WO2022230157A1

WO2022230157A1 - Bulk feeder and parts supply control system

Info

Publication number: WO2022230157A1
Application number: PCT/JP2021/017125
Authority: WO
Inventors: 邦雄石橋; 透高浜; 祐輔山▲崎▼
Original assignee: 株式会社Fuji
Priority date: 2021-04-29
Filing date: 2021-04-29
Publication date: 2022-11-03
Also published as: CN117223406A; TW202241785A; JPWO2022230157A1

Abstract

The present invention is a bulk feeder provided with an excitation control unit that performs a conveying operation for accommodating a plurality of parts in a plurality of cavities by controlling the operation of an excitation device and that performs control such that a plurality of types of vibrations are imparted to a track member by means of the excitation device while a feeding operation or a return operation of the conveying operation is being performed, said feeding operation moving forward with a plurality of parts from a conveying path towards a supply region side and said return operation receding a plurality of parts from the supply region towards the conveying path side.

Description

Bulk feeder and parts supply control system

The present invention relates to bulk feeders and parts supply control systems.

The parts supply control system controls parts supply using bulk feeders. A bulk feeder is installed in a component mounting machine that mounts components on a substrate, and supplies bulk components. Patent Literature 1 discloses a configuration for conveying a plurality of components by imparting vibration to a conveying path. With such a transport operation, the bulk feeder supplies components in a supply area that opens upward so that the suction nozzle can pick up the components.

JP 2011-114084 A

Such a bulk feeder is requested to supply components, for example, by the control device of a component mounting machine, and executes a prescribed transport operation. However, since the parts are in a bulk state in the supply area, variations may occur in the number of parts that can be picked up even if the prescribed transport operation is performed. Bulk feeders and systems that control parts supply using bulk feeders are required to maintain good parts supply conditions and improve productivity.

The purpose of this specification is to provide a bulk feeder capable of improving the supply state of components and a component supply control system capable of improving the productivity of a component mounting machine equipped with the bulk feeder.

The present specification includes a feeder main body, a track member which is vibrated with respect to the feeder main body and which is formed with a conveying path for conveying a plurality of parts and a supply area for supplying the parts so as to be picked up, and a plurality of cavities for accommodating the parts in a supply area; a vibrating device for applying vibration to the track member so that the plurality of parts are conveyed between the conveying path and the supply area; a feeding operation of controlling the operation of the device to carry out a conveying operation of accommodating the plurality of components in the plurality of cavities, and advancing the plurality of components from the conveying path toward the supply area in the conveying operation; Alternatively, a vibration control unit that controls so that a plurality of types of vibrations are applied to the track member by the vibrating device during the execution period of the return operation for retreating the plurality of parts from the supply area to the side of the conveying path. and a bulk feeder.

The present specification includes a state recognition unit that determines the supply state of the parts in the supply area based on image data obtained by imaging the supply area of the bulk feeder, and a bulk feeder that determines the supply state of the parts based on the supply state. and a conveying control unit that controls the conveying operation in the feeder.

According to such a bulk feeder configuration, multiple types of vibrations are applied to the track member during the execution period of the feeding operation or the returning operation. As a result, it is possible to transport parts by combining a plurality of types of vibrations having different transport characteristics. For example, it is possible to combine vibrations having vibration characteristics that appropriately give priority to accommodation of parts in cavities, suppression of protrusions of parts from cavities, or transportation of parts as a whole. By doing so, it is possible to perform a series of transport control such as removing surplus components from the supply area after the components are accommodated in the cavities. As a result, the parts supply condition can be improved.

According to the configuration of such a component supply control system, the transport operation of the bulk feeder capable of imparting multiple types of vibration during the execution period of the feed operation or return operation is controlled based on the supply state of the components in the supply area. As a result, it is possible to carry out a transport operation according to the current supply state, and to increase the number of parts that can be collected in the supply area. In this way, by improving the supply state of the components in the bulk feeder, it is possible to improve the productivity of the component mounting machine.

FIG. 4 is a plan view schematically showing a component mounting machine equipped with a bulk feeder; It is a perspective view which shows the external appearance of a bulk feeder. It is a side view which shows the principal part of a bulk feeder typically. FIG. 3 is a plan view seen from the IV direction of FIG. 2; 1 is a block diagram showing a component mounting machine to which a component supply control system is applied; FIG. It is a figure which shows the image data which imaged the supply area|region. FIG. 7 is a diagram showing a result of supply state recognition processing for the image data of FIG. 6 ; 7 is a flowchart showing component supply control processing; 5 is a time chart of the transport operation when the transport pattern is normal transport; 5 is a time chart of the transport operation when the transport pattern is replenishment transport; 4 is a time chart of the transport operation when the transport pattern is removal transport;

A component supply control system 80 that controls component supply using the bulk feeder 30 will be described with reference to the drawings. The bulk feeder 30 is installed in, for example, a component mounting machine 10 that mounts components 92 on a substrate 91, and supplies the components 92 in a bulk state (discrete state in which each posture is irregular).

1. Configuration of Component Mounting Machine 10 The component mounting machine 10 constitutes a production line for producing board products together with a plurality of types of board-facing work machines including other component mounting machines 10, for example. A printing machine, an inspection device, a reflow furnace, etc. can be included in the work machine for the board that constitutes the above production line.
1-1. Board Transfer Apparatus The component mounting machine 10 includes a board transfer apparatus 11 as shown in FIG. The substrate conveying device 11 sequentially conveys the substrates 91 in the conveying direction and positions the substrates 91 at predetermined positions within the apparatus.

1-2. Component supply device 12
The component mounting machine 10 includes a component supply device 12 . The component supply device 12 supplies components to be mounted on the board 91 . The component supply device 12 is equipped with feeders 122 in a plurality of slots 121, respectively. For the feeder 122, for example, a tape feeder that feeds and moves a carrier tape containing a large number of components and supplies the components so as to be picked up is applied. Also, the feeder 122 is applied with a bulk feeder 30 that supplies components stored in a bulk state in a collectable manner. Details of the bulk feeder 30 will be described later.

1-3. Component transfer device 13
The component mounting machine 10 includes a component transfer device 13 . The component transfer device 13 transfers the component supplied by the component supply device 12 to a predetermined mounting position on the board 91 . The component transfer device 13 includes a head driving device 131 , a moving table 132 , a mounting head 133 and a suction nozzle 134 . The head driving device 131 moves the moving table 132 in the horizontal direction (X direction and Y direction) by a linear motion mechanism. The mounting head 133 is detachably fixed to the moving table 132 by a clamp member (not shown), and is horizontally movable in the apparatus.

The mounting head 133 supports a plurality of suction nozzles 134 rotatably and vertically. The suction nozzle 134 is a holding member that picks up and holds the component 92 supplied by the feeder 122 . The suction nozzle 134 sucks the component supplied by the feeder 122 with the supplied negative pressure air. As the holding member attached to the mounting head 133, a chuck or the like that holds the component by gripping it can be adopted.

1-4. Component camera 14, board camera 15
The component mounting machine 10 has a component camera 14 and a substrate camera 15 . The component camera 14 and the substrate camera 15 are digital imaging devices having imaging elements such as CMOS. The component camera 14 and the board camera 15 perform imaging based on the control signal, and send out image data acquired by the imaging. The component camera 14 is configured to be able to image the component held by the suction nozzle 134 from below. The substrate camera 15 is provided on the moving table 132 so as to be horizontally movable integrally with the mounting head 133 . The board camera 15 is configured to be able to image the board 91 from above.

In addition to imaging the surface of the substrate 91 , the substrate camera 15 can image various devices within the movable range of the moving table 132 . For example, as shown in FIG. 4, the substrate camera 15 of the present embodiment is configured such that the supply area As where the bulk feeder 30 supplies the components 92 and the reference mark 344 provided on the upper portion of the bulk feeder 30 are included in the field of view of the camera. It can be imaged. Thus, the substrate camera 15 can be used for imaging different imaging targets in order to acquire image data used for various image processing.

1-5. controller 16
The component mounting machine 10 includes a control device 16 as shown in FIG. The control device 16 is mainly composed of a CPU, various memories, a control circuit, and a storage device. The control device 16 stores various data such as a control program used for controlling the mounting process. The control program indicates the mounting position, mounting angle, and mounting order of the components to be mounted on the board 91 in the mounting process.

The control device 16 executes recognition processing of the holding state of the component held by each of the plurality of holding members (suction nozzles 134). Specifically, the control device 16 performs image processing on the image data acquired by the component camera 14 and recognizes the position and angle of each component with respect to the reference position of the mounting head 133 . In addition to the component camera 14 , the control device 16 performs image processing on image data obtained by imaging the component from the side, below, or above, such as a head camera unit integrally provided with the mounting head 133 . You may make it

The control device 16 executes the mounting process by controlling the component mounting operation by the mounting head 133 based on the control program. Here, the mounting process includes a process of repeating a PP cycle (pick-and-place cycle) including a collection operation and a mounting operation a plurality of times. The above-mentioned “collection operation” is an operation of collecting the component supplied by the component supply device 12 by the suction nozzle 134 .

In this embodiment, the control device 16 controls the operation of the component supply device 12 including the bulk feeder 30 when executing the above collection operation. The control for the operation of the bulk feeder 30 includes, for example, the operation of supplying the parts 92 by the bulk feeder 30 and the control of the opening/closing operation of the shutter 37, which will be described later.

The control device 16 has a state recognition section 81 . The state recognition unit 81 recognizes the supply state of the plurality of components 92 in the supply area As of the bulk feeder 30 based on the image data acquired by the camera (the substrate camera 15 in this embodiment). The supply state recognition processing includes a process of recognizing whether or not there is a part 92 that can be picked up in the supply area As, and recognizing the position and angle of the part 92 if there is a part 92 that can be picked up. . Then, the control device 16 controls the operation of the mounting head 133 in the collection operation based on the result of the supply state recognition processing.

Also, the above-mentioned "mounting operation" is an operation of mounting the collected component at a predetermined mounting position on the substrate 91 at a predetermined mounting angle. In the mounting process, the control device 16 controls the operation of the mounting head 133 based on information output from various sensors, results of image processing, control programs, and the like. Thereby, the positions and angles of the plurality of suction nozzles 134 supported by the mounting head 133 are controlled.

2. Configuration of Bulk Feeder 30 The bulk feeder 30 is installed in the component mounting machine 10 and functions as a part of the component supply device 12 . Bulk feeder 30 feeds components 92 stored in bulk and not aligned, such as carrier tape. Therefore, unlike the tape feeder, the bulk feeder 30 does not use a carrier tape, and therefore has the advantage of omitting the loading of the carrier tape and the recovery of the used tape.

The bulk feeder 30 includes, for example, a type that supplies parts 92 in an irregular posture to a planar supply area As. However, if the parts 92 are so close to each other that they are in contact with each other in the supply area As, or if the parts 92 are piled up (overlapping in the vertical direction), or if the parts 92 are in a sideways posture such that the width direction of the parts 92 is the vertical direction. , the component mounting machine 10 cannot pick up these components 92 . Therefore, in order to increase the ratio of the parts 92 that can be collected, the bulk feeder 30 has a type that supplies the parts 92 in a state of being aligned in the supply area As. In this embodiment, the bulk feeder 30 of the type that aligns the parts 92 will be described as an example.

2-1. feeder body 31
The bulk feeder 30 includes a feeder body 31 formed in a flat box shape, as shown in FIG. A connector 311 and two pins 312 are provided at the front of the feeder body 31 . When the feeder main body 31 is set in the slot 121 of the component supply device 12 , power is supplied through the connector 311 and communication with the control device 16 is possible. The two pins 312 are inserted into guide holes provided in the slot 121 and used for positioning when the feeder body 31 is set in the slot 121 .

2-2. receiving member 32
A component case 70 that accommodates a plurality of components 92 in a bulk state is detachably attached to the feeder body 31 via the receiving member 32 . A component case 70 is an external device of the bulk feeder 30 . One of various types of component cases 70 suitable for the mounting process is selected and attached to the feeder body 31 . A discharge port 71 for discharging the component 92 to the outside is formed in the front portion of the component case 70 .

The receiving member 32 is vibrated with respect to the feeder body 31 and supports the attached component case 70 . The receiving member 32 is formed with a receiving area Ar for receiving the component 92 ejected from the component case 70 . In this embodiment, the receiving member 32 has an inclined portion 321 that is inclined forward with respect to the horizontal plane in the receiving area Ar. The inclined portion 321 is positioned below the discharge port 71 of the component case 70 and has a planar shape. The receiving member 32 is formed with a channel for the component 92 extending above the receiving area Ar, and is formed with a delivery portion 322 opening upward from the channel.

2-3. Bracket 33, track member 34, lock unit 35
Bulk feeder 30 includes bracket 33 and track member 34 . The bracket 33 is provided so as to vibrate with respect to the feeder body 31 . The bracket 33 is formed in a block shape extending in the front-rear direction of the feeder body 31, and has a track member 34 attached to its upper surface. The bracket 33 is supported by a support member 41 of a vibrating device 40 which will be described later. The track member 34 is formed with a transport path R along which a plurality of parts 92 are transported, and a supply area As that communicates with the transport path R and opens upward so that a plurality of parts 92 can be picked up.

The bulk feeder 30 is provided with a lock unit 35. The lock unit 35 locks the track member 34 while the track member 34 is attached to the bracket 33 . When locked by the lock unit 35 , the track member 34 vibrates integrally with the bracket 33 with respect to the feeder body 31 . The track member 34 becomes removable from the bracket 33 by unlocking the lock unit 35 .

2-4. Detailed configuration of track member 34, cover 36, shutter 37, connecting member 38
The track member 34 is formed so as to extend in the front-rear direction of the feeder body 31 (left-right direction in FIG. 4). A pair of side walls 341 projecting upward are formed on both edges of the track member 34 in the width direction (the vertical direction in FIG. 4). The pair of side walls 341 surrounds the periphery of the transport path R together with the tip portion 342 of the track member 34 to prevent the component 92 transported on the transport path R from leaking out. A pair of left and right circular reference marks 344 indicating the reference position of the supply area As are provided on the upper surface of the tip portion 342 .

In this embodiment, the alignment member 50 is replaceably attached to the track member 34 . Alignment member 50 has a plurality of cavities 51 that individually accommodate a plurality of components 92 . Specifically, the plurality of cavities 51 are arranged in a zigzag pattern in which rows adjacent to each other in the conveying direction are staggered in the supply area As. For example, the alignment member 50 has a total of 64 cavities 51, 8 of which are regularly arranged in the conveying direction and 8 of which are arranged in the width direction of the conveying path R, respectively. Each of the plurality of cavities 51 opens upward and accommodates the component 92 in a posture in which the thickness direction of the component 92 is the vertical direction. Alternatively, the plurality of cavities 51 may be arranged in a matrix.

The opening of the cavity 51 is set to a dimension that is slightly larger than the external shape of the component 92 when viewed from above. The depth of the cavity 51 is set according to the type (shape, mass, etc.) of the component 92 . The track member 34 is attached with one selected from various types of track members 34 based on the type of parts 92, the required number of cavities 51, and functionality.

Here, the "supply area As" of the track member 34 is an area in which the parts 92 are supplied in bulk and in which the parts 92 can be picked up by the suction nozzle 134 supported by the mounting head 133. Further, the “conveyance path R” of the track member 34 is a path along which the components 92 circulated from the receiving area Ar to the track member 34 are conveyed to the supply area As.

The bulk feeder 30 includes a cover 36. The cover 36 is fixed to the track member 34 and covers the transport path R from above. The cover 36 has a plurality of exhaust ports 361 formed on its upper surface. The exhaust port 361 is covered with a mesh whose joints are smaller than the external dimensions of the part 92 . With such a configuration, the cover 36 is configured to prevent the component 92 from jumping out of the transport path R and to discharge air to the outside from the exhaust port 361 .

The bulk feeder 30 has a shutter 37 provided on the upper part of the track member 34 and capable of closing the opening of the supply area As. By opening and closing the shutter 37, the bulk feeder 30 can prevent the component 92 from jumping out and foreign matter from entering the supply area As. In this embodiment, the shutter 37 can be switched between an open state, a closed state, and an intermediate state by opening and closing operations. The closed state of the shutter 37 is a state in which the shutter 37 contacts the track member 34 and the opening of the supply area As is completely closed. At this time, the shutter 37 is positioned on the rear side of the feeder body 31 relative to the pair of reference marks 344 of the track member 34, as indicated by the dashed lines in FIG. and

The open state of the shutter 37 is a state in which the opening of the supply area As is not closed and the main range of the supply area As (the range in which the plurality of cavities 51 are provided in this embodiment) is exposed. be. At this time, the suction nozzle 134 can pick up the component 92 from any cavity 51 . The intermediate state of the shutter 37 is a state between the closed state and the open state, in which the shutter 37 is separated from the track member 34 by at least the amplitude of the track member 34 vibrated by the vibration of the vibrating device 40 and supplied. This is a state in which projection of the component 92 from the opening of the region As is restricted. The shutter 37 is opened and closed by a driving device (not shown), and is brought into a closed state, an open state, and an intermediate state according to the driving state of the driving device.

The track member 34 is formed with a flow path for the component 92 extending downward at the rear portion, and has an introduction portion 343 in which this flow path opens downward. The introduction portion 343 vertically faces the delivery portion 322 of the receiving member 32 . The bulk feeder 30 includes a connecting member 38 having a tubular shape. The connecting member 38 connects the delivery portion 322 of the receiving member 32 and the introduction portion 343 of the track member 34 . In this embodiment, the connecting member 38 is a tight coil spring and has flexibility as a whole.

With the configuration as described above, the connecting member 38 connects the plurality of components 92 between the receiving area Ar and the transport path R so as to be able to flow. In addition, the connecting member 38 absorbs vibration by deforming in accordance with the vibration of the receiving member 32 and the track member 34 with respect to the feeder body 31 . The connecting member 38 reduces or blocks vibrations transmitted between the independently vibrating receiving member 32 and track member 34 .

2-5. Air supply device 39
The bulk feeder 30 has an air supply device 39 . The air supply device 39 supplies positive pressure air from below the receiving area Ar to circulate the plurality of components 92 from the receiving member 32 to the track member 34 via the connecting member 38 . In this embodiment, the air supply device 39 supplies or cuts off the positive pressure air supplied from the outside from below the receiving area Ar based on a command from the feeder control device 60, which will be described later.

When the air supply device 39 supplies positive pressure air, the plurality of parts 92 staying in the receiving area Ar are blown upward by the positive pressure air. The positive pressure air and the plurality of parts 92 flow through the sending portion 322 of the receiving member 32 , the connecting member 38 and the introducing portion 343 in this order, and reach the transport path R of the track member 34 . Here, the positive pressure air is exhausted to the outside from the exhaust port 361 of the cover 36 . Also, the plurality of components 92 drop onto the transport path R of the track member 34 due to their own weight.

2-6. Vibrating device 40
The bulk feeder 30 includes a vibrating device 40 provided on the feeder body 31 . The vibrating device 40 applies vibration to the track member 34 so that the plurality of components 92 are transported along the transport path R. As shown in FIG. Specifically, the vibrating device 40 has a plurality of support members 41 , a plurality of piezoelectric elements 42 , a vibration sensor 43 and a power feeding device 44 . A plurality of support members 41 support the bracket 33 by directly or indirectly connecting the feeder body 31 and the bracket 33 .

In this embodiment, the plurality of support members 41 include an advance support member 41A used for front-side transportation of the component 92 and a retreat support member 41B used for rear-side transportation. The forward support member 41A and the backward support member 41B are different from each other in the direction of inclination with respect to the vertical direction. The plurality of piezoelectric elements 42 are vibrators that vibrate at a frequency corresponding to power supplied from the power supply device 44 . A plurality of piezoelectric elements 42 are attached to each of the plurality of support members 41 .

When at least some of the plurality of piezoelectric elements 42 vibrate, vibration is imparted to the track member 34 via the bracket 33 . Also, the amplitude of the track member 34 varies according to the voltage applied to the piezoelectric element 42 . The vibration sensor 43 detects a vibration value indicating the vibration state of the track member 34 vibrated by the vibration of the vibrating device 40 . Amplitude, frequency, damping time, vibration trajectory, etc. can be applied as the vibration value indicating the vibration state. In this embodiment, the vibration sensor 43 detects the actual vibration frequency or amplitude of the track member 34 when the piezoelectric element 42 vibrates due to power supply.

In this embodiment, the vibration sensor 43 is provided on each of the plurality of support members 41 that support the bracket 33 that vibrates integrally with the track member 34 . More specifically, the piezoelectric element 42 and the vibration sensor 43 are provided on each of the forward support member 41A and the backward support member 41B. A vibration sensor 43 provided on the support member 41A for advancement is supplied with power to the piezoelectric element 42 provided on the support member 41A for advancement, and vibration is applied to the track member 34 via the bracket 33. Detect the actual frequency or amplitude as a value.

Here, when the vibrating device 40 imparts vibration to the track member 34, the track member 34 makes an elliptical motion when viewed from the side. As a result, the plurality of components 92 on the transport path R are subjected to a forward and upward external force or a rearward and upward external force depending on the rotational direction of the elliptical motion of the track member 34 . As a result, the plurality of parts 92 are transported to the front side or the rear side of the track member 34 .

The power supply device 44 varies the frequency of power supplied to the piezoelectric element 42 and the applied voltage based on commands from the feeder control device 60, which will be described later. As a result, the frequency and amplitude of vibration applied to the track member 34 are adjusted, and the rotational direction of the elliptical motion of the track member 34 is determined. When the frequency and amplitude of the vibration of the track member 34 and the rotational direction of the elliptical motion due to the vibration fluctuate, the conveying speed of the parts 92 to be conveyed, the degree of dispersion of the parts 92, the conveying direction, and the like change.

Therefore, in order to improve the transport efficiency, the vibrating device 40 is preset with power supply (frequency, applied voltage) corresponding to vibration characteristics (including natural frequency) that have individual differences. For example, the bulk feeder 30 is in a state in which a track member 34 used for a scheduled supply operation (in this embodiment, a transport operation for accommodating a plurality of parts 92 into a plurality of cavities 51) is attached, that is, a bracket 33 With the track member 34 locked by the lock unit 35, the calibration process is executed.

2-7. Feeder controller 60
Bulk feeder 30 includes a feeder controller 60 . The feeder control device 60 is mainly composed of a CPU, various memories, and a control circuit. With the bulk feeder 30 set in the slot 121 , the feeder control device 60 is supplied with power through the connector 311 and is ready to communicate with the control device 16 of the component mounting machine 10 .

The feeder control device 60 has a storage section 61 as shown in FIG. The storage unit 61 is configured by a flash memory or the like. The storage unit 61 stores various data such as programs used for controlling the component supply process and transfer parameters. The above-mentioned "conveyance parameter" is a parameter for controlling the operation of the vibrating device 40 so that the vibration applied to the track member 34 is appropriate when the component 92 is conveyed in the component supply process. It is set in advance in association with each of the 92 types.

The feeder control device 60 has a vibration control section 62 . The vibration control section 62 controls the operation of the vibration excitation device 40 to carry out the operation of conveying the component 92 . Specifically, the vibration control unit 62 sends a command to the power supply device 44 of the vibration excitation device 40 when carrying out the transport operation. As a result, the power supply device 44 supplies predetermined power to the piezoelectric element 42 , thereby imparting vibration to the track member 34 via the bracket 33 . Then, the component 92 on the transport path R is transported by receiving an external force so as to move in the transport direction.

The feeder control device 60 configured as described above feeds the components 92 during the period from the end of the current picking operation to the start of the next picking operation while the component mounter 10 is executing the PP cycle. Upon receipt of the command, it executes the operation of supplying the component 92 . The operation of supplying the components 92 is an operation of conveying the components 92 so as to accommodate the components 92 in the plurality of cavities 51 . Specifically, the conveying operation includes a feeding operation such that the part 92 positioned at the front end of the conveying path R advances to the front end of the supply area As, and then the part 92 retreats to the front end of the conveying path R again. It includes some back movement.

If there is sufficient time before the start of the next picking operation, the feeding operation and the The return action may be performed repeatedly. Here, when the plurality of components 92 are transported back and forth in the supply area As as described above, some of the components 92 are accommodated in the cavity 51 . However, if the return operation is continued in order to retract, for example, surplus components not stored in the cavity 51 to the transport path R, the component 92 stored in the cavity 51 may jump out.

From this point of view, the amplitude and frequency of the vibration applied to the track member 34 during the transport operation are adjusted in advance and stored as transport parameters. I have a request. Therefore, the bulk feeder 30 of the present embodiment employs a configuration in which the component 92 is accommodated in the cavity 51 and the conveying operation is controlled so as to prevent the accommodated component 92 from jumping out.

Specifically, the vibration control section 62 controls so that multiple types of vibrations are applied to the track member 34 by the vibration excitation device 40 during the execution period Te of the feed operation or the return operation. The control as described above is executed in at least one of the feed operation and the return operation, and multiple types of vibration are used in one operation. Here, in order to simplify the explanation, as shown in FIG. 9, in the execution period TeR of the return operation, a control mode is illustrated in which a plurality of types of vibrations are applied to the track member 34 by the vibrating device 40. and explain.

In addition, "multiple types of vibrations" include those that differ only in amplitude, differ only in frequency, and differ in both amplitude and frequency. In the embodiment shown in FIG. 9, two types of vibration are used, namely, a first vibration that serves as a reference and a second vibration that has a smaller amplitude than the first vibration and has the same frequency. The vibration control unit 62 performs control so that the second vibration is applied to the track member 34 after the first vibration is applied to the track member 34 by the vibrating device 40 in the return operation execution period TeR. In practice, the amplitude gradually changes when the first vibration shifts to the second vibration. ) is set.

Here, the amplitude of the second vibration is set to 0.4 to 0.8 times the amplitude of the first vibration. A favorable amplitude may vary depending on the frequency of the second vibration, the mass of the part 92, and the like. In this embodiment, the amplitude of the second vibration is set to 0.6 times the amplitude of the first vibration. Further, the period TeR1 for applying the first vibration and the period TeR2 for applying the second vibration may also vary depending on the execution time allowed for the transport operation. In the present embodiment, the vibration control unit 62 performs control such that the times during which multiple types of vibrations are applied to the track member 34 by the vibrator 40 are equal (TeR1=TeR2).

On the other hand, the vibration control unit 62 controls the amplitudes or frequencies of the plurality of types of vibrations at each time during which the plurality of types of vibrations are applied to the track member 34 by the vibrating device 40 , the mass of the part 92 , the part 92 , and the horizontal dimensional difference of the cavity 51 with respect to the component 92 . Here, the ease with which the component 92 is accommodated in the cavity 51 and the ease with which the accommodated component 92 pops out may vary depending on the mass of the component 92 and the dimensional relationship with the cavity 51 .

Therefore, the vibration control unit 62 may further consider the execution time allowed for the transport operation and switch the transport parameters to be adopted. As a result, vibrations with different amplitudes and frequencies are applied to the track member 34, and the magnitude and direction of the external force applied from the track member 34 to the part 92 can be changed. As a result, the transport operation of the component 92 can be made suitable for each configuration.

3. Configuration of Component Supply Control System 80 The component supply control system 80 controls component supply using the bulk feeder 30 described above. In this embodiment, the component supply control system 80 is incorporated in the control device 16 and is configured to communicate with the bulk feeder 30 installed in the slot 121, as shown in FIG. The parts supply control system 80 controls parts supply so as to maintain a good supply state of the parts 92 in the bulk feeder 30 .

3-1. State recognition unit 81
The component supply control system 80 includes a state recognition section 81 as shown in FIG. As described above, the state recognition unit 81 recognizes the supply state of the plurality of components 92 in the supply area As of the bulk feeder 30 based on the image data D1 (see FIG. 6) acquired by the board camera 15. . More specifically, the state recognition unit 81 first detects the supply area As based on the image data D1 obtained by imaging the supply area As in a state where the bulk feeder 30 conveys the plurality of parts 92 to the supply area As by vibration. Perform state recognition processing.

FIG. 6 is an example of the image data D1. In this way, there are a large number of bulk parts 92 in the supply area As. , a side-standing posture, and the like can exist. In this embodiment, the state recognition unit 81 first determines the state of each of the plurality of cavities 51 .

As a result, the plurality of cavities 51 are divided into accommodation cavities ("OK" in FIG. 7) that accommodate the parts 92 so that they can be picked up, and NG cavities ("NG" in FIG. 7) that cannot be picked although the parts 92 are present around them. , empty cavities (“EMP” in FIG. 7) with no parts 92 around them. FIG. 7 shows accommodation cavities hatched, NG cavities with Xs connecting diagonal lines, and empty cavities only with dashed outlines. The state recognition unit 81 calculates the number (V1, V2, V3) of states (OK, NG, EMP) of the plurality of cavities 51, as shown in FIG.

Then, the state recognition unit 81 recognizes the current supply state based on the above numbers (V1, V2, V3). This supply state includes a state in which the number V1 of accommodation cavities is equal to or greater than the first threshold value H1 (V1≧H1), a state in which the number V1 of accommodation cavities is less than the first threshold value H1, and a component 92 exists among the plurality of cavities 51. The number V3 of empty cavities that do not exist is greater than or equal to the second threshold H2 (V1<H1, V3≧H2), the number V1 of accommodating cavities is less than the first threshold H1 and the number V3 of empty cavities is less than the second threshold H2 (V1<H1, V3<H2). Also, the state recognition unit 81 may determine the supply state based on the ratio or maximum value of the above numbers (V1, V2, V3).

Here, as shown in FIG. 6, a parts group U in which a plurality of parts 92 are densely packed is generated in the supply area As, for example, due to the excessive number of parts 92 being conveyed with respect to the number of cavities 51. may be formed. In this embodiment, the state recognition unit 81 further determines the position and size of the parts group U as the parts group state based on the image data D1. Specifically, the state recognition unit 81 may recognize the state of contact and stacking of the parts 92 to determine the state of the parts group.

In addition, when the supply state “NG” continues for a specified number or more, the state recognition unit 81 may determine the parts group state by assuming that the region including the plurality of cavities 51 corresponds to the parts group U. . In this manner, the state recognition unit 81 determines the position Cu and size of the parts group U as the parts group state, as indicated by the dashed line in FIG.

3-2. Conveyance control unit 85
The component supply control system 80 includes a transport control section 85, as shown in FIG. The transport control unit 85 controls the transport operation of the parts 92 in the bulk feeder 30 based on the supply state determined by the state recognition unit 81 . Here, the conveying operation of the parts 92 in the bulk feeder 30 includes a feeding operation and a returning operation. The above-mentioned "feeding operation" is an operation for conveying the parts 92 from the rear side to the front side of the track member 34, and advances the plurality of parts 92 toward the supply area As from the conveyance path R communicating with the supply area As. It is action. The "returning operation" is an operation of conveying the parts 92 from the front side to the rear side of the track member 34, and is an operation of retreating the plurality of parts 92 from the supply area As to the conveying path R side.

The transport control unit 85 controls the number of executions of the above-described feeding operation and returning operation, the execution time, etc., based on the supply state of the parts 92 in the supply area As. In this embodiment, the transport control unit 85 switches between a plurality of transport patterns in controlling the transport operation based on the supply state. Various modes can be adopted for the above-described switching of the transport pattern. For example, the transport control unit 85 may simply adopt a transport pattern according to the state of the maximum number of cavities 51 .

Here, the plurality of transport patterns include normal transport, replenishment transport, and removal transport. The above-mentioned "normal transport" is a transport pattern in which a plurality of types of preset vibrations are applied to the track member 34 during the execution period of the feed operation or the return operation. As an example of normal transportation, as shown in FIG. 9, the first vibration and the second vibration are applied to the track member 34 for equal periods in descending order of amplitude. As a result, the parts 92 advanced to the supply area As by the previous feeding operation are sequentially accommodated in the cavity 51 while retreating during the period TeR1 of applying the first vibration, and are accommodated in the cavity 51 during the period TeR2 of applying the second vibration. Surplus parts are removed while suppressing protrusion of the parts 92 that have been removed.

The above-mentioned "replenishment transport" is a transport pattern in which multiple types of vibrations are applied to the track member 34, adjusted so that the number of parts 92 remaining in the supply area As is greater than in normal transport. As an example of replenishment transportation, as shown in FIG. 10, the execution period TeF of the feed operation is set to be longer than the execution period TeR of the return operation (TeF>TeR), and is longer than the first vibration application period TeR1. The application period TeR2 of the second vibration is set long (TeR1<TeR2). As a result, a relatively large number of components 92 are conveyed to the supply area As by the previous feeding operation, and the components 92 tend to remain in the supply area As in the subsequent return operation, so that the components 92 are easily accommodated in the empty cavity. can be done.

Also, the above-mentioned "removal transport" is a transport pattern in which multiple types of vibrations are applied to the track member 34, adjusted so that the number of parts 92 removed from the supply area As is greater than in normal transport. As an example of the removal conveyance, as shown in FIG. 11, the execution period TeR of the return operation is set to be longer than the execution period TeF of the feed operation (TeF<TeR), and the period TeR1 of the first vibration is set to be longer. The period TeR2 of applying the second vibration is set to be short (TeR1>TeR2). As a result, the amount of the parts 92 conveyed to the supply area As by the previous feeding operation is suppressed, and the parts 92 are easily removed from the supply area As in the subsequent return operation, and the parts 92 that have been in contact or accumulated are removed. A state in which it is easy to retreat to the side of the transport path R can be achieved.

As an example, the transport control unit 85 determines that the transport operation is good and sets "normal transport" to the transport pattern when the state recognition result shows that the number of storage cavities V1 is large in the supply state. In addition, in the case of a supply state in which the number V2 of NG cavities is large as a result of the state recognition, the transport control unit 85 determines that there are excessive parts 92 in the supply area As, and sets "removal transport" as the transport pattern. . Further, when the state recognition result shows that the number of empty cavities V3 is large in the supply state, the transport control unit 85 determines that there is a shortage of parts 92 in the supply area As, and sets "replenishment transport" to the transport pattern. do.

Here, the transport control unit 85 may control the transport operation based on the parts group state indicating the position and size of the parts group U, in addition to the supply state in the supply area As. The above-mentioned "parts group state" includes the presence or absence of the parts group U and the number thereof. The transport control unit 85 acquires the component group state from the result of recognition processing by the state recognition unit 81 . Then, as shown in FIG. 6, when the parts group U is positioned on the tip portion 342 side of the track member 34 in the supply area As, for example, the transport control unit 85 causes the parts group U to move to the rear side of the supply area As. Execute the return motion to move.

Further, when the parts group U exists and the number V3 of empty cavities is equal to or greater than a predetermined number, the transport control unit 85 performs a feeding operation and a return operation so as to reciprocate the parts group U in the front-rear direction in the supply area As. Repeat the action. This allows an attempt to accommodate the component 92 in the empty cavity. In the transport operation controlled based on the component group state as described above, the transport control unit 85 applies a plurality of types of vibrations adjusted according to the component group state to the track member during the execution period Te of the feed operation or the return operation. 34. With such a supply operation, it is possible to increase the number of parts 92 that can be picked up in the supply area As.

4. Feeder Control by Component Supply Control System 80 The component supply control system 80 performs feeder control according to the supply state of the bulk feeder 30 while the component mounting machine 10 is performing the mounting process. The feeder control described above includes control of the conveying operation and control of the opening/closing operation of the shutter 37 . Here, after the bulk feeder 30 is set in the slot 121, the controller 16 of the component mounting machine 10 executes calibration processing and recognizes the position of the supply area As inside the machine.

Specifically, the control device 16 first instructs the feeder control device 60 to close the shutter 37 . As a result, a plurality of reference marks 344 can be imaged from above. The control device 16 moves the substrate camera 15 above the plurality of reference marks 344 of the bulk feeder 30 and acquires image data by imaging with the substrate camera 15 . Then, the controller 16 determines the position of the bulk feeder 30 in the machine, that is, the supply area As, based on the positions of the plurality of reference marks 344 included in the image data and the position of the board camera 15 when the image was taken by image processing. Recognize your location.

Subsequently, the transport control unit 85 instructs the bulk feeder 30 to transport the component 92 before picking up the component 92 from the bulk feeder 30 in the mounting process. Thereby, the bulk feeder 30 discharges the parts 92 from the parts case 70 and circulates the parts 92 to the track member 34 as necessary. After that, the bulk feeder 30 maintains the shutter 37 in the intermediate state and performs the operation of conveying the parts 92 . Thereby, the components 92 are accommodated in the plurality of cavities 51, and the excess components 92 are retracted from the supply area As to the transport path R side.

Details of the component supply control process as described above will be described with reference to FIGS. 8 and 9. FIG. The state recognizing section 81 instructs the bulk feeder 30 to open the shutter 37 in the process of recognizing the supply state. The state recognition unit 81 moves the board camera 15 above the supply area As and obtains image data by imaging the board camera 15 . Then, as shown in FIG. 8, the state recognition unit 81 determines the supply state of the supply area As by performing image processing on the image data D1 (S11).

The state recognition unit 81 calculates the required number (Vn) of the parts 92 to be collected from the supply area As by a series of collection operations in one PP cycle, and the number of possible collections (V1 ) is less than the reference value (Vs) (S12). The above reference value (Vs) is set to a number of 0 or more. If the number of samples that can be collected is greater than the required number and the difference is equal to or greater than the reference value (S12: No, V1-Vn≧Vs), the state recognition unit 81 permits the execution of the collection operation in the PP cycle (S13 ). The controller 16 executes the picking operation in the PP cycle, followed by the loading operation.

Also, the state recognition unit 81 executes update processing of the supply state recognized in S11 (S13). In the supply state update process, the cavity 51 corresponding to the part 92 picked up by the picking operation is set as an empty cavity. In addition, in the supply state updating process, the number of samples (the required number Vn described above) is subtracted from the number of samples that can be sampled (V1) to obtain the current number of samples that can be sampled (V1'=V1-Vn). Further, in the supply state updating process, the number of empty cavities 51 (V3) is added to the number of samples (the required number Vn described above) to obtain the current number of empty cavities (V3'=V3+Vn).

After executing the supply state update process (S13), the state recognition unit 81 determines the number of parts 92 scheduled to be collected in the collection operation of the next PP cycle (next necessary number) and the remaining number of parts 92 that can be collected in the supply area As. The determination process of S12 is executed again to determine whether or not the difference from the number of parts 92 (current number that can be collected) is equal to or greater than the reference value (Vs). In S12, the state recognition unit 81 determines that the number of possible samples is insufficient, the difference (V1-Vn) is less than the reference value (Vs) (S12: Yes, V1-Vn<Vs), If the PP cycle remains (S14: Yes), execution of the picking operation in the PP cycle is not permitted, and the transport operation by the bulk feeder 30 is executed before the picking operation.

In addition, in the determination process of S12, the difference between the number of available samples and the number of required samples is compared with the reference value, but the ratio of the number of available samples to the required number may be compared with the standard value. As described above, after the supply state update process (S13) is executed, or when the number of possible samples is insufficient (S12: Yes), the transport control unit 85 updates the transport pattern based on the current supply state. is set (S15). Note that the difference between the number of parts 92 scheduled to be picked up in the second PP cycle picking operation (required number) and the number of remaining parts 92 pickable in the supply area As (collectable number) is the reference value ( Vs) or more, the state recognition unit 81 omits the setting of the transport pattern (S15) and the like, and permits the execution of the collection operation.

The transport control unit 85 sets a plurality of transport patterns in controlling the transport operation based on the current supply state (S15). Thereby, the transport pattern (for example, normal transport, replenishment transport, removal transport) is switched. Then, the transport control unit 85 instructs the bulk feeder 30 to transport the component 92 according to the set transport pattern (S16). When the bulk feeder 30 is instructed to convey the parts 92, the bulk feeder 30 performs a conveying operation according to the set conveying pattern.

As shown in FIG. 9, this transport operation is executed during the period from the end of the current collection operation by the mounting head 133 (ON→OFF) to the start of the next collection operation (OFF→ON). Specifically, first, the shutter 37 is changed from the open state to the intermediate state, and the feeding operation is performed. Thereby, the plurality of components 92 are conveyed toward the front end side of the supply area As. After the forward operation is performed for the execution period TeF, the return operation is performed.

In the return operation execution period TeR, the first vibration is applied to the track member 34 for the application period TeR1. Thereby, the component 92 conveyed toward the rear end side of the supply area As is accommodated in the cavity 51 . After that, the second vibration is applied to the track member 34 for the application period TeR2. As a result, surplus parts that have not been accommodated in the cavity 51 are removed from the supply area As by retreating to the transport path R side. At this time, the amplitude of the second vibration is set smaller than the amplitude of the first vibration, thereby suppressing the part 92 housed in the cavity 51 from popping out.

In this way, the bulk feeder 30 performs a transport operation according to the supply state of the supply area As. As a result, if the components 92 are properly supplied according to the initial settings, normal transport is executed, and if the number of collectable components 92 is relatively small immediately after the transport operation, replenishment transport is executed (Fig. 10). In addition, in this replenishment transportation, a process of discharging the parts 92 from the parts case 70 and distributing the plurality of parts 92 to the transportation path R may be executed according to the instruction of the transportation control section 85 .

Furthermore, if the current supply state indicates an oversupply of parts 92, or if parts group U exists, removal transport is performed (see FIG. 11). As a result, the quantity of the parts 92 in the supply area As is appropriately adjusted. Such a transport operation promotes that the components 92 are accommodated in the cavities 51 in a proper posture, and can increase the number of components 92 that can be picked up in the supply area As. By improving the supply state of the components 92 in the bulk feeder 30 in this manner, the productivity of the component mounting machine 10 can be improved.

After the bulk feeder 30 finishes conveying the parts 92, the state recognition unit 81 again executes the processing (S11) for determining the supply state. As a result, the current supply state of the supply area As after the transport operation is recognized. The component supply control system terminates the above control process when all the PP cycles scheduled to be executed are finished and the supply of the component 92 becomes unnecessary (S14: No).

5. Modification of Embodiment 5-1. Conveying Operation In the embodiment, the bulk feeder 30 is configured to apply two types of vibrations to the track member 34 during the execution period TeR of the returning operation. On the other hand, the bulk feeder 30 may apply three or more types of vibrations. Further, the control of applying a plurality of types of vibrations step by step as described above may be executed during the execution period TeF of the feed operation.

5-2. Concerning Component Supply Control System 80 In the embodiments, the state recognition unit 81 and the transport control unit 85 of the component supply control system 80 have been described by exemplifying the configuration incorporated in the control device 16 of the component mounting machine 10 . On the other hand, one or both of the state recognition section 81 and the transport control section 85 may be configured to be incorporated in an external device of the control device 16 . For example, the state recognition unit 81 may be provided movably integrally with the moving table 132 and incorporated in an imaging unit that controls the imaging operation of the board camera 15 .

Further, the transport control unit 85 may be incorporated in the component supply device 12 that mediates communication between the feeders 122 installed in the plurality of slots 121 and the control device 16 . Alternatively, the state recognition unit 81 and the transport control unit 85 may be incorporated in the feeder control device 60 of the bulk feeder 30 as self-control functions of the bulk feeder 30 . Furthermore, the state recognition unit 81 and the transport control unit 85 may be incorporated in a host computer or dedicated equipment that is communicably connected to the component mounting machine 10 . In any aspect, the same effect as the embodiment can be obtained.

5-3. Others In the embodiment, the bulk feeder 30 supplies components 92 to be mounted on the board 91 by the component mounter 10 . In the embodiment, a chip component having a rectangular shape when viewed from the thickness direction is exemplified as the above component 92 . On the other hand, the component 92 is used in a board-to-board work machine that performs a predetermined work on the board 91, such as the component mounting machine 10, and can be supplied in the bulk feeder 30 while being accommodated in the cavity 51. Various things can be applied if it is an article. For example, the bulk feeder 30 may supply spherically shaped solder balls.

10: component mounting machine, 12: component supply device, 13: component transfer device, 15: substrate camera, 16: control device, 30: bulk feeder, 31: feeder main body, 34: track member, 40: vibrating device, 41: Support member 41A: Advance support member 41B: Retreat support member 42: Piezoelectric element 43: Vibration sensor 44: Power supply device 50: Alignment member 51: Cavity 60: Feeder control device 80 : Parts supply control system, 81: State recognition unit, 85: Transfer control unit, 91: Board, 92: Parts, As: Supply area, R: Transfer path, U: Parts group, D1: Image data

Claims

a feeder body;
a track member which is vibrated with respect to the feeder body and which is formed with a transport path for transporting a plurality of parts and a supply area for supplying the parts in a pickable manner;
a plurality of cavities containing the components in the feed area;
a vibrating device that applies vibration to the track member so that the plurality of components are transported between the transport path and the supply area;
A conveying operation is performed to accommodate the plurality of components in the plurality of cavities by controlling the operation of the vibration excitation device, and the plurality of components are advanced from the conveying path toward the supply area in the conveying operation. During execution of a feeding operation or a return operation for retracting the plurality of parts from the supply area to the conveying path side, the vibration excitation device is controlled to apply a plurality of types of vibrations to the track member. a vibration control unit;
Bulk feeder with
The vibration excitation control section controls, in the execution period of the feed operation or the return operation, a second vibration having a smaller amplitude than the first vibration after the first vibration is applied to the track member by the vibrating device. 2. The bulk feeder according to claim 1, wherein is controlled to be applied to said track member.
The bulk feeder according to claim 2, wherein the amplitude of said second vibration is set to 0.4 to 0.8 times the amplitude of said first vibration.
wherein the vibration control unit performs control such that the times during which the plurality of types of vibrations are imparted to the track member by the vibration excitation device are equal during the execution period of the feed operation or the return operation. Bulk feeder according to any one of items 1-3.
The vibration control unit controls, in the execution period of the feed operation or the return operation, each time during which the plurality of types of vibrations are applied to the track member by the vibration excitation device, the amplitudes of the plurality of types of vibrations, or 4. The frequency is switched according to at least one of the mass of the part, the vertical dimension difference of the cavity with respect to the part, and the horizontal dimension difference of the cavity with respect to the part. Bulk feeder as described above.
1-5, wherein the vibration control unit performs control such that the plurality of types of vibrations are applied to the track member by the vibration excitation device during the execution period of at least the return operation of the transport operation. Bulk feeder according to any one of .
A state recognition unit that determines the supply state of the parts in the supply area based on image data acquired by imaging the supply area of the bulk feeder according to any one of claims 1 to 6;
a transport control unit that controls the transport operation in the bulk feeder based on the supply state;
parts supply control system.
The supply state includes a state in which the number of storage cavities that accommodate the component so as to be able to be picked out of the plurality of cavities is equal to or greater than the first threshold value, and a state in which the number of the storage cavities is less than the first threshold value and a plurality of the storage cavities A state in which the number of empty cavities in which the component does not exist among the cavities is equal to or greater than the second threshold, and a state in which the number of the accommodating cavities is less than the first threshold and the number of the empty cavities is less than the second threshold. 8. The parts supply control system of claim 7, comprising:
9. The component supply control system according to claim 7, wherein the transport control unit switches between a plurality of transport patterns in controlling the transport operation based on the supply state determined by the state recognition unit.
In the plurality of transport patterns, a normal transport in which a plurality of types of preset vibrations are applied to the track member during the execution period of the feed operation or the return operation of the transport operation by the vibration excitation control unit. replenishment transport in which a plurality of types of vibrations adjusted to increase the number of parts remaining in the supply area than in the normal transport are imparted to the track member; and removal from the supply area in the normal transport. 10. The parts supply control system according to claim 9, further comprising a removal transport in which a plurality of types of said vibrations adjusted to increase the quantity of said parts to be conveyed are imparted to said track member.
The state recognition unit further determines the position and size of the parts group in which the plurality of parts are densely packed in the supply area as a parts group state based on the image data,
11. The component supply control system according to claim 7, wherein said transport control unit controls said transport operation in said bulk feeder based on said supply state and said component group state.