WO2020115912A1 - Dispositif de gestion d'unité et procédé de gestion d'unité - Google Patents

Dispositif de gestion d'unité et procédé de gestion d'unité Download PDF

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Publication number
WO2020115912A1
WO2020115912A1 PCT/JP2018/045185 JP2018045185W WO2020115912A1 WO 2020115912 A1 WO2020115912 A1 WO 2020115912A1 JP 2018045185 W JP2018045185 W JP 2018045185W WO 2020115912 A1 WO2020115912 A1 WO 2020115912A1
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WO
WIPO (PCT)
Prior art keywords
stepping motor
unit
board
spool
pressure air
Prior art date
Application number
PCT/JP2018/045185
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English (en)
Japanese (ja)
Inventor
大樹 鈴木
正隆 岩▲崎▼
Original Assignee
株式会社Ｆｕｊｉ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社Ｆｕｊｉ filed Critical 株式会社Ｆｕｊｉ
Priority to CN201880099024.3A priority Critical patent/CN112913342B/zh
Priority to JP2020558794A priority patent/JP7080344B2/ja
Priority to PCT/JP2018/045185 priority patent/WO2020115912A1/fr
Publication of WO2020115912A1 publication Critical patent/WO2020115912A1/fr

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    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components

Definitions

  • This specification discloses the technology related to the unit management device and the unit management method.
  • the state determination device described in Patent Document 1 includes a detection unit and a determination unit.
  • the detection means detects whether or not the motor is out of step.
  • the determination means controls the drive of the motor based on a low torque drive condition that the torque output from the motor becomes smaller than a predetermined drive condition when the determination condition for determining the state of the component supply device is satisfied, and the detection means.
  • the state of the component supply device is determined based on the detection result of. Specifically, the determination means controls the drive of the motor by setting the reference voltage of the pulse signal when driving the motor to a low voltage lower than that at the time of producing the mounting board.
  • the determining means determines that the maintenance is unnecessary when the motor is out of step, and determines that the maintenance is necessary when the motor is out of step.
  • the state determination device described in Patent Document 1 tries to determine whether maintenance is necessary before an abnormality occurs in the component supply device.
  • the state determination device described in Patent Document 1 detects the presence or absence of step-out of the motor by lowering the reference voltage of the pulse signal when driving the motor compared to when the mounting board is produced.
  • the presence or absence of step-out of the motor is not detected by using the operation interval of the predetermined operation repeatedly executed in the work for the board.
  • the present specification detects the presence or absence of step-out of a stepping motor by using an operation interval of a predetermined operation repeatedly performed in a work for a board, and determines whether maintenance of a driven part is necessary.
  • a unit management device and a unit management method capable of performing the above are disclosed.
  • the present specification manages a drive unit that is provided in a board-to-board work machine that performs a predetermined board-to-board work on a board to produce a board product, and that includes a stepping motor and a driven part driven by the stepping motor.
  • the unit management device includes an interval setting unit and a determination unit.
  • the interval setting unit sets the operation interval shorter than that at the time of producing the board product.
  • the operation interval starts from a time point when one of the predetermined operations repeatedly executed in the work for the board is finished and the pulse signal supplied to the stepping motor is stopped, and the next predetermined interval is set.
  • the end point is the time point at which the supply of the pulse signal is started to start the operation.
  • the determination unit drives the stepping motor at the operation interval set by the interval setting unit to detect presence/absence of step-out, and based on the presence/absence of step-out of the stepping motor, maintenance of the driven part is performed. Judge whether it is necessary or not.
  • the present specification provides a drive unit that is provided in a work machine for a board that performs a predetermined work for a board to produce a board product, and includes a stepping motor and a driven portion that is driven by the stepping motor.
  • a unit management method for managing a unit is disclosed.
  • the unit management method includes an interval setting step and a determination step.
  • the interval setting step the operation interval is set shorter than when the board product is produced.
  • the operation interval starts from a time point when one of the predetermined operations repeatedly executed in the work for the board is finished and the pulse signal supplied to the stepping motor is stopped, and the next predetermined interval is set.
  • the end point is the time point at which the supply of the pulse signal is started to start the operation.
  • the stepping motor is driven at the operation interval set in the interval setting step to detect the presence/absence of step-out, and based on the presence/absence of step-out of the stepping motor, maintenance of the driven part is performed. Judge whether it is necessary or not.
  • the unit management device it is provided with an interval setting unit and a determination unit.
  • the unit management device sets the operation interval of the predetermined operation that is repeatedly executed in the board-to-board operation to be shorter than that during the production of the board product, detects whether or not the stepping motor is out of step, and detects the stepped motor. The necessity of maintenance can be judged. What has been described above regarding the unit management device can be similarly applied to the unit management method.
  • FIG. 6 is a cross-sectional view showing an example of a state in which the spool 41 of the valve device 40 is positioned at the first stop position P1 and negative pressure air can be supplied to the holding member 50.
  • FIG. 9 is a cross-sectional view showing an example of a state in which the spool 41 of the valve device 40 is positioned at the second stop position P2 and positive pressure air can be supplied to the holding member 50.
  • FIG. 8 is a cross-sectional view showing an example of a state in which the spool 41 of the valve device 40 is positioned at the third stop position P3 and the holding member 50 can be opened to the atmosphere.
  • 3 is a block diagram showing an example of control blocks of a drive unit 60 and a unit management device 70.
  • FIG. 7 is a flowchart showing an example of a control procedure performed by the unit management device 70. It is a schematic diagram which shows the structural example of the mechanism which slides the spool 41 in the sliding direction (arrow Z direction).
  • 5 is a schematic diagram showing an example of a temporal change in the positional relationship between the spool 41 and the operating shaft 43.
  • FIG. FIG. 6 is a schematic diagram showing an example of damped vibration generated in a mover of a stepping motor 61 when supply of a pulse signal is stopped.
  • Embodiment 1-1 Example of Configuration of Work Line for Substrate WML
  • a predetermined work for the substrate is performed on the substrate 90.
  • the work line WML for a board of the present embodiment is a plurality (five) work for a board of a printing machine WM1, a printing inspection machine WM2, a component mounting machine WM3, a reflow furnace WM4, and an appearance inspection machine WM5.
  • the machine 90 is provided with a machine WM, and the substrate 90 is transported in this order by a substrate transport device (not shown).
  • the printing machine WM1 prints solder on the mounting positions of the plurality of components 91 on the board 90.
  • the printing inspection machine WM2 inspects the printing state of the solder printed by the printing machine WM1.
  • the component mounting machine WM3 mounts a plurality of components 91 on the substrate 90 (on the solder printed by the printing machine WM1).
  • the number of component mounting machines WM3 may be one or more. When a plurality of component mounting machines WM3 are provided, the plurality of component mounting machines WM3 can share and mount a plurality of components 91.
  • the reflow furnace WM4 heats the substrate 90 on which the plurality of components 91 are mounted by the component mounting machine WM3, melts the solder, and performs soldering.
  • the appearance inspection machine WM5 inspects the mounting state of the plurality of components 91 mounted by the component mounting machine WM3. In this way, the to-board work line WML uses a plurality of (five) to-to-board work machines WM to sequentially transfer the substrates 90 and execute the production process including the inspection process to produce the board product 900.
  • the work line to board WML includes, for example, a work machine to work WM such as a function inspection machine, a buffer device, a substrate supply device, a substrate reversing device, a shield mounting device, an adhesive coating device, and an ultraviolet irradiation device. It can be provided.
  • a work machine to work WM such as a function inspection machine, a buffer device, a substrate supply device, a substrate reversing device, a shield mounting device, an adhesive coating device, and an ultraviolet irradiation device. It can be provided.
  • a plurality of (five) anti-board working machines WM and a management device WMC forming the anti-board working line WML are electrically connected by a communication unit LC.
  • the communication unit LC may be wired or wireless. Also, various communication methods can be used.
  • a plurality of (five) anti-board working machines WM and a management device WMC constitute a local information communication network (LAN: Local Area Network). Accordingly, the plurality (five) of the board-working machines WM can communicate with each other via the communication unit LC. Further, a plurality (five) of the board-working machines WM can communicate with the management device WMC via the communication unit LC.
  • the management device WMC controls a plurality of (five) to-board work machines WM that form the to-board work line WML, and monitors the operating status of the to-board work line WML.
  • the management device WMC stores various control data for controlling a plurality of (five) work machines WM for a board.
  • the management device WMC transmits the control data to each of the plurality (five) of the board working machines WM. Further, each of the plurality (five) of the board working machines WM transmits the operation status and the production status to the management device WMC.
  • the component mounting machine WM3 mounts a plurality of components 91 on the board 90.
  • the component mounting machine WM3 includes a substrate transfer device 11, a component supply device 12, a component transfer device 13, a component camera 14, a substrate camera 15, and a control device 16.
  • the substrate transfer device 11 is configured by, for example, a belt conveyor and transfers the substrate 90 in the transfer direction (X-axis direction).
  • the board 90 is a circuit board on which at least one of an electronic circuit and an electric circuit is formed.
  • the board transfer device 11 carries the board 90 into the component mounting machine WM3 and positions the board 90 at a predetermined position in the machine.
  • substrate conveyance apparatus 11 carries out the board
  • the component supply device 12 supplies a plurality of components 91 mounted on the board 90.
  • the component supply device 12 includes a plurality of feeders 121 provided along the conveyance direction (X-axis direction) of the substrate 90.
  • Each of the plurality of feeders 121 feeds a carrier tape (not shown) in which a plurality of components 91 are housed with a pitch so that the components 91 can be collected at a supply position located on the tip side of the feeder 121.
  • the component supply device 12 can also supply a relatively large electronic component (for example, a lead component) compared to a chip component or the like in a state of being arranged on the tray.
  • the component transfer device 13 includes a head drive device 131 and a moving base 132.
  • the head drive device 131 is configured to be able to move the movable table 132 in the X-axis direction and the Y-axis direction by a linear motion mechanism.
  • the mounting head 20 is detachably (replaceable) provided on the moving table 132 by a clamp member (not shown).
  • the mounting head 20 uses at least one holding member 50 to collect and hold the component 91 supplied by the component supply device 12, and mounts the component 91 on the substrate 90 positioned by the substrate transfer device 11.
  • As the holding member 50 for example, a suction nozzle or a chuck can be used.
  • a publicly known imaging device can be used for the component camera 14 and the board camera 15.
  • the component camera 14 is fixed to the base of the component mounting machine WM3 so that the optical axis is upward in the Z-axis direction (vertical upward direction).
  • the component camera 14 can image the component 91 held by the holding member 50 from below.
  • the board camera 15 is provided on the moving base 132 of the component transfer device 13 such that the optical axis is downward in the Z-axis direction (downward in the vertical direction).
  • the board camera 15 can take an image of the board 90 from above.
  • the component camera 14 and the board camera 15 perform imaging based on a control signal sent from the control device 16. Image data captured by the component camera 14 and the board camera 15 is transmitted to the control device 16.
  • the control device 16 includes a well-known central processing unit and a storage device, and constitutes a control circuit (both not shown). Information output from various sensors provided in the component mounting machine WM3, image data, and the like are input to the control device 16.
  • the control device 16 sends a control signal to each device based on a control program and a predetermined mounting condition set in advance. For example, the control device 16 causes the substrate camera 15 to capture an image of the substrate 90 positioned by the substrate transfer device 11. The control device 16 performs image processing on the image captured by the board camera 15 to recognize the positioning state of the board 90. Further, the control device 16 causes the holding member 50 to collect and hold the component 91 supplied by the component supply device 12, and causes the component camera 14 to image the component 91 held by the holding member 50. The control device 16 performs image processing on the image captured by the component camera 14 to recognize the holding posture of the component 91.
  • the control device 16 moves the holding member 50 to the upper side of the planned mounting position preset by a control program or the like. Further, the control device 16 corrects the planned mounting position based on the positioning state of the board 90, the holding posture of the component 91, etc., and sets the mounting position at which the component 91 is actually mounted.
  • the planned mounting position and the mounting position include a rotation angle in addition to the position (X-axis coordinate and Y-axis coordinate).
  • the control device 16 corrects the target position (X-axis coordinate and Y-axis coordinate) and the rotation angle of the holding member 50 according to the mounting position.
  • the controller 16 lowers the holding member 50 at the corrected target position at the corrected rotation angle, and mounts the component 91 on the board 90.
  • the control device 16 executes the mounting process for mounting the plurality of components 91 on the board 90 by repeating the above-described pick and place cycle.
  • the mounting head 20 includes a head main body 21 that is clamped to the moving base 132.
  • the head main body 21 is provided with a rotary head 23 so that the R-axis motor 22 can determine a rotation angle for each predetermined angle.
  • the rotary head 23 includes a plurality of (for example, 12) tool shafts 24 at equal intervals in the circumferential direction on a circle concentric with the R axis.
  • the rotary head 23 holds the tool shaft 24 so as to be slidable in the ⁇ -axis direction (vertical direction in FIG. 3) parallel to the Z-axis and the R-axis and rotatable about the ⁇ -axis.
  • the tool shaft 24 is biased upward with respect to the rotary head 23 by the elastic force of a spring (not shown). As a result, the tool shaft 24 is located at the rising end in the normal state where no external force is applied.
  • a holding member 50 is detachably attached to the lower end of the tool shaft 24. At least positive pressure air or negative pressure air is supplied to the holding member 50, and the component 91 is sampled.
  • the holding member 50 includes a suction nozzle that sucks the component 91 with negative pressure air, a chuck (not shown) that operates with positive pressure air or negative pressure air, and the like. Further, when the holding member 50 is attached, the tool shaft 24 urges the holding member 50 downward by the elastic force of an in-shaft spring (not shown).
  • Each of the plurality of holding members 50 holds the component 91 by supplying air to the air passage of the holding member 50.
  • the plurality of holding members 50 are sequentially indexed to a predetermined angular position around the R axis (for example, the vertical position of the tool shaft 24) by the rotation of the rotary head 23 as the R axis motor 22 is driven.
  • the mounting head 20 includes a ⁇ -axis motor 25 fixed to the head body 21. All the tool shafts 24 are connected to the output shaft of the ⁇ -axis motor 25 so that the rotational force can be transmitted via a plurality of gears.
  • the tool shaft 24 and the holding member 50 are integrally rotated (rotated) around the ⁇ axis by the operation of the ⁇ axis motor 25, and the rotation angle and the rotation speed are controlled.
  • the head body 21 is provided with an operating member 26 that is movable in the Z-axis direction (vertical vertical direction).
  • the actuating member 26 is moved up and down in the Z-axis direction by a ball screw mechanism 28 that is operated by driving the Z-axis motor 27.
  • the actuating member 26 includes a lever 29 that comes into contact with the upper end of the tool shaft 24 that is indexed to the vertical position among the plurality of tool shafts 24.
  • the lever 29 moves down as the actuating member 26 moves downward in the Z-axis direction.
  • the lever 29 presses the tool shaft 24 downward in the Z-axis direction against the elastic force of the contacting spring of the tool shaft 24, and lowers the tool shaft 24.
  • the tool shaft 24 and the holding member 50 are integrally moved up and down in the Z-axis direction by driving the Z-axis motor 27, and the Z-axis direction position and the moving speed are controlled.
  • the mounting head 20 includes an air supply circuit 30.
  • the air supply circuit 30 can supply positive pressure air or negative pressure air to the holding member 50, and can open the inside of the holding member 50 to the atmosphere.
  • the air supply circuit 30 includes a positive pressure air passage 31, a negative pressure air passage 32, a plurality of atmospheric pressure air passages 33, a plurality of air passages 34, a positive pressure valve 35, a regulator valve 36, and a plurality of valve devices 40. ..
  • the positive pressure air passage 31 is an air passage formed in the rotary head 23 as a valve body and through which positive pressure air supplied from the positive pressure air supply source 81 flows.
  • the positive pressure air supply source 81 for example, a blower or a compressor provided outside the mounting head 20 can be used.
  • the positive pressure air passage 31 of the present embodiment is connected to the positive pressure air supply source 81 via the positive pressure valve 35 and the regulator valve 36.
  • the positive pressure valve 35 switches the communication state or the blocking state of the positive pressure air passage 31 and the positive pressure air supply source 81.
  • the positive pressure valve 35 of this embodiment is a two-position solenoid valve.
  • the positive pressure valve 35 is opened when the solenoid is excited by power supply.
  • the positive pressure valve 35 brings the positive pressure air passage 31 and the positive pressure air supply source 81 into communication with each other, and the positive pressure air can flow through the positive pressure air passage 31.
  • the positive pressure valve 35 is closed when the solenoid is not powered. As a result, the positive pressure valve 35 shuts off the positive pressure air passage 31 and the positive pressure air supply source 81, and the positive pressure air does not flow through the positive pressure air passage 31.
  • the regulator valve 36 is arranged between the positive pressure valve 35 and the positive pressure air supply source 81.
  • the regulator valve 36 adjusts the air pressure supplied from the positive pressure air supply source 81.
  • the regulator valve 36 of the present embodiment reduces the air pressure of the positive pressure air supplied from the positive pressure air supply source 81 to a specified pressure that is reduced to a certain extent, and enables stable positive pressure air supply.
  • the negative pressure air passage 32 is an air passage formed in the rotary head 23 and through which negative pressure air supplied from the negative pressure air supply source 82 flows.
  • the negative pressure air supply source 82 for example, a negative pressure pump provided inside the mounting head 20 can be used.
  • the negative pressure air passage 32 of the present embodiment is configured to be constantly connected to the negative pressure air supply source 82. Therefore, the negative pressure air passage 32 is in a state in which negative pressure air can flow while the negative pressure air supply source 82 is driven.
  • Each of the plurality of atmospheric pressure air passages 33 is an air passage formed in the rotary head 23 and opened to the atmosphere.
  • the atmospheric pressure air passage 33 is maintained equal to the atmospheric pressure inside the component mounting machine WM3 in which the mounting head 20 is arranged. Accordingly, when the atmospheric pressure air passage 33 communicates with the holding member internal air passage 51 of the holding member 50, if the holding member internal air passage 51 has a negative pressure, the air is supplied to the atmospheric pressure, and the holding member internal air passage 51 is provided. If 51 is a positive pressure, it is exhausted to atmospheric pressure.
  • Each of the plurality of air passages 34 is an air passage that communicates with the corresponding holding member 50 and allows the air supplied to the holding member 50 to flow.
  • the air passage 34 of this embodiment includes a main pipe 341, a first branch pipe 342, and a second branch pipe 343.
  • the main pipe 341 of the air passage 34 is formed in the tool shaft 24 and communicates with the holding member air passage 51 of the holding member 50.
  • the first branch pipe 342 and the second branch pipe 343 are formed in the rotary head 23 and branch from the main pipe 341, respectively.
  • the first branch pipe 342 can communicate with the positive pressure air passage 31 or the negative pressure air passage 32 by switching the valve device 40.
  • the second branch pipe 343 can communicate with the atmospheric pressure air passage 33 by switching the valve device 40.
  • the air passages 34 are formed by the number of tool shafts 24 provided in the rotary head 23. Further, when the holding member 50 is attached to the tool shaft 24, the air passage 34 always communicates with the holding member 50 so that air can be supplied to the holding member 50.
  • the valve device 40 selectively connects the air passage 34 with any one of the positive pressure air passage 31, the negative pressure air passage 32, and the atmospheric pressure air passage 33.
  • the valve device 40 can be configured by one or a plurality of valves as long as it has the above function. Further, various fluid valves can be used as the valves constituting the valve device 40.
  • the valve device 40 of the present embodiment is a three-position mechanical valve that includes the rotary head 23 as a valve body, a spool 41, a stepping motor 61, and an operating shaft 43. As described above, the rotary head 23 has the positive pressure air passage 31, the negative pressure air passage 32, the atmospheric pressure air passage 33, and the first branch pipe 342 and the second branch pipe 343 of the air passage 34.
  • the spool 41 is slidably provided in a spool hole 231 formed in the rotary head 23, and is positioned at three different stop positions (first stop position P1, second stop position P2, third stop position P3). To be done.
  • the spool 41 forms a state in which any one of the positive pressure air passage 31, the negative pressure air passage 32, and the atmospheric pressure air passage 33 communicates with the first branch pipe 342 or the second branch pipe 343 of the air passage 34, Switch the formation state.
  • An engagement portion 411 is formed on the upper end of the spool 41 protruding from the upper surface of the rotary head 23.
  • the stepping motor 61 is fixed to the head body 21.
  • the operation shaft 43 is moved up and down by a predetermined amount by driving the stepping motor 61.
  • the engaging portion 411 of the spool 41 is configured to be disengageable around the R axis and engageable with the operating claw 431 of the operating shaft 43 in the Z axis direction. Thereby, the engaging portion 411 of the spool 41 of the plurality of valve devices 40 is sequentially engaged with the operating claw 431 of the operating shaft 43 by indexing the rotation angle of the rotary head 23 around the R axis.
  • one end of the spool hole 231 in the rotary head 23 constitutes at least a part of the atmospheric pressure air passage 33.
  • the spool hole 231 is formed so as to penetrate the rotary head 23 in the sliding direction (arrow Z direction), and one lower end thereof is open to the atmosphere. That is, one end below the spool hole 231 constitutes the atmospheric pressure air passage 33, and may communicate with the second branch pipe 343 of the air passage 34 depending on the stop position (third stop position P3) of the spool 41. Is becoming
  • the valve device 40 has a positive pressure air passage 31 and a negative pressure air passage with respect to the air passage 34 according to three stop positions of the spool 41 (first stop position P1, second stop position P2, third stop position P3). Either one of the passage 32 and the atmospheric pressure air passage 33 is selectively communicated. Specifically, as shown in FIG. 5A, the valve device 40 positions the spool 41 at the first stop position P1 and connects the negative pressure air passage 32 to the first branch pipe 342 of the air passage 34. As a result, negative pressure air is supplied to the holding member internal air passage 51 of the holding member 50, and the holding member 50 is in a state capable of sucking the component 91.
  • the valve device 40 positions the spool 41 at the second stop position P2 and connects the positive pressure air passage 31 to the first branch pipe 342 of the air passage 34.
  • positive pressure air is supplied to the air passage 51 in the holding member 50 of the holding member 50, and the holding member 50 opens the component 91 by vacuum breaking.
  • the valve device 40 positions the spool 41 at the third stop position P3 and connects the atmospheric pressure air passage 33 to the second branch pipe 343 of the air passage 34. As a result, the air passage 51 in the holding member of the holding member 50 is opened to the atmosphere.
  • the spool 41 is moved in one direction (direction from the lower side to the upper side) of the sliding direction (arrow Z direction) with respect to the rotary head 23 as the valve body.
  • One stop position (first stop position P1, second stop position P2, third stop position P3) is sequentially positioned. Then, the valve device 40 makes the negative pressure air passage 32, the positive pressure air passage 31, and the atmospheric pressure air passage 33 communicate with the air passage 34 in this order.
  • Example of Configuration of Drive Unit 60 The drive unit 60 is provided in the board-to-board working machine WM that produces a board product 900 by performing a predetermined board-to-board work on the board 90.
  • the drive unit 60 is not limited as long as it is a drive unit provided in the work machine WM for a board.
  • the drive unit 60 is preferably the mounting head 20 including the holding member 50 and the valve device 40.
  • the holding member 50 picks up and holds the component 91 and mounts it on the positioned substrate 90.
  • the valve device 40 switches the selective supply of at least one of positive pressure air and negative pressure air to the holding member 50.
  • the valve device 40 includes the rotary head 23 as a valve body and the spool 41, and the positive pressure air passage 31 and the negative pressure are supplied to the air passage 34 of the holding member 50 according to the stop position of the spool 41. It is preferable to selectively communicate any one of the air passages 32.
  • a positive pressure air passage 31 through which positive pressure air flows and a negative pressure air passage 32 through which negative pressure air flows are formed in the rotary head 23 as a valve body.
  • the spool 41 is provided slidably with respect to the rotary head 23 as a valve body, and at least two different stop positions (in the present embodiment, three different stop positions (first stop position P1, first stop position) by a stepping motor 61). The second stop position P2 and the third stop position P3)) are positioned.
  • the drive unit 60 includes a stepping motor 61 and a driven portion 62.
  • the driven portion 62 can take various forms, but when the drive unit 60 is the mounting head 20 including the valve device 40 described above, it is preferable that the driven portion 62 includes at least the spool 41.
  • the operation shaft 43 moves up and down by driving the stepping motor 61.
  • the spool 41 slides in the sliding direction (the arrow Z direction) in the spool hole 231 of the rotary head 23 serving as the valve body and stops at the stop position (first stop position P1, second stop position P2, third position). It is positioned at the stop position P3). That is, the driven portion 62 of this embodiment includes the spool 41 and the operating shaft 43.
  • the spool 41 of the valve device 40 is provided with a plurality of (for example, three) O-rings 49.
  • Two O-rings 49 of the plurality (three) of O-rings 49 are provided on both sides in the sliding direction (arrow Z direction) so as to sandwich the positive pressure air passage 31.
  • Two O-rings 49 of the plurality (three) of O-rings 49 are provided on both sides in the sliding direction (arrow Z direction) so as to sandwich the negative pressure air passage 32.
  • the valve device 40 can suppress air leakage and wraparound of positive pressure air and negative pressure air in the spool 41.
  • grease is applied to each of the plurality (three) of O-rings 49, so that the sliding resistance when the spool 41, which is the driven portion 62, slides in the sliding direction (arrow Z direction). Has been reduced.
  • the drive unit 60 is used to produce the board product 900, the grease applied to the plurality (three) of O-rings 49 may decrease and the sliding resistance may increase. Further, there is a possibility that the spool 41 may become stuck due to the loss of grease.
  • the increase in sliding resistance or the fixation of the spool 41 may also be caused by, for example, breaking or misaligning at least one of the plurality (three) of O-rings 49, mixing foreign matter (for example, dust) in the spool hole 231, or the like. It can happen.
  • the unit management device 70 determines whether maintenance of the driven portion 62 is necessary or not based on whether or not the stepping motor 61 is out of step.
  • the unit management device 70 when regarded as a control block, includes an interval setting unit 71 and a determination unit 72. It is preferable that the unit management device 70 further includes at least one of the confirmation unit 73 and the guide unit 74. As shown in FIG. 6, the unit management device 70 of this embodiment includes an interval setting unit 71, a determination unit 72, a confirmation unit 73, and a guide unit 74. Further, as shown in FIG. 1, the unit management device 70 of the present embodiment is provided separately from the board working machine WM, but it may be provided in the board working machine WM. In this case, the unit management device 70 needs maintenance of the driven portion 62 during, for example, a standby time of the drive unit 60 (for example, during transportation of the substrate 90) or a rest time during which the work for the substrate is stopped. Can be judged.
  • the unit management device 70 executes the control program according to the flowchart shown in FIG.
  • the interval setting unit 71 performs the process shown in step S12.
  • the determination unit 72 performs the process shown in step S13 and makes the determination shown in step S14.
  • the determination unit 72 also performs the processing shown in steps S15 and S16.
  • the confirmation unit 73 performs the process shown in step S11.
  • the guide unit 74 performs the process shown in step S17.
  • Interval setting section 71 The interval setting unit 71 sets the operation interval Ti shorter than that during the production of the board product 900 (step S12 shown in FIG. 7).
  • the operation interval Ti starts from a point in time when one of the predetermined operations repeatedly executed in the work for the board ends and the pulse signal supplied to the stepping motor 61 is stopped. Further, the operation interval Ti has an end point at the time point when the supply of the pulse signal is started in order to start the next predetermined operation.
  • the predetermined operation is not limited as long as it is repeatedly executed in the work for the board.
  • the mounting head 20 includes the rotary head 23
  • the rotary head 23 is provided rotatably around the R axis parallel to the vertical axis. Then, the rotary head 23 sequentially indexes the spools 41 corresponding to the plurality of holding members 50 to a predetermined position around the R axis that can be driven.
  • the operation interval Ti in this case is preferably set to the starting point when the spool 41 corresponding to the indexed one holding member 50 is slid by a predetermined amount Z0 and the pulse signal supplied to the stepping motor 61 is stopped. Is. Further, the operation interval Ti is preferably set to an end point at the time when the supply of the pulse signal for starting the sliding of the spool 41 corresponding to the next holding member 50 is started.
  • FIG. 8 shows a structural example of a mechanism for sliding the spool 41 in the sliding direction (arrow Z direction).
  • This figure is an axial view seen from the drive shaft 61a side of the stepping motor 61, and the operating shaft 43 includes a rotating portion 43a and a linear moving portion 43b.
  • a drive shaft 61a of a stepping motor 61 is connected to the rotating portion 43a via a speed reducer (not shown).
  • the rotating portion 43a moves around the drive shaft 61a.
  • the rotation portion 43a is formed with an elongated hole portion 43a1 extending in a direction orthogonal to the sliding direction (arrow Z direction).
  • the linear motion portion 43b is a portion including the actuating claw 431, and can be linearly moved along the sliding direction (arrow Z direction) by a guide (not shown) extending along the sliding direction (arrow Z direction). ing.
  • a protrusion 43b1 that protrudes in the axial direction of the drive shaft 61a of the stepping motor 61 is formed on the linear motion portion 43b.
  • the elongated hole portion 43a1 of the rotating portion 43a is engaged with the protruding portion 43b1 of the linear motion portion 43b.
  • FIG. 9 shows an example of a temporal change in the positional relationship between the spool 41 and the operating shaft 43.
  • This figure is a partially omitted view of FIG. 8 and shows how the operating shaft 43 shifts from the first state to the second state and the third state and then returns to the first state.
  • the third state is the starting point of the operation interval Ti
  • the first state is the ending point of the operation interval Ti.
  • the first state is a state immediately before the spool 41 corresponding to the one holding member 50 indexed by the rotary head 23 starts sliding in the sliding direction (arrow Z direction).
  • the second state is a state immediately after the spool 41 is slid by a predetermined amount Z0 on one side in the sliding direction (the arrow Z direction) (for example, the upper side in the drawing of the drawing).
  • the third state is a state in which the spool 41 is stationary at the stop position in the second state, and the operating shaft 43 is in the same state as the first state.
  • the stepping motor 61 In the first state, when a pulse signal is supplied to the stepping motor 61, the stepping motor 61 is rotationally driven to rotate the rotating portion 43a of the operating shaft 43, so that the linear moving portion 43b of the operating shaft 43 slides. It moves straight toward one side (direction of arrow Z). As a result, the actuating claw 431 of the actuating shaft 43 engages with the engaging portion 411 of the spool 41, and the spool 41 has one side in the sliding direction (arrow Z direction) (for example, the upside in the figure). Begins to slide on.
  • the stepping motor 61 When shifting to the second state, the stepping motor 61 is rotationally driven in the opposite direction, the rotating portion 43a of the operating shaft 43 rotates in the opposite direction, and the linearly moving portion 43b of the operating shaft 43 slides in the sliding direction (arrow Z direction). ) To the other side (in this case, the lower side in the drawing of the drawing). At this time, the spool 41 is stationary at the stop position in the second state.
  • the pulse signal supplied to the stepping motor 61 is stopped (starting point of the operation interval Ti).
  • the stepping motor 61 stops rotating.
  • the spool 41 corresponding to the next holding member 50 is indexed by the rotary head 23 and shifts to the first state.
  • the supply of the pulse signal to the stepping motor 61 is started (the end point of the operation interval Ti).
  • a gap is provided between the operating claw 431 of the operating shaft 43 and the engaging portion 411 of the spool 41.
  • the control of the stepping motor 61 is an open loop control, when the supply of the pulse signal is stopped, damped vibration may occur in the mover of the stepping motor 61. Therefore, when the substrate product 900 is produced, the operation interval Ti is set so as not to be affected by these.
  • the sliding resistance of the driven portion 62 (spool 41) is increased or the driven portion 62 is fixed as described above, if the operation interval Ti is set shorter than that during the production of the board product 900, the stepping motor is set. Step out is likely to occur in 61. Therefore, the interval setting unit 71 sets the operation interval Ti shorter than that during the production of the board product 900.
  • the interval setting unit 71 sets the operation interval Ti to be shorter than the time Td required from the occurrence of the damped vibration of the mover to the predetermined vibration amplitude or less. Thereby, the interval setting unit 71 can set the operation interval Ti based on the damping vibration of the mover.
  • FIG. 10 shows an example of damping vibration generated in the mover of the stepping motor 61 when the supply of the pulse signal is stopped.
  • the solid line L11 indicates an example of the change over time of the mover position.
  • the solid line L11 can be acquired by, for example, simulation, prior confirmation by an actual machine, or the like.
  • the vertical axis of the figure shows the mover position, and the horizontal axis shows the time.
  • the interval setting unit 71 sets the operation interval Ti shorter than the time Td.
  • the operation interval Ti is shown as the time from time Tm11 to time Tm12
  • the time Td is shown as the time from time Tm11 to time Tm13.
  • the predetermined vibration amplitude that defines the time Td can be set arbitrarily.
  • the predetermined vibration amplitude can be set to, for example, a level that is unlikely to be affected during production of the board product 900, and can be acquired in advance by simulation, prior confirmation by an actual machine, or the like.
  • the time Td can be set to the same time as the operation interval Ti0 when the substrate product 900 is produced, for example.
  • Judgment unit 72 The determination unit 72 drives the stepping motor 61 at the operation interval Ti set by the interval setting unit 71 to detect the presence/absence of step-out, and based on the presence/absence of step-out of the stepping motor 61, maintenance of the driven part 62 is performed. Judge whether it is necessary or not. When the sliding resistance of the driven part 62 (spool 41) has been increased or the driven part 62 has been fixed, the driven part 62 needs to be maintained. The output torque required when the stepping motor 61 drives the driven portion 62 when the driven portion 62 needs maintenance is larger than when the driven portion 62 does not need maintenance. Therefore, it is preferable that the determination unit 72 determines that the driven unit 62 needs to be maintained when the stepping motor 61 loses synchronization.
  • the determination unit 72 drives the stepping motor 61 at the operation interval Ti set by the interval setting unit 71 (step S13 shown in FIG. 7). Then, the determination unit 72 detects whether or not the stepping motor 61 is out of step (step S14).
  • the valve device 40 is provided with a position detector (not shown) capable of detecting the position of the engagement portion 411 of the spool 41.
  • a known optical sensor can be used as the position detector, for example, and detects the position of the engagement portion 411 in the sliding direction (arrow Z direction) in the first state and the third state.
  • the determination unit 72 determines that the stepping motor 61 is You can judge that you are not out of sync. On the contrary, when the engagement portion 411 is not detected at the expected position, the determination unit 72 can determine that the stepping motor 61 is out of step. When step out of the stepping motor 61 is detected (Yes in step S14), the determination unit 72 determines that the spool 41 needs maintenance (step S15).
  • the determination unit 72 determines at least one of the spool 41 in which the stepping motor 61 is detected to be out of step and the spool 41 which is indexed immediately before the spool 41 in which the stepping motor 61 is detected to be out of step. It is preferable to judge that maintenance is necessary. As a result, the determination unit 72 can determine whether or not maintenance is required for the spool 41 indexed immediately before the spool 41 in which the stepping motor 61 is detected to be out of step. When the stepping motor 61 is not detected to be out of step (No in step S14), the determination unit 72 determines that maintenance of the spool 41 is unnecessary (step S16).
  • the determination unit 72 sequentially slides all the spools 41 provided on the mounting head 20 to one side in the sliding direction (the arrow Z direction) to detect the presence or absence of step-out of the stepping motor 61. is there. Then, the determination unit 72 sequentially detects the presence or absence of step-out of the stepping motor 61 by sequentially sliding all the spools 41 provided on the mounting head 20 to the one side and the opposite side in the sliding direction (arrow Z direction). It is preferable. As a result, the determination unit 72 can detect whether or not the stepping motor 61 is out of step by operating the spool 41 in the same order as when the board product 900 was produced.
  • the determination unit 72 detects the step-out of the stepping motor 61 and the step-out of the stepping motor 61 in at least one of the one side and the opposite side in the sliding direction (arrow Z direction). It is preferable to judge that at least one of the spools 41 indexed immediately before the spool 41 needs maintenance.
  • the operation interval Ti is stepped by sliding the spool 41 corresponding to the holding member 50 one side in the sliding direction (arrow Z direction) by a predetermined amount Z0. It is preferable to start from a time point when the pulse signal supplied to the motor 61 is stopped. Further, the operation interval Ti has an end point at the time when the supply of the pulse signal is started in order to start the sliding of the spool 41 corresponding to the holding member 50 to the one side and the opposite side in the sliding direction (arrow Z direction). It is preferable.
  • the determination unit 72 requires maintenance of the spool 41 when step out of the stepping motor 61 is detected for at least one of one side and the other side in the sliding direction (arrow Z direction). It is suitable to judge that. As a result, the determination unit 72 can determine whether maintenance of the spool 41 is necessary in the mounting head 20 including the single holding member 50.
  • the interval setting unit 71 can gradually set the operation interval Ti to be shorter from the operation interval Ti0 during the production of the board product 900.
  • the determination unit 72 detects whether or not the stepping motor 61 is out of step for each operation interval Ti set by the interval setting unit 71. Then, it is preferable that the determination unit 72 obtains the necessity level of maintenance of the driven unit 62 according to the operation interval Ti applied immediately before the predetermined operation when the stepping motor 61 loses step.
  • the determination unit 72 can acquire the need for maintenance of the driven unit 62 according to the operation interval Ti applied immediately before the predetermined operation when the stepping motor 61 loses step.
  • Confirmation unit 73 The confirmation unit 73 drives the stepping motor 61 at the same operation interval Ti0 as when the board product 900 is produced before detecting the step-out of the stepping motor 61 due to the operation interval Ti set by the interval setting unit 71. It is confirmed that step-out 61 does not occur (step S11 shown in FIG. 7).
  • the sliding resistance of the driven portion 62 (spool 41) described above is extremely high. It may be large (including fixation of the driven part 62). There is also a possibility of other factors (for example, equipment failure) other than the increase in sliding resistance. Therefore, it is advisable to make a preliminary confirmation by the confirmation unit 73. Accordingly, the determination unit 72 can determine whether or not maintenance of the driven unit 62 (spool 41) is necessary after the confirmation unit 73 performs the preliminary confirmation.
  • the guide unit 74 guides the user of the working machine WM to the substrate whether the maintenance of the driven unit 62 is determined by the determination unit 72 (step S17 shown in FIG. 7). Accordingly, the user of the working machine WM for a board can know whether maintenance of the driven portion 62 is necessary or not, and the maintenance of the driven portion 62 can be performed.
  • the guide unit 74 displays, for example, the driven unit 62 that has determined whether maintenance is necessary and the determination result (maintenance required or not required) on a known display device (not shown). You can Further, the guide part 74 can also display the necessity level of maintenance of the driven part 62 on the display device.
  • the reference voltage of the pulse signal supplied to the stepping motor 61 is the same as that at the time of producing the board product 900.
  • the drive unit 60 may be a feeder 121 that supplies a component 91.
  • Each of the plurality of feeders 121 includes a sprocket and a drive device that rotationally drives the sprocket (all not shown).
  • the sprocket pitch-feeds a carrier tape containing a plurality of components 91.
  • the driving device can use a stepping motor 61.
  • the predetermined operation that is repeatedly executed is pitch feeding of the carrier tape
  • the driven portion 62 includes a reduction mechanism and a sprocket that are connected to the drive shaft of the stepping motor 61.
  • the operation interval Ti is set to start at the time point when one predetermined operation (pitch feed) is completed and the pulse signal supplied to the stepping motor 61 is stopped, and to start the next predetermined operation (pitch feed). The time point when the supply of the pulse signal is started is the end point.
  • the unit management method includes an interval setting step and a determination step.
  • the interval setting step corresponds to the control performed by the interval setting unit 71.
  • the determination step corresponds to the control performed by the determination unit 72.
  • the unit management method includes at least one of the confirmation step and the guidance step.
  • the confirmation step corresponds to the control performed by the confirmation unit 73.
  • the guidance process corresponds to the control performed by the guide unit 74.
  • the unit management device 70 detects the presence or absence of step-out of the stepping motor 61 by setting the operation interval Ti of the predetermined operation repeatedly executed in the work for the board to be shorter than that during the production of the board product 900, It is possible to determine whether maintenance of the driven portion 62 is necessary. What has been described above regarding the unit management apparatus 70 can be similarly applied to the unit management method.

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Supply And Installment Of Electrical Components (AREA)

Abstract

L'invention concerne un dispositif de gestion d'unité qui gère une unité d'entraînement disposée sur une machine d'opération de substrat qui réalise une opération de substrat prescrite sur un substrat et fabrique un produit de substrat, ladite unité d'entraînement comprenant un moteur pas à pas et une unité de sujet d'entraînement qui est entraînée par le moteur pas à pas. Le dispositif de gestion d'unité comprend une unité de réglage d'intervalle et une unité de détermination. L'unité de réglage d'intervalle règle un intervalle d'action pour être plus court par rapport au temps de fabrication du produit de substrat. L'intervalle d'action prend comme point de départ un instant auquel une action prescrite se termine parmi des actions prescrites qui sont exécutées répététivement dans l'opération de substrat et un signal d'impulsion qui est fourni au moteur pas à pas est interrompu, et prend comme point final un instant auquel l'alimentation d'un signal d'impulsion pour commencer l'action prescrite suivante commence. L'unité de détermination entraîne le moteur pas à pas à l'intervalle d'action qui est réglé par l'unité de réglage d'intervalle et détecte si une désynchronisation a eu lieu, et sur la base du fait que la désynchronisation a eu lieu avec le moteur pas à pas, détermine si un travail de maintenance de la partie de sujet d'entraînement est nécessaire.
PCT/JP2018/045185 2018-12-07 2018-12-07 Dispositif de gestion d'unité et procédé de gestion d'unité WO2020115912A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201880099024.3A CN112913342B (zh) 2018-12-07 2018-12-07 单元管理装置及单元管理方法
JP2020558794A JP7080344B2 (ja) 2018-12-07 2018-12-07 ユニット管理装置およびユニット管理方法
PCT/JP2018/045185 WO2020115912A1 (fr) 2018-12-07 2018-12-07 Dispositif de gestion d'unité et procédé de gestion d'unité

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PCT/JP2018/045185 WO2020115912A1 (fr) 2018-12-07 2018-12-07 Dispositif de gestion d'unité et procédé de gestion d'unité

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JP2010258185A (ja) * 2009-04-24 2010-11-11 Fuji Mach Mfg Co Ltd 部品実装機の吸着ノズル動作具合検査装置
WO2013153598A1 (fr) * 2012-04-09 2013-10-17 富士機械製造株式会社 Dispositif de nettoyage de tête de montage
WO2016207952A1 (fr) * 2015-06-22 2016-12-29 富士機械製造株式会社 Dispositif d'évaluation d'état et procédé d'évaluation d'état
WO2017029704A1 (fr) * 2015-08-18 2017-02-23 富士機械製造株式会社 Dispositif de montage de composants

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JPH10304700A (ja) * 1997-04-25 1998-11-13 Sankyo Seiki Mfg Co Ltd ステッピングモータの脱調検出装置
JP2001168597A (ja) * 1999-12-06 2001-06-22 Matsushita Electric Ind Co Ltd 電子部品実装機のモータ制御装置及び電子部品実装機
JP4152141B2 (ja) * 2002-07-29 2008-09-17 株式会社リコー ステッピングモータの駆動制御装置、回転駆動装置並びに画像形成装置
JP4485267B2 (ja) * 2004-06-25 2010-06-16 株式会社日立ハイテクインスツルメンツ 電子部品装着装置及び電子部品装着方法
JP4688050B2 (ja) * 2006-06-13 2011-05-25 株式会社メレック ステッピングモータの脱調検出方法とその脱調検出装置
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JPH06276000A (ja) * 1993-03-24 1994-09-30 Tescon:Kk 故障箇所の自己診断装置
JP2010258185A (ja) * 2009-04-24 2010-11-11 Fuji Mach Mfg Co Ltd 部品実装機の吸着ノズル動作具合検査装置
WO2013153598A1 (fr) * 2012-04-09 2013-10-17 富士機械製造株式会社 Dispositif de nettoyage de tête de montage
WO2016207952A1 (fr) * 2015-06-22 2016-12-29 富士機械製造株式会社 Dispositif d'évaluation d'état et procédé d'évaluation d'état
WO2017029704A1 (fr) * 2015-08-18 2017-02-23 富士機械製造株式会社 Dispositif de montage de composants

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JP7080344B2 (ja) 2022-06-03
CN112913342B (zh) 2022-11-18

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