the components of the work system 1 are distributed and installed in multiple housings. It may be. Furthermore, at least some functions of the work system 1 (for example, the control unit 11) may be realized by a cloud (cloud computing) or the like.

In the above embodiment, the linear scale 12 is an optical reflective linear scale, but the linear scale 12 may be an optical transmissive linear scale, for example. In this case, a light emitting element and a light receiving element are arranged on both sides of the scale 121, respectively. Then, the detection unit 122 detects the relative position with respect to the initial position (origin position) based on the number of pulses of transmitted light that the light receiving element receives through the slit 1211 provided in the scale 121.

Further, the linear scale 12 may be a magnetic linear scale. In this case, the scale 121 is magnetized with north poles and south poles alternately along its longitudinal direction. Then, the detection unit 122 detects the relative position with respect to the initial position (origin position) from the number of N poles and S poles detected while moving along the longitudinal direction of the scale 121.

Furthermore, the linear scale 12 may be an electromagnetic induction linear scale. In this case, a plurality of scale coils are arranged on the scale 121 at equal intervals along its longitudinal direction. On the other hand, the detection unit 122 includes an excitation coil and a detection coil. In this linear scale 12, when a current is passed through the excitation coil, a magnetic flux is generated, and an electromotive current is generated in an opposing scale coil among the plurality of scale coils provided on the scale 121. This electromotive current generates an electromotive current in the opposing detection coil. Then, the detection unit 122 detects the relative position with respect to the initial position (origin position) from the phase of the electromotive current generated in the detection coil.

In these cases as well, the linear scale 12 may be an incremental type linear scale or an absolute type linear scale. Further, by making the incremental linear scale multi-track, it is also possible to detect the moving direction of the movable body 5 with respect to the holding member 2.

In the above embodiment, the evaluation system 10 is configured with the control unit 11 and includes the evaluation unit 111, but the evaluation system 10 may also include the acquisition unit 12, for example. In this case, the acquisition unit 12 is preferably configured to acquire both the position information of the movable body 5 in the Y-axis direction and the first information. In this case, the acquisition unit 12 acquires, as the first information, information regarding the distance between the graduations of the linear scale provided on the holding member 2 and the detection unit of the linear scale provided on the movable body 5, thereby obtaining information about the working device. 6 conditions can be evaluated.

In the embodiments described above, the information related to distance information is the reflected intensity of light (light intensity of reflected light), but the information related to distance information is not limited to the reflected intensity of light. For example, if the linear scale 12 is a magnetic linear scale, the information regarding distance information is, for example, electric field strength. Further, when the linear scale 12 is an electromagnetic induction type linear scale, the information regarding distance information is, for example, magnetic flux density. Furthermore, the information regarding the distance information may be information on the distance itself. Further, the information regarding the distance information may be correction data such as the sensitivity of the linear scale 12, for example.

In the embodiment described above, the clearance C1 between the movable body 5 and the holding member 2 is detected by the linear scale 12, but the clearance C1 may be detected by, for example, a distance measuring sensor. The distance measuring sensor may be an optical type or a contact type. In this case, the information regarding the distance information is, for example, the detection result of the distance measurement sensor.

In the embodiment described above, the movable body 5 moves linearly along the longitudinal direction of the holding member 2, but the movable body 5 is configured to rotate with respect to the holding member 2, for example. Good too. That is, the movable body 5 may be a disk. In this case, the acquisition unit 12 is preferably configured with a rotary encoder, for example.

In the embodiment described above, the distortion of the working device 6 (the clearance C1 between the movable body 5 and the holding member 2) is detected, but for example, the distortion of the feeder (component supply unit) may also be detected.

(summary)
As explained above, the work system (1) according to the first aspect includes the work device (6) and the evaluation section (111). The working device (6) includes a movable body (5), a holding member (2), and an acquisition section (12). The movable body (5) includes a working part (4) that performs a predetermined work. The holding member (2) movably holds the movable body (5). An acquisition unit (12) acquires first information. The first information is information related to distance information between a reference point provided on the movable body (5) (for example, the detection unit 122) and a reference body (for example, the scale 121) provided on the holding member (2). The evaluation unit (111) evaluates the second information based on changes in the first information over time. The second information is information regarding maintenance of the working device (6).

According to this aspect, the state of the working device (6) can be evaluated based on the first information.

In the working system (1) according to the second aspect, in the first aspect, the movable body (5) includes a working part (4) and a shaft member (3) that movably holds the working part (4). ,including.

According to this aspect, the state of the working device (6) can be evaluated based on the first information.

In the work system (1) according to the third aspect, in the first or second aspect, the second information is adjustment timing information indicating when to adjust the positional relationship between the movable body (5) and the holding member (2). including.

According to this aspect, it is possible to evaluate the timing for adjusting the positional relationship between the movable body (5) and the holding member (2).

In the work system (1) according to the fourth aspect, in any one of the first to third aspects, the second information includes status information indicating whether there is an abnormality in the acquisition unit (12).

According to this aspect, it is possible to evaluate whether or not there is an abnormality in the acquisition unit (12).

In the work system (1) according to the fifth aspect, in any one of the first to fourth aspects, the second information includes replacement timing information indicating when to replace the acquisition unit (12).

According to this aspect, it is possible to evaluate the timing of replacing the acquisition unit (12).

The work system (1) according to the sixth aspect, in any one of the first to fifth aspects, further includes a control unit (11) that controls the operation of the work device (6). The control unit (11) is configured to perform correction processing to correct the operation of the work device (6). The second information includes correction amount information indicating the correction amount in the correction process. The evaluation unit (111) evaluates the correction amount information.

According to this aspect, it is possible to evaluate the amount of correction in the correction process.

The work system (1) according to the seventh aspect, in any one of the first to sixth aspects, further includes a control unit (11) that controls the operation of the work device (6). The control unit (11) is configured to perform correction processing to correct the operation of the work device (6). The second information includes correction timing information indicating when to perform the correction process.

According to this aspect, it is possible to evaluate the correction timing.

In the work system (1) according to the eighth aspect, in any one of the first to seventh aspects, the acquisition unit (12) is a linear scale (12). The linear scale (12) has a scale (121) and a detection section (122). The scale (121) is provided along the longitudinal direction of the holding member (2) as a reference body. The detection unit (122) is provided on the movable body (5) as a reference point and acquires position information from the scale (121). The first information includes the detection intensity of the scale (121) by the detection unit (122).

According to this aspect, the state of the working device (6) can be evaluated based on the detection intensity of the scale (121) by the detection unit (122).

A maintenance method according to a ninth aspect is a maintenance method for a working device (6) having a movable body (5), a holding member (2), and an acquisition section (12). The movable body (5) includes a working part (4) that performs a predetermined work. The holding member (2) movably holds the movable body (5). An acquisition unit (12) acquires first information. The first information is information related to distance information between a reference point provided on the movable body (5) (for example, the detection unit 122) and a reference body (for example, the scale 121) provided on the holding member (2). In the maintenance method, the second information is evaluated based on changes in the first information over time. The second information is information regarding maintenance of the working device (6).

According to this aspect, the state of the working device (6) can be evaluated based on the first information.

An evaluation system (10) according to a tenth aspect is an evaluation system (10) for a working device (6) having a movable body (5), a holding member (2), and an acquisition section (12). The movable body (5) includes a working part (4) that performs a predetermined work. The holding member (2) movably holds the movable body (5). An acquisition unit (12) acquires first information. The first information is information related to distance information between a reference point provided on the movable body (5) (for example, the detection unit 122) and a reference body (for example, the scale 121) provided on the holding member (2). The evaluation system (10) includes an evaluation section (111). The evaluation unit (111) evaluates the second information based on changes in the first information over time. The second information is information regarding maintenance of the working device (6).

According to this aspect, the state of the working device (6) can be evaluated based on the first information.

An evaluation system (10) according to an eleventh aspect includes an acquisition unit (12). The acquisition unit (12) acquires distance information between the scale (121) and the detection unit (122) from a linear scale (12) having a scale (121) and a detection unit (122) that acquires position information from the scale (121). Obtain both information about and location information.

According to this aspect, the state of the working device (6) can be evaluated based on information regarding distance information between the scale (121) and the detection unit (122).

The work system (1) according to the twelfth aspect includes the evaluation system (10) according to the eleventh aspect.

According to this aspect, the state of the working device (6) can be evaluated based on information regarding distance information between the scale (121) and the detection unit (122).

The configurations according to the second to eighth aspects are not essential to the work system (1) and can be omitted as appropriate.

1 Working system 2 Holding member 3 Shaft member 4 Working part 5 Movable body 6 Working device 10 Evaluation system 11 Control part 12 Acquisition part (linear scale)
111 Evaluation unit 121 Scale (reference body)
122 Detection unit (reference point)

Claims (12)

a working device comprising a movable body including a working part that performs a predetermined work , and a holding member that movably holds the movable body;
an evaluation unit that evaluates information regarding maintenance of the working device based on the detection strength of the reference body provided by the detection unit that detects the reference body provided on the holding member;
work system. The movable body includes the working part and a shaft member that movably holds the working part.
The work system according to claim 1. The evaluation unit evaluates status information indicating the presence or absence of an abnormality regarding the linear scale including the reference body.
The work system according to claim 1 or 2. The work device includes a control unit that performs a correction process to correct the operation of the movable body,
The evaluation unit evaluates correction amount information indicating a correction amount in the correction process.
The work system according to any one of claims 1 to 3. The work device includes a control unit that performs a correction process to correct the operation of the movable body,
The evaluation unit evaluates correction timing information indicating a timing for performing the correction processing by the control unit.
The work system according to any one of claims 1 to 4. The detection unit is provided on the movable body and acquires position information from a scale provided along the longitudinal direction of the holding member as the reference body.
The work system according to any one of claims 1 to 5. The evaluation unit evaluates information regarding maintenance of the working device including the movable body and the holding member, based on a change over time in the detection intensity of the reference body by the detection unit.
The work system according to any one of claims 1 to 6. a movable body including a working part that performs a predetermined work;
a holding member that movably holds the movable body;
a control unit that performs a correction process to correct the operation of the movable body based on the detection strength of the reference body by a detection unit that detects the reference body provided on the holding member;
work system. A method for correcting a working device, comprising a movable body including a working part that performs a predetermined work, and a holding member that movably holds the movable body, the method comprising:
performing a correction process to correct the operation of the movable body based on the detection strength of the reference body by a detection unit that detects the reference body provided on the holding member;
Correction method. An evaluation system for a working device , comprising a movable body including a working part that performs a predetermined work, and a holding member that movably holds the movable body, the system comprising:
an evaluation unit that evaluates information regarding maintenance of the working device based on the detection strength of the reference body provided by the detection unit that detects the reference body provided on the holding member;
Rating system. an acquisition unit that acquires both information regarding distance information between the scale and the detection unit and the position information from a linear scale having a scale and a detection unit that acquires position information from the scale;
Rating system. comprising the evaluation system according to claim 11;
work system.

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