JP7423265B2 - Parts holding status acquisition device - Google Patents

Description

The present invention relates to acquiring the holding state of an electronic component (hereinafter sometimes abbreviated as component) in a component holder.

Patent Document 1 discloses that during descending control of a suction nozzle that holds a component, a load sensor detects a load applied to the suction nozzle, and if the detected load is larger than a set value, the suction nozzle is moved to an obstacle. It is stated that you will get a collision.

Japanese Patent Application Publication No. 2010-129718

An object of the present invention is to obtain the holding state of a component in a component holder using a load sensor.

In the component holding state acquisition device according to the present invention, the holding state of the component in the component holder is acquired based on a detection value of a load sensor that detects a load applied to the component holder. For example, the detected value of the load sensor differs depending on whether the component is held by the component holder or not. Therefore, based on the detected value of the load sensor, the state of holding the component in the component holder can be acquired. Additionally, if the detected value of the load sensor changes by more than the set value, it can be determined that the part has fallen, that is, the part has fallen from the held state and has changed to the unheld state. .

The state in which the component is held by the component holder includes, for example, a state in which the component is held, a state in which the component is not held, a state in which the held component has fallen, a component different from a predetermined component, or a foreign object. This applies to the state where . The component holding state obtaining device obtains that the holding state of the component holder is one or more of these states.

1 is a plan view showing a mounting machine equipped with a component holding state acquisition device according to an embodiment of the present invention. It is a front view showing the mounting head of the above-mentioned mounting machine. (a), (b) are diagrams showing the vicinity of a suction nozzle as a component holder included in the mounting head. (b) A diagram conceptually showing a state when acquiring a component holding state in a suction nozzle. FIG. 2 is a block diagram conceptually showing a control device of the mounting machine. It is a figure which shows the change of the detection value of the load sensor provided in the said mounting machine. It is a flowchart showing the 1st threshold value determination program memorize|stored in the memory|storage part of the said control apparatus. It is a flowchart showing a retention state acquisition program stored in the storage part of the above-mentioned control device. It is a flowchart showing a holding state acquisition program different from the above-mentioned holding state acquisition program. It is a flowchart showing a pre-installation holding state acquisition program stored in the storage unit of the control device. FIG. 3 is a diagram showing the vicinity of a chuck as a component holder included in the mounting head. It is a figure which shows the change of the detection value of the said load sensor.

Hereinafter, a mounting machine including a component holding state acquisition device according to an embodiment of the present invention will be described in detail based on the drawings.

As shown in FIG. 1, the mounting machine includes a mounting machine main body 2, a component supply device 4, a substrate conveyance/holding device 6, a mounting device 8, a control device 10, and the like.
Component supply device 4 includes a plurality of tape feeders 14. The tape feeders 14 each feed electronic components (hereinafter abbreviated as components) s using tape.
The board transport/holding device 6 transports and holds the circuit board 20 (hereinafter abbreviated as the board 20) in the X direction, and is connected to the board transport device 22, which is a pair of conveyors, to transport the circuit board 20 (hereinafter referred to as the board 20) to a predetermined position. and a substrate holding device 24 that holds the substrate 20.

The mounting device 8 receives the component s from the tape feeder 14 and mounts it on the substrate 20, and includes a mounting head 30 and a head moving device 32 that moves the mounting head 30. The head moving device 32 moves the mounting head 30 in the X direction and the Y direction perpendicular to the X direction, and by moving the slider 34, the mounting head 30 is moved in the XY plane, which is a horizontal plane. move along. Hereinafter, "movement along an XY plane, which is a horizontal plane" may be abbreviated as horizontal movement, movement in the XY direction, etc.
Note that the reference numeral 36 represents a camera. The camera 36 captures an image of the mounting head 30 from below.

As shown in FIG. 2, the mounting head 30 includes a head main body 50, a rotating body 52, a suction nozzle 60 as an example of a component holder held by the rotating body 52, and the like. The mounting head 30 is attached to the slider 34 in the head body 50.
The rotating body 52 is rotatably held around a rotation axis L that is perpendicular to the head main body 50. The rotary body 52 has rotary lifting shafts 54 at a plurality of positions (six positions in this embodiment) at appropriate intervals on one circumference centered on the rotary axis L. It is held so as to be relatively movable in a direction parallel to L and rotatable around an axis parallel to the rotation axis L. Hereinafter, the rotation axis L or an axis parallel to the rotation axis L may be simply referred to as an axis, and a direction parallel to the rotation axis L may simply be referred to as an axial direction.

A suction nozzle 60 is held at the lower end of each of the six rotary lifting shafts 54 that protrudes downward from the rotating body 52.
As shown in FIGS. 3(a) and 3(b), a bottomed fitting hole 64 is provided at the lower end of the elevating shaft main body 62, which is the main body of the rotary elevating shaft 54. A generally cylindrical fitting member 66 is fitted into the inner circumferential side of the fitting hole 64 , and a nozzle body 68 of the suction nozzle 60 is fitted into the inner circumferential side of the fitting member 66 . The nozzle body 68 extends in the axial direction and has a stepped shape having an upper small diameter portion and a lower large diameter portion. A part of the small diameter portion of the nozzle body 68 is fitted into the inner peripheral side of the fitting member 66, and an upper flange 70, which is a flange, is formed at the upper end portion of the small diameter portion protruding from the fitting member 66. A spring 72 as an elastic member is provided between the upper flange 70 and the upper surface of the fitting member 66.

The elevating shaft main body 62, the fitting member 66, and the nozzle main body 68 of the rotary elevating shaft 54 cannot rotate relative to each other via the pin 76, and the nozzle main body 68 is and are coupled for relative movement in the axial direction. Therefore, when the rotary lift shaft 54 is rotated, the suction nozzle 60 is also rotated. Note that the reference numeral 78 indicates a pressing mechanism that presses the pin 76 downward and prevents the pin 76 from moving. The pressing mechanism 78 includes a spring 79 provided between the lifting shaft main body 62 and the pressing mechanism main body 78r, and the elastic force of the spring 79 acts on the pin 76 via the pressing mechanism main body 78r, causing the pin to 76 movement is prevented.

In the state shown in FIG. 3(a), the upper flange 70 of the nozzle body 68 is separated from the bottom surface of the fitting hole 64 of the lifting shaft body 62, and the small diameter portion and the large diameter portion of the nozzle body 68 are attached to the bottom surface 80 of the fitting member 66. The step surface 82 is in contact with the section. The position where the cross section 82 of the nozzle body 68 comes into contact with the lower surface 80 of this fitting member 66 is the rising end position of the nozzle body 68 (suction nozzle 60) with respect to the lifting shaft main body 62 (rotary lifting shaft 54) and the fitting member 66. (hereinafter sometimes referred to as the second ascending end position), and the spring 72 urges the nozzle body 68 toward the second ascending end position.

A pressure passage 90 extending in the axial direction is formed in the center of the lifting shaft body 62 and passing through the bottom of the fitting hole 64 . Similarly, a pressure passage 92 extending in the axial direction is formed through the center of the nozzle body 68 and communicates with the fitting hole 64 . The pressure passage 92 passes through the upper flange 70 of the nozzle body 68 and opens at the lower end surface.

On the other hand, a valve device 96 (see FIG. 4) is provided corresponding to each of the six suction nozzles 60, and a negative pressure supply source 97, a positive Pressure supply source 98 and atmospheric communication port 99 are selectively communicated. The valve device 96 allows the pressure passages 90 and 92 to be cut off from the positive pressure supply source 98 and communicated with the negative pressure supply source 97, and to be cut off from the negative pressure supply source 97 and communicated with the positive pressure supply source 98. can be switched to multiple states, including
The rotating body 52 is provided with a pressure sensor 100 (one shown in FIG. 4) corresponding to each of the six suction nozzles 60. The pressure sensor 100 detects the pressure in the pressure passages 90 and 92.

As shown in FIG. 2, the mounting head 30 includes a rotating body rotating device 110 that rotates the rotating body 52 around the rotation axis L, a nozzle rotating device 112 that rotates the suction nozzle 60, and a nozzle that raises and lowers the suction nozzle 60. A lifting device 114 is included.
The rotary body rotation device 110 includes a rotary body rotation drive motor 120 that is an electric motor, and the rotary body rotation drive motor 120 rotates the rotary body 52 around the rotation axis L with respect to the head body 50.
Nozzle rotation device 112 includes a nozzle rotation drive motor 122, which is an electric motor, and a plurality of gears 124-130. The gear 124 is rotatably attached to the output shaft of the nozzle rotation drive motor 122, and the gear 130 is rotatably attached to the rotary lift shaft 54. Through the meshing of these plurality of gears 124 to 130, the rotation of the nozzle rotation drive motor 122 is transmitted to the rotary lift shaft 54, the rotary lift shaft 54 is rotated, and the suction nozzle 60 is rotated.

The nozzle elevating device 114 includes a first elevating device 140 that raises and lowers the rotary elevating shaft 54 with respect to the rotating body 52, and a second elevating device 142 that raises and lowers the nozzle body 68 with respect to the rotary elevating shaft 54.
The first elevating device 140 includes a first elevating drive motor 144 that is an electric motor, an elevating member 146, a motion conversion mechanism 148 that converts the rotation of the first elevating drive motor 144 into elevating the elevating member 146, a spring 132, and the like. The elevating member 146 is held by the head main body 50 in a holding portion 147 so as to be relatively movable in the axial direction. Further, the elevating member 146 has an engaging portion 150 that engages with the rotary elevating shaft 54 .

The spring 132 is provided between the rotary lift shaft 54 (gear 130) and the upper surface of the rotating body 52, and the rotary lift shaft 54 is provided with a flange 133. When the flange 133 comes into contact with the lower surface of the rotating body 52, the rising end positions (hereinafter referred to as first rising end positions) of the rotary lifting shaft 54 and the suction nozzle 60 with respect to the rotating body 52 and the head main body 50 are determined. The spring 132 urges the rotary lift shaft 54 and the suction nozzle 60 toward the first ascending end position.
As the elevating member 146 descends, the engaging portion 150 is lowered, and the rotary elevating shaft 54 is lowered against the elastic force of the spring 132. When the engaging portion 150 rises, the elastic force of the spring 132 allows the rotational elevating shaft 54 to rise. The suction nozzle 60 is raised and lowered as the rotary lift shaft 54 moves up and down.

As shown in FIGS. 3(a) and 3(b), the second elevating device 142 includes a linear motor 152 as a second elevating drive motor provided on the elevating member 146, and a linear motor 152 provided at the tip of the output shaft of the linear motor 152. It includes an engaging portion 154, a load cell 156 as a load sensor provided on the output shaft, a spring 72, and the like. The engaging portion 154 is engaged from above with an intermediate flange 158 serving as an engaged portion provided at the intermediate portion of the nozzle body 68 of the suction nozzle 60. When a downward force is applied to the engaging portion 154 by the linear motor 152, a downward force is applied to the nozzle body 68 of the suction nozzle 60 via the intermediate flange 158. The suction nozzle 60 is moved downward with respect to the fitting member 66 and the lifting shaft main body 62 against the elastic force of the spring 72, but as the engaging portion 154 is raised, the suction nozzle 60 is moved downward by the elastic force of the spring 72. The nozzle body 68 is allowed to rise.
Moreover, the detected value of the load cell 156 becomes large when the upward load applied to the engaging part 154 is large, and becomes small when the downward load applied to the engaging part 154 is large.

In this embodiment, the suction nozzle 60 is raised and lowered with respect to the rotating body 52 by the first lifting device 140, and is also raised and lowered with respect to the rotary lifting shaft 54 by the second lifting device 142. The first elevating device 140 and the second elevating device 142 can be operated separately, and the second elevating device 142 can move the suction nozzle 60 regardless of the height of the rotary elevating shaft 54 by the first elevating device 140. , it can be raised and lowered with respect to the rotary lift shaft 54.

In this mounting head 30, receiving the component s from the tape feeder 14 and mounting the component s onto the substrate 20 are performed by the suction nozzle 60 that is rotated to a position corresponding to the nozzle lifting device 114. This position is called the adsorption/attachment position.

The mounting head 30 and the like are controlled by the control device 10 and the like shown in FIG.
The control device 10 includes a controller 202 mainly composed of a computer, and a plurality of drive circuits 204. A first rising end position sensor 208 for detection and the like are connected, and a head moving device 32, a rotary body rotation device 110 including a rotary body rotation drive motor 120, and a nozzle rotation drive motor 122 are connected via a drive circuit 204. A nozzle rotation device 112 provided with the nozzle rotating device 112, a first elevating device 140 provided with a first elevating drive motor 144, a second elevating device 142 provided with a linear motor 152, etc. are connected.
Further, detection values of a linear encoder 210 and a current sensor 212 provided in the linear motor 152 are supplied to the controller 202 via a drive circuit 204. The linear encoder 210 detects the stroke of the output shaft of the linear motor 210, and the current sensor 212 detects the current flowing through the linear motor 152. A notification device 214 is further connected to the controller 202 . Notification device 214 can be, for example, a display.

The operation of the mounting machine configured as above will be explained.
The mounting head 30 is horizontally moved by a head moving device 32 between above the tape feeder 14 and above the substrate 20 held by the substrate holding device 24 .
When picking up the part s, the suction nozzle 60 is raised and lowered relative to the head main body 50 and the rotating body 52 by the first lifting device 140 while negative pressure is supplied to the pressure passages 90 and 92 under the control of the valve device 96. It will be done.
When mounting the component s, the suction nozzle 60 is raised and lowered with respect to the head main body 50 and the rotating body 52 by the first lifting device 140, and is also raised and lowered with respect to the rotary lifting shaft 54 by the second lifting device 142.

In this embodiment, the holding state of the component in the suction nozzle 60 is acquired.
The holding state of the component in the suction nozzle 60 is acquired based on the image captured by the camera 36, but the component s may fall during the horizontal movement of the mounting head 30 after the image is captured by the camera 36. In that case, the component s is not mounted on the board 20, and a defective product is manufactured.
Therefore, in this embodiment, during the horizontal movement of the mounting head 30, the holding state of the component s in the suction nozzle 60 at the suction/mounting position, that is, whether the component s is being held or the component s is being held. It is acquired whether the part s is in a state where it is not being held (a state in which the part s has fallen from a state where the part s is being held, and the state has changed to a state in which the part s is not being held).

Prior to suction of the component s by the suction nozzle 60, the linear motor 152 is controlled so that the engaging portion 154 approaches the set position. The stroke of the output shaft of the linear motor 152 corresponding to the set position of the engaging portion 154 is obtained and stored in advance. Therefore, based on the detected value of the linear encoder 210, the linear motor 152 can be controlled so that the engaging portion 154 approaches the set position.
At the set position of the engaging portion 154, a downward pressing force of a predetermined magnitude is applied to the suction nozzle 60, and the suction nozzle 60 is moved slightly below the second ascending end position. Thereby, the detected value of the load cell 156 becomes the set value F0. The set value F0 is a reaction force of the pressing force, and is a value representing an upward load. The reaction force is applied by the elastic force of the spring 72. In this embodiment, the set value F0 is referred to as a pre-hold detection value.

Negative pressure is supplied to the pressure passages 90 and 92, and then the component s is suctioned by the suction nozzle 60, but the suction nozzle 60 is lowered by the first lifting device 140 and pressed against the component s. In this way, when picking up a component, the suction nozzle 60 is pressed, so the upward load applied to the engaging portion 154 increases, and the detected value of the load cell 156 increases.

After the suction nozzle 60 suctions the component s, the suction nozzle 60 is raised by the first elevating device 140, and the mounting head 30 is horizontally moved by the head moving device 32. Then, the detection value of the load cell 156 at the time when the suction nozzle 60 reaches the first ascending end position is the holding detection value F1. It can be considered that the pressing force applied to the suction nozzle 60 by the first elevating device 140 is removed because the suction nozzle 60 has reached the first ascending end position. Therefore, it is appropriate to acquire the holding detection value F1 at the timing when the suction nozzle 60 reaches the first ascending end position.

Thereafter, the mounting head 30 equipped with the suction nozzle 60 is horizontally moved by the head moving device 32, and the component s is mounted on the substrate 20 at a predetermined position.

On the other hand, for example, if the component s held falls during the horizontal movement of the mounting head 30, the first It becomes larger than the threshold value ΔFth. The detected value of the load cell 156 should be approximately constant during horizontal movement of the mounting head 30. On the other hand, if the detected value of the load cell 156 changes by more than the first threshold value ΔFth, it can be estimated that the part s has fallen.

The first threshold value ΔFth can be a predetermined value or a value determined each time. In the latter case, the first threshold value ΔFth can be obtained, for example, based on the pre-hold detection value F0 and the during-hold detection value F1. Value obtained by multiplying the absolute value of the difference between the detected value F0 before holding and the detected value F1 during holding by the ratio α (0<α<1) ΔFth=α* | F0 - F1 |
It can be done.

An example of the above case will be explained based on the first threshold value determination program and component holding state acquisition program shown in the flowcharts of FIGS. 6 and 7.
The first threshold determination program shown in the flowchart of FIG. 6 is executed when the suction nozzle 60 starts mounting the component s. In step 1 (hereinafter abbreviated as S1; the same applies to other steps), it is determined whether the engaging portion 154 is at the set position, and in S2, it is determined whether or not the negative pressure is being supplied. is determined. If the determinations in S1 and S2 are YES, in S3, the pre-holding detection value F0, which is the detection value of the load cell 156, is acquired and stored. Next, in S4 and S5, it is determined whether the component s is suction-held by the suction nozzle 60 and whether or not the suction nozzle 60 is at the first ascending end position. For example, when the suction nozzle 60 is in the negative pressure supply state and the suction nozzle 60 is lowered by the first lifting device 140, it is determined that the suction nozzle 60 has sucked and held the component s. If the determinations in S4 and S5 are YES, in S6, the held detection value F1, which is the detection value of the load cell 156, is acquired and stored. Then, in S7, the first threshold value ΔFth is obtained by substituting the detected value F0 before holding and the detected value F1 during holding into a predetermined function f. For example, as described above, it can be obtained by multiplying the absolute value of the difference between the detected value F0 before holding and the detected value F1 during holding by the ratio α.

In other words, the component holding state acquisition program shown in the flowchart of FIG. is executed repeatedly at each cycle time.
In S21, the detected value F is acquired by the load cell 156, and in S22, the absolute value of the amount of change in the detected value |ΔF|, which is the value obtained by subtracting the previous detected value from the current detected value, is acquired, and the first threshold is It is determined whether or not the value is greater than the value ΔFth. If the determination in S22 is NO, it is determined that the component s is in a held state. If the determination in S22 is YES, it is determined in S23 that the part s has fallen, in other words, the part s is not held, and this is notified in S24.

Thus, in this embodiment, during the horizontal movement of the mounting head 30, it is determined whether the component s is being held or has fallen in the suction nozzle 60 located at the suction/mounting position. . Therefore, for example, even if the part s falls after the part s has been confirmed based on the captured image by the camera 36, this fact can be clearly acquired, and the occurrence of defective products can be prevented. can do.
Furthermore, when based on the captured image of the camera 36, the holding state of the component s is acquired based on the color, shape, etc., but when based on the detected value of the load cell 156, the holding state of the component s can be acquired based on the color, shape, etc. of the component s. It is possible to obtain the holding state of the component s.
Furthermore, when it is based on both the captured image by the camera 36 and the detected value of the load cell 156, it becomes possible to accurately obtain the holding state of the component s.

Note that the acquisition of the pre-hold detection value F0 in S3 can also be performed before S2.
Furthermore, in the above embodiment, a case has been described in which the first threshold value ΔFth is determined based on the pre-holding detection value F0 and the holding detection value F1, which are the actual detection values of the load cell 156. Since the component s held by the electronic component 60 is determined in advance, the component s (hereinafter, the component s determined in advance based on JOB information etc. will be referred to as a regular component s. The regular component s is also a target electronic component. ) can be obtained in advance, which is the detected value of the load cell 156 in a state where the suction nozzle 60 holds the holding state. Therefore, the first threshold value ΔFth can be determined in advance.

Further, in the above embodiment, when the absolute value |ΔF| of the amount of change in the detected value of the load cell 156 becomes larger than the first threshold value ΔFth, it is determined that the part s has fallen. However, when the detected value F of the load cell 156 exceeds the second threshold value Fth and approaches the pre-holding detected value F0, it is determined that the part s has fallen and is not held. You can do it like this. The second threshold value Fth is, for example, an intermediate value between the detected value F0 before holding and the detected value F1 during holding Fth=F0+β(F1-F0)=β*F1+(1-β)*F0
It can be done. The ratio β is a value greater than 0 and less than 1, and can be set to 0.5, for example. Further, the second threshold value Fth may be determined each time or may be determined in advance.

Further, the setting range (Fa to Fb) can be determined based on the detected value F1 during holding, the variation in the detected value of the load cell 156, the variation in the load, shape, etc. of the component s, and the like. The lower limit value Fa and upper limit value Fb of the setting range can be determined as follows, for example, based on the value γ determined by the variation.
Fa=F1-γ
Fb=F1+γ
If the detected value F of the load cell 156 is outside the set range (Fa to Fb), it is determined that the suction nozzle 60 is holding a foreign object or a part different from the regular part s. be able to.

Note that the detection value F1 during holding is smaller than the detection value of the load cell 156 when the component is picked up, but it is considered that it may be larger or smaller than the pre-holding detection value F0. For example, while the upward force (which can be referred to as an upward force caused by negative pressure) increases due to the component s being held and the opening of the pressure passage 92 being blocked, the weight of the component s increases. It is presumed that the resulting downward force will increase. Therefore, it is presumed that the magnitude of the detected value F1 during holding relative to the detected value F0 before holding is determined based on the magnitude relationship between the upward force caused by the negative pressure and the downward force caused by the body's own weight.

FIG. 5 shows an example of the measurement results when the diameter of the suction nozzle 60 is large, the part s is large, and its own weight is large. In this case, as shown in FIG. 5, the detected value F1 during holding is smaller than the detected value F0 before holding. The detection value of the load cell 156 increases (the upward load increases) from t1 when the suction nozzle 60 starts suctioning the component s, but at the time t2 when the suction nozzle 60 reaches the first upper end position after suctioning the component. The detected value F1 during holding, which is the detected value of the load cell 156, is smaller than the detected value F0 before holding. This is thought to be due to the fact that the downward load due to the weight of the component s is larger than the upward load due to the negative pressure.
Hereinafter, in this embodiment, a case where the detected value F1 during holding is smaller than the detected value F0 before holding will be described.

An example of this component holding state acquisition program is shown in the flowchart of FIG. The component holding state acquisition program is executed for a predetermined set time while the suction nozzle 60 reaches the first ascending end position and the mounting head 30 is horizontally moved after the suction nozzle 60 suction-holds the component s. It is executed repeatedly every time.
In S31, the detected value F of the load cell 156 is acquired, and in S32 it is determined whether the detected value F is larger than the second threshold Fth. If the determination is NO, it is further determined in S33 whether the detected value F is within the set range Fa to Fb (Fa<F<Fb). If the determination is YES, it is determined that the normal part s is held in the suction nozzle 60.
On the other hand, if the determination is NO, it is determined in S34 that a foreign object or a part different from the regular part s is held in the suction nozzle 60, and this is notified in S35. Ru. If the determination in S32 is YES, it is determined in S36 that the part s is not held, and this is notified in S35.

In this way, in this embodiment, the suction nozzle 60 can successfully detect that a part s different from the regular part s or a foreign object is being held, thereby preventing the occurrence of defective products. can be prevented. Further, although it may not be possible to determine based on the captured image of the camera 36 that a component s different from the regular component s or a foreign object has been attracted by the suction nozzle 60, it can be determined based on the detected value of the load cell 156. There are cases where it is possible.

On the other hand, in this mounting head 30, the component is sucked and held by each of the six suction nozzles 60, and while the mounting head 30 is moved horizontally, the suction nozzle 60 of the six suction nozzles 60 that has reached the suction/mounting position The held parts s are sequentially mounted on the board 20. In the mounting head 30, after the component s is mounted on the board 20 by the suction nozzle 60 that has reached the suction/mounting position, the rotary lift shaft 54 is raised to the first rising end position, and the suction nozzle 60 is moved to the second rising end position. The rotating body 52 is rotated. When the next suction nozzle 60 reaches the suction/mounting position, the component s is mounted on the substrate 20 by the next suction nozzle 60.

In this embodiment, in each suction nozzle 60 that has reached the suction/mounting position, the holding state of the component s is acquired before mounting the component s. At the suction nozzle 60 that has reached the suction/attachment position, the engaging portion 154 is moved to the set position under the control of the linear motor 152 based on the detected value of the linear encoder 210. In this state, the holding state of the component s is acquired based on the detected value F of the load cell 156.

An example of this case is shown in the flowchart of FIG.
The component holding state acquisition program represented by the flowchart of FIG. 9 is executed once every time the rotating body 52 rotates by 60 degrees, that is, every time it rotates intermittently. In S41, it is determined whether the suction nozzle 60 is at the second ascending end position. If the determination in S41 is YES, in S42 the linear motor 152 is controlled so that the engaging portion 154 is located at the set position. Then, in S43, the detected value F of the load cell 156 is acquired, and in S44, it is determined whether or not it is larger than the second threshold value Fth. If the determination is NO, the state in which the component s is held is If the determination is YES, it is determined in S45 that the part s is not held, and this is notified in S46.

In this way, when the mounting head 50 includes a plurality of suction nozzles 60, the holding state of the component s in each of the plurality of suction nozzles 60 can be acquired immediately before mounting. As a result, the ratio of defective products can be reduced.

In the above embodiment, a case has been described in which the suction nozzle 60 as a component holder is attached to the elevating shaft main body 62, but a chuck may also be attached as the component holder.
An example of that case is shown in FIGS. 10 and 11.
The chuck 200 is held by the fitting member 66 in a state where it is urged upward by a spring 202. The chuck 200 includes a pair of gripping claws 210a, 210b, and a drive source (for example, an air cylinder or an electric motor, etc.) that moves the pair of gripping claws 210a, 210b toward and away from each other, although not shown. including. The component s is gripped by bringing the pair of gripping claws 210a and 210b closer together.

The engaging portion 154 is moved to the set position under the control of the linear motor 152. A pressing force Fn is applied by the linear motor 152 to the intermediate flange 212 via the engaging portion 154. As shown in FIG. 11, the pre-holding detection value F0, which is the detection value of the load cell 156 in this state, is Fn. Further, when the component s is held by the chuck 200, the downward load increases due to the own weight Fs of the component s, so the detection value of the load cell 156 decreases. The detected value F1 during holding is (F1=Fn-Fs). Then, when the amount of change ΔF in the detected value of the load cell 156 becomes larger than the first threshold value ΔFth′ during the horizontal movement of the mounting head 30, it is determined that the component s has fallen. Furthermore, when the detected value of the load cell 156 becomes larger than the second threshold value Fth' during the horizontal movement of the mounting head 30, it is determined that the component s has fallen (the component s is not being held). Ru. The second threshold value Fth' can be set to an intermediate value between the detected value before holding F0 (=Fn) and the detected value during holding F1 (=Fn-Fs).
In addition, as in the above embodiment, the holding state of the component s in the chuck 200 can be obtained by executing the component holding state obtaining program shown in the flowcharts of FIGS.

In the above embodiment, the load cell 156 was used as the load sensor, but the value of the current flowing through the linear motor 152 can also be used. When a holding current is supplied to the linear motor 152, the load applied to the linear motor 152 becomes smaller as the downward load becomes larger. Therefore, the current flowing through the linear motor 152 decreases when the component is held, and when the component falls, the downward load decreases and the current increases.

As described above, in this embodiment, the component holding state acquisition device is configured by the part of the control device 10 that stores the component holding state acquisition program, the part that executes it, etc., and the second elevating device 142 etc. provides the pressing force. The device is configured. Further, the lifting device corresponds to the first lifting device 140, and the rising end position corresponds to the first rising end position.

In addition to the embodiments described above, the present invention can be implemented in various modifications and improvements based on the knowledge of those skilled in the art.

30: Mounting head 32: Head moving device 54: Rotating lift shaft 60: Adsorption nozzle 72: Spring 90, 92: Pressure passage 96: Valve device 152: Linear motor 154: Engagement part 156: Load cell 200: Chuck 202: Spring

Claims (6)

Obtaining the holding state of the electronic component of a component holder that is provided in a mounting machine that holds the electronic component supplied by the component supply device and mounts it at a predetermined position on a circuit board, and that holds the electronic component. A parts holding state acquisition device,
The component holder holds a target electronic component that is a predetermined electronic component supplied by the component supply device,
The component holding state acquisition device is
The component holder includes a load sensor that detects a load applied to the component holder, and if the detected value of the load sensor is out of a setting range determined based on the target electronic component, the component holder detects the target electronic component. A part holding state acquisition device that obtains when a part is not held . Obtaining the holding state of the electronic component of a component holder that is provided in a mounting machine that holds the electronic component supplied by the component supply device and mounts it at a predetermined position on a circuit board, and that holds the electronic component. A parts holding state acquisition device,
A component holding state acquisition device that includes a load cell or a linear motor that detects a load applied to the component holder, and obtains a holding state of the electronic component in the component holder based on a detected value of the load cell or the linear motor. Claim in which the component holding state acquisition device acquires that the electronic component held in the component holder has fallen when the detected value of the load cell or linear motor changes by a first threshold value or more. Item 2. The component holding state acquisition device according to item 2 . The component holding state acquisition device acquires that the electronic component is not held in the component holder when the detected value of the load cell or the linear motor exceeds a second threshold. The component holding state acquisition device according to claim 2 or 3 . The mounting machine is
a mounting head that includes a lifting device that raises and lowers the component holder, and holds the component holder so that it can be raised and lowered by the lifting device;
a head moving device that moves the mounting head in a horizontal direction,
After the component holding device performs work for holding the electronic component supplied from the component supply device, the component holding state acquisition device reaches a rising end position by the lifting device, and the mounting head moves to the upper end position. Any one of claims 2 to 4 , wherein the holding state of the electronic component in the component holder is obtained based on a detected value of the load cell or the linear motor when the electronic component is horizontally moved by a head moving device. 1. The component holding state acquisition device according to item 1. The mounting head includes an elastic member that applies an upward elastic force to the component holder,
The mounting machine includes a pressing force applying device that includes an engaging part that can engage with the engaged part of the component holder and applies a downward pressing force to the component holder via the engaging part. including,
The component holding state acquisition device applies the pressing force of a predetermined magnitude to the component holder by the pressing force applying device, and applies an upward elastic force to the engaging portion by the elastic member as a reaction force. 6. The component holding state obtaining device according to claim 5 , wherein the holding state of the electronic component in the component holder is obtained based on the detected value of the load cell or the linear motor in a state where the electronic component is provided with the electronic component.

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