Brake control device and substrate production line

Abstract

The brake control device includes a motor, a power supply device, a plurality of circuits, a brake device, and a limiting device. The motor moves an article conveying device, which conveys articles to a predetermined substrate operation machine of a substrate production line in which a plurality of substrate operation machines are arranged to perform predetermined substrate operations on the substrate. The power supply device supplies driving power to the motor. A plurality of circuits transmit driving power from the power supply device to the motor. When the brake device stops the motor, it consumes the regenerative energy of the motor between the plurality of circuits to cause the motor to generate a braking force. After the motor stops, the limiting device switches from a closed circuit state in which the plurality of circuits between the motor and the brake device, i.e., the object circuits are respectively closed, to an open circuit state in which the object circuits are respectively open, thereby limiting the generation of the braking force.

Description

Technical Field

[0001] This specification discloses technologies related to a brake control device and a substrate production line. Background Art

[0002] Patent document 1 discloses an electronic component mounting device that consumes the back electromotive force generated by a motor to enable dynamic braking. In addition, the electronic component mounting device has a motor disconnect switch, a cover for preventing erroneous operation, and a safety switch. When the dynamic brake is released, the motor disconnect switch cuts off the circuit through which the current related to the back electromotive force flows. The cover for preventing erroneous operation prevents the operator from erroneously operating the motor disconnect switch. The safety switch detects the open and closed state of the cover for preventing erroneous operation. When the safety switch detects the disconnected state of the cover for preventing erroneous operation, the electronic component mounting device performs safety control corresponding to the detection result.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2009-200070 Summary of the invention

[0006] Problems to be solved by the invention

[0007] However, in Patent Document 1, the motor that moves the assembly head axially is controlled, and there is no record or suggestion of the motor that moves the article transporting device that transports articles to a predetermined substrate working machine of the substrate production line as the control object.

[0008] In view of such a situation, this specification discloses a brake control device and a substrate production line, which can quickly stop the motor that moves the article conveying device that conveys articles to a predetermined substrate working machine of the substrate production line, and can reduce the braking force generated when the article conveying device moves after the motor stops.

[0009] Means for solving problems

[0010] This specification discloses a brake control device having a motor, a power supply device, a plurality of circuits, a brake device, and a limiting device. The motor moves an article conveying device, which conveys articles to a predetermined substrate operation machine of a substrate production line formed by arranging a plurality of substrate operation machines for performing predetermined substrate operations on substrates. The power supply device supplies driving power to the motor. The plurality of circuits transmit the driving power from the power supply device to the motor. When the motor is stopped, the brake device consumes the regenerative energy of the motor between the plurality of circuits to generate a braking force for the motor. After the motor stops, the limiting device switches from a closed circuit state in which the object circuits are respectively closed to an open circuit state in which the object circuits are respectively opened to limit the generation of the braking force, and the object circuits are the plurality of circuits between the motor and the brake device.

[0011] In addition, the present specification discloses a substrate production line equipped with the brake control device. The article handling device is capable of traveling on a travel path arranged along the arrangement direction of the plurality of substrate working machines. The power supply device includes a power supply device, a power distribution device, and a power supply circuit, and uses the supply power supplied from the power supply circuit by contactless power supply to supply the driving power of the motor. The power supply device generates electric power. The power distribution device distributes the power generated by the power supply device to each of the plurality of substrate working machines. The power supply circuit is provided in each of the plurality of substrate working machines, and uses the power distributed via the power distribution device to generate the driving power supplied to the motor.

[0012] Effects of the Invention

[0013] The above-mentioned brake control device is equipped with a brake device and a limiting device. Therefore, compared with a case where the brake control device is not equipped with a brake device and a limiting device, the brake control device can quickly stop the motor that moves the article conveying device, and can reduce the braking force generated when the article conveying device moves after the motor stops. The above-mentioned contents about the brake control device are also the same for the above-mentioned substrate production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a top view showing a structural example of a substrate production line.

[0015] Figure 2 Yes means Figure 1 A three-dimensional diagram of the schematic structure of a component assembly machine and an article handling device.

[0016] Figure 3 Yes means Figure 1A side view of an article handling device.

[0017] Figure 4 Yes means Figure 3 A three-dimensional diagram of a structural example of a mobile device.

[0018] Figure 5 This is a perspective view showing an example of the internal structure of a mobile device.

[0019] Figure 6 It is a schematic diagram showing a configuration example of a brake control device.

[0020] Figure 7 It is a schematic diagram showing a configuration example of a power supply device.

[0021] Figure 8 This is a circuit diagram showing an example of a power supply circuit for contactlessly supplying power between a substrate working machine and an article transport device.

[0022] Fig. 9 This is a block diagram showing an example of a control block of the brake control device.

[0023] Fig.10 This is a flowchart showing an example of a control procedure of the brake control device. DETAILED DESCRIPTION

[0024] 1. Implementation Method

[0025] 1-1. Configuration example of substrate production line 1

[0026] The brake control device 60 of this embodiment is applicable to the substrate production line 1. Figure 1 As shown, the substrate production line 1 is Figure 2 A plurality of (four in this figure) component mounting machines 10 are arranged in a row in the conveying direction of the substrate 90 shown. The component mounting machine 10 is included in a substrate operation machine WM0 that performs a predetermined substrate operation on the substrate 90. The substrate production line 1 can include various substrate operation machines WM0 such as a screen printer, a solder inspection machine, a visual inspection machine, and a reflow furnace.

[0027] On the substrate loading side of the substrate production line 1 ( Figure 1 A storage device BS0 is provided on the left side of the paper. The storage device BS0 can store various articles carried by an operator or the article transport device 30. The storage device BS0 of this embodiment stores the cassette feeder 20 that supplies components to be assembled on the substrate 90. Each device of the substrate production line 1 and the article transport device 30 are configured to be able to input and output various data with the production line control device LC0 via a network.

[0028] The storage device BS0 has a plurality of slots. The storage device BS0 stores the feeders 20 equipped in the plurality of slots. The feeders 20 equipped in the slots of the storage device BS0 are in a state where they can communicate with the line control device LC0. Thus, the slots of the storage device BS0 are associated with the identification information of the feeders 20 equipped in the slots and recorded in the line control device LC0.

[0029] The line control device LC0 monitors the operation status of the substrate production line 1 and controls the substrate production line 1 including the substrate work machine WM0, the storage device BS0 and the article transport device 30. The line control device LC0 stores various data for controlling the substrate work machine WM0, for example. The line control device LC0 appropriately sends various data such as the control program of each device of the substrate production line 1 to each device.

[0030] 1-2. Configuration Example of Component Mounting Machine 10

[0031] like Figure 2 As shown, the plurality of (4) component assembly machines 10 constituting the substrate production line 1 are respectively provided with a substrate conveying device 11, an upper tank 12, a lower tank 13, an assembly head 14, and a head driving device 15. In this specification, the width direction of the component assembly machine 10, i.e., the conveying direction of the substrate 90, is defined as the X direction. In addition, the depth direction of the component assembly machine 10, i.e., the direction orthogonal to the X direction on the horizontal plane, is defined as the Y direction. Furthermore, the vertical direction ( Figure 2 The up and down direction on the paper is set as the Z direction.

[0032] The substrate transport device 11 includes a belt conveyor, a positioning device, etc. The substrate transport device 11 transports the substrate 90 in sequence along the transport direction (X direction) and positions the substrate 90 at a predetermined position in the machine. After the assembly process based on the component assembly machine 10 is completed, the substrate transport device 11 carries the substrate 90 out of the component assembly machine 10.

[0033] The upper tank 12 and the lower tank 13 can be equipped with a feeder 20 for supplying components to be mounted on the substrate 90. The upper tank 12 is arranged at the upper portion of the front side of the component mounting machine 10, and the equipped feeder 20 is kept in an operable state. That is, the feeder 20 equipped in the upper tank 12 is driven and controlled during the mounting process based on the component mounting machine 10, and the components are supplied to the take-out portion provided at a predetermined position above the feeder 20.

[0034] The lower tank 13 is arranged below the upper tank 12 and stores the equipped feeders 20. That is, the lower tank 13 holds the feeders 20 used in the production of substrate products in advance. In addition, the lower tank 13 temporarily holds the used feeders 20 used in the production of substrate products. In addition, the feeders 20 between the upper tank 12 and the lower tank 13 are replaced by automatic replacement based on the article conveying device 30 or manual replacement by the operator.

[0035] In addition, if the feeder 20 is equipped in the upper slot 12 or the lower slot 13, power is supplied from the component mounting machine 10 via the connector. And the feeder 20 becomes a state in which communication with the component mounting machine 10 is possible. The feeder 20 equipped in the upper slot 12 controls the feeding action of the carrier tape containing the components based on the control command of the component mounting machine 10. Thus, the feeder 20 supplies the components in the take-out part provided in the upper part of the feeder 20 so that the holding member of the mounting head 14 can pick up the components.

[0036] The head drive device 15 moves the component picked up by the holding component of the assembly head 14 to a predetermined assembly position on the substrate 90. For example, the head drive device 15 moves the moving table in the horizontal direction (X direction and Y direction) through a direct-acting mechanism. The assembly head 14 is fixed to the moving table in a replaceable manner by a clamping component. The assembly head 14 picks up the component, adjusts the position of the component in the vertical direction (Z direction) and the rotation angle, and assembles the component on the substrate 90.

[0037] Specifically, a holding component for holding the component supplied by the feeder 20 is installed in the assembly head 14 in a detachable manner. The holding component can use, for example, a suction nozzle for holding the component by supplying negative pressure air, a chuck for holding and holding the component, etc. The assembly head 14 holds the holding component so that it can move in the vertical direction (Z direction) and can rotate around the Q axis parallel to the vertical direction (Z direction). The assembly head 14 moves in the horizontal direction (X direction and Y direction) by the direct motion mechanism of the head driving device 15.

[0038] The component mounting machine 10 performs a mounting process of mounting components on the substrate 90. The component mounting machine 10 sends a control signal to the head driving device 15 during the mounting process based on the results of image processing, the detection results based on various sensors, a pre-stored control program, etc. Thus, the positions and rotation angles of a plurality of holding components (e.g., suction nozzles) supported by the mounting head 14 are controlled.

[0039] In addition, the holding member (e.g., suction nozzle) held in the assembly head 14 can be appropriately changed according to the type of component to be mounted on the substrate 90 in the assembly process. For example, when the suction nozzle used in the assembly process performed by the component mounting machine 10 is not held in the assembly head 14, the suction nozzle accommodated in the suction nozzle station is held in the assembly head 14. The nozzle station is detachably equipped at a predetermined position in the component mounting machine 10.

[0040] 1-3. Configuration Example of Article Transport Device 30

[0041] The article transport device 30 transports articles to a predetermined substrate operation machine WM0 of a substrate production line 1 in which a plurality of substrate operation machines WM0 for performing predetermined substrate operations on a substrate 90 are arranged in parallel. The article transport device 30 of this embodiment transports a feeder 20 for supplying components to be mounted on a substrate 90. The article transport device 30 replenishes and recovers the feeder 20 between the plurality (four) component mounting machines 10 constituting the substrate production line 1 and between the storage device BS0.

[0042] Specifically, the article transport device 30 transports the feeder 20 from the storage device BS0 to the upper slot 12 or the lower slot 13 of the component mounting machine 10. In addition, the article transport device 30 replaces the feeder 20 between the upper slot 12 and the lower slot 13 of the component mounting machine 10. In addition, the article transport device 30 transports the feeder 20 used in the production of the substrate product from the component mounting machine 10 to the storage device BS0.

[0043] like Figure 3 As shown, the article transport device 30 of this embodiment includes a replacement device 31, a first rail 32, a second rail 33, an anti-separation guide 34, and a moving device 40. The replacement device 31 performs replenishment and recovery of the feeders 20 equipped in a plurality of (4) component assembly machines 10. Specifically, the replacement device 31 includes a moving mechanism that moves the clamp holding the feeder 20 in the Y direction and the Z direction.

[0044] The replacement device 31 includes an upper transfer unit 31a for transferring the feeder 20 between the upper tank 12 and the lower transfer unit 31b for transferring the feeder 20 between the lower tank 13. The replacement device 31 controls the Y-direction position, Z-direction position, and gripping state of the clamp in the upper transfer unit 31a or the lower transfer unit 31b based on the control command of the component assembly machine 10 or the line control device LC0.

[0045] like Figure 1As shown, the first rail 32 is provided at the front of the plurality of (4) component mounting machines 10. Specifically, the first rail 32 is provided between the upper groove 12 and the lower groove 13 in the plurality of (4) component mounting machines 10. In addition, the first rail 32 of the present embodiment is provided in the plurality of (4) component mounting machines 10 and the storage device BS0 in such a manner that the same type of rail components are continuous in the X direction.

[0046] In addition, if Figure 4 as well as Figure 5 As shown, the first rail 32 includes a travel path 32a, an upper surface portion 32b, and a side portion 32c. The travel path 32a is formed in a plane and extends in the Z direction toward the replacement device 31 side. The drive wheel 52 described later rolls on the travel path 32a. Therefore, the travel path 32a can be a plane as a whole, and for example, it can also be formed with bumps and slits for suppressing the idling of the drive wheel 52. The upper surface portion 32b is formed to be parallel to the horizontal plane formed by the X direction and the Y direction. The side portion 32c is formed to protrude from the upper surface portion 32b in the Z direction.

[0047] The second rail 33 is provided at a different Z-direction position from the first rail 32 at the front of the plurality (four) component mounting machines 10. Figure 3 As shown, the second rail 33 of this embodiment is provided below the lower slot 13 of the component mounting machine 10. The second rail 33 includes a support portion 33a. The support portion 33a is formed in a planar shape and extends in the Z direction toward the replacement device 31 side.

[0048] The support portion 33a of the second rail 33 supports the third guide roller 44 so that the third guide roller 44 described later can roll. The anti-separation guide 34 has an opposing surface opposed to the support portion 33a, and prevents the third guide roller 44 rolling on the support portion 33a of the second rail 33 from being separated from the support portion 33a. Thus, when an external force that causes the entire replacement device 31 to tilt is applied, the anti-separation guide 34 contacts the third guide roller 44 to prevent the replacement device 31 from tilting.

[0049] The first rail 32 and the second rail 33 are provided to cover substantially the entire area in the X direction of the substrate production line 1. For example, the first rail 32 and the second rail 33 on the side where the substrate 90 is carried in extend to the storage device BS0. Therefore, the replacement device 31 can be positioned at any position in the X direction on the front side including the plurality (four) component mounting machines 10 and the storage device BS0 by the moving device 40 described later.

[0050] The moving device 40 moves the replacement device 31 along the first track 32 by rolling the driving wheel 52 of the driving unit 50 along the travel path 32a of the first track 32. At this time, friction is generated between the driving wheel 52 and the travel path 32a. Figure 3 , Figure 4 as well as Figure 5 As shown, the moving device 40 includes a main body 41, a first guide roller 42, a second guide roller 43, a third guide roller 44, a biasing mechanism 45, and a drive unit 50. The main body 41 is a frame member that holds the replacement device 31. In addition, a bracket 41a for mounting the drive unit 50 is formed on the main body 41.

[0051] like Figure 4 As shown, the first guide roller 42 can roll on the upper surface portion 32b of the first rail 32. Thus, the first guide roller 42 restricts the movement of the replacement device 31 held by the main body 41 in the Z direction. The second guide roller 43 can roll on the side surface portion 32c of the first rail 32. Thus, the second guide roller 43 restricts the movement of the replacement device 31 in the Y direction. In this embodiment, the plurality of first guide rollers 42 and the plurality of second guide rollers 43 are alternately arranged along the X direction.

[0052] like Figure 3 As shown, the third guide roller 44 can roll along the support portion 33a of the second rail 33. Thus, the third guide roller 44 maintains the posture of the replacement device 31. Here, when the first guide roller 42 rolls on the upper surface portion 32b and the second guide roller 43 rolls on the side surface portion 32c, a moment that rotates the replacement device 31 around an axis parallel to the X direction is generated on the replacement device 31 according to the relationship between the support position of the replacement device 31 and the center of gravity position of the replacement device 31. Specifically, a force is generated that causes the lower portion of the replacement device 31 to approach the second rail 33 side.

[0053] On the other hand, at the lower part of the replacement device 31, the third guide roller 44 that can rotate around an axis parallel to the Z direction rolls on the support portion 33a of the second rail 33, thereby overcoming the above-mentioned moment and maintaining the posture of the replacement device 31. In this way, the replacement device 31 is supported by three types of guide rollers, so that it can maintain relative to the Figure 3 The ground surface US0 is shown in an upright posture in a non-contact manner.

[0054] like Figure 5 As shown in FIG. 5 , the drive unit 50 includes a bottom plate 51, a drive wheel 52, a drive motor 53, and a transmission mechanism 54. The bottom plate 51 includes a plate-like portion 51a extending in the Y direction. The plate-like portion 51a is mounted so as to be slidable in the Y direction relative to the bracket 41a of the main body 41. In addition, a flange portion 51b extending downward from the lower surface of the plate-like portion 51a is formed on the bottom plate 51.

[0055] like Figure 3 As shown, the driving wheel 52 is disposed between the upper transfer portion 31a and the lower transfer portion 31b of the replacement device 31. Figure 5As shown, the driving wheel 52 is provided on the bottom plate 51 in a manner that it can rotate around an axis parallel to the Z direction. The outer periphery of the driving wheel 52 is formed of a rubber-like elastic material such as polyurethane. The driving wheel 52 is subjected to a predetermined friction force and rolls on the driving path 32a by being applied force by the driving path 32a of the first metal track 32, for example. The driving motor 53 is supplied with driving power to rotate the driving wheel 52. The driving motor 53 of this embodiment is supported on the bottom plate 51 in a manner that the output shaft (axis) is parallel to the Z direction.

[0056] The transmission mechanism 54 transmits the output of the drive motor 53 to the drive wheel 52. The transmission mechanism 54 of this embodiment is a belt-type transmission mechanism, which includes a pulley 54a and an endless belt 54b. The pulley 54a is configured to be coaxial with the drive wheel 52 and rotates integrally with the drive wheel 52. The endless belt 54b is mounted between the output shaft of the drive motor 53 and the pulley 54a. The transmission mechanism 54 decelerates the rotation speed of the drive motor 53 and transmits the output of the drive motor 53 to the drive wheel 52.

[0057] The urging mechanism 45 urges the drive wheel 52 toward the travel path 32a. The drive wheel 52 is unitized together with the drive motor 53 and the transmission mechanism 54 provided on the bottom plate 51. That is, the drive unit 50 is provided so as to be able to slide in the Y direction relative to the main body 41 as a whole. Therefore, the urging mechanism 45 of this embodiment presses the drive unit 50 toward the first rail 32 side relative to the main body 41 by the elastic force of the spring 45a, thereby urging the drive wheel 52 toward the travel path 32a.

[0058] The spring 45a of the urging mechanism 45 is arranged in a compressed state between the bracket 41a of the main body 41 and the flange 51b of the bottom plate 51. As a result, the drive unit 50 is pressed toward the travel path 32a side in the Y direction relative to the main body 41. Therefore, even if a gap or a step is generated in the joint between the rail members constituting the first rail 32, the urging mechanism 45 can maintain the state in which the drive wheel 52 is in contact with the travel path 32a of the first rail 32.

[0059] 1-4. Configuration Example of Braking Control Device 60

[0060] For example, if the operation Figure 1 If the emergency stop button 66a shown in FIG. 1 is pressed, it is necessary to stop the article handling device 30 quickly. In such a case, it is contemplated that so-called dynamic braking is used. Figure 6 As shown in the figure, dynamic braking causes a plurality of (three in this figure) circuits 63 that transmit drive power from a power supply device 62 to a motor 61 (equivalent to the drive motor 53 described above) that moves the article transport device 30 to be short-circuited via resistors 64c. As a result, the regenerative energy of the motor 61 is consumed by the resistor 64c, and the motor 61 can be stopped quickly.

[0061] However, for example, when the operator moves the article transport device 30 after the motor 61 stops, dynamic braking takes effect, and the movement of the article transport device 30 may become difficult. In particular, in the article transport device 30 of the present embodiment, the drive wheel 52 of the drive unit 50 is applied to the travel path 32a of the first rail 32. Therefore, a braking force based on dynamic braking is applied to the friction force generated between the drive wheel 52 and the travel path 32a, and there is a possibility that it becomes more difficult for the operator to move the article transport device 30. Therefore, the substrate production line 1 of the present embodiment is provided with a brake control device 60. As Figure 6 As shown, the brake control device 60 includes a motor 61 , a power supply device 62 , a plurality of (three in this figure) electric circuits 63 , a brake device 64 , and a restriction device 65 .

[0062] 1-4-1. Motor 61

[0063] The motor 61 moves the article transport device 30 for transporting articles to a predetermined substrate work machine WM0 of the substrate production line 1. Figure 1 As shown, the substrate production line 1 is provided with a plurality of (four in this figure) substrate operation machines WM0 (component assembly machines 10 in this figure) that perform predetermined substrate operations on the substrate 90. The article transport device 30 transports articles required for the production of the substrate product to the substrate operation machine WM0, for example, based on the production plan of the substrate product.

[0064] As described above, the article conveying device 30 of the present embodiment conveys the feeder 20. The feeder 20 supplies components to be assembled on the substrate 90. The article conveying device 30 can travel on the travel path 32a provided along the configuration direction (conveying direction (X direction) of the substrate 90) of the plurality (4) substrate work machines WM0 (component assembly machines 10), and can supply and recover the feeder 20 between the plurality (4) component assembly machines 10 and between the storage device BS0. Therefore, the motor 61 of the present embodiment moves the article conveying device 30 along the conveying direction (X direction) of the substrate 90. The motor 61 can be any known motor as long as it can move the article conveying device 30. The motor 61 of the present embodiment is a three-phase servo motor.

[0065] 1-4-2. Power supply device 62

[0066] The power supply device 62 supplies driving power to the motor 61. The power supply device 62 may be in various forms as long as it can supply driving power to the motor 61. Figure 7As shown, the power supply device 62 of this embodiment includes a power supply device 62a, a power distribution device 62b, and a power supply circuit 62c, and supplies driving power to the motor 61 using power supplied from the power supply circuit 62c by contactless power supply.

[0067] The power supply device 62a generates electric power. The power supply device 62a can use a known power supply device, and can generate various DC power or AC power. The power supply device 62a of this embodiment is a power converter that generates DC power based on the input AC power, and converts the three-phase (R phase, S phase, T phase) AC power into DC power (indicated by DC power Vdc1 in this figure). In addition, the power supply device 62a can be set in a work machine on one end side of the substrate production line 1. The power supply device 62a of this embodiment is set in the storage device BS0.

[0068] The power distribution device 62b distributes the power generated by the power supply device 62a to the plurality of (4) substrate work machines WM0 (component assembly machines 10). For example, the power supply device 62a and the plurality of (4) substrate work machines WM0 (component assembly machines 10) are electrically connected by daisy chain connection, bus connection, star connection, etc. In the power distribution device 62b of the present embodiment, the power supply device 62a and the plurality of (4) substrate work machines WM0 (component assembly machines 10) are daisy chain connected.

[0069] The power distribution device 62b distributes the power generated by the power supply device 62a from the substrate working machine WM0 (component mounting machine 10) at one end of the substrate production line 1 to the substrate working machine WM0 (component mounting machine 10) at the other end in sequence. Figure 7 In the figure, for the convenience of illustration, the power supply device 62a and a plurality of (2) component mounting machines 10 are shown in a daisy chain connection state, but in fact, the power supply device 62a and Figure 1 The plurality of (four) substrate working machines WM0 (component mounting machines 10 ) shown are daisy-chain connected.

[0070] The power supply circuit 62c is provided in each of the plurality of (four) substrate operation machines WM0 (component mounting machines 10), and generates driving power supplied to the motor 61 using the power distributed via the power distribution device 62b. Figure 8 The power supply circuit PS0 shown and Figure 6 The servo amplifier SV0 shown supplies power to the motor 61. The power supply circuit PS0 includes a power transmission circuit PT0 provided on the substrate operation machine WM0 (component assembly machine 10) side and a power receiving circuit PR0 provided on the article conveying device 30 side, and performs contactless power supply between the substrate operation machine WM0 (component assembly machine 10) and the article conveying device 30.

[0071] The power supply circuit 62c supplies AC power to the power transmission circuit PT0. Figure 8 As shown, the power supply circuit 62c includes a smoothing capacitor C0 and a power converter INV0. The smoothing capacitor C0 is connected in parallel to the input side of the power converter INV0. The DC power (in this figure, represented by DC power Vdc1) input via the power distribution device 62b is smoothed by the smoothing capacitor C0 and converted into AC power by the power converter INV0. The power converter INV0 is a power converter that converts the input DC power into AC power, and a known power converter can be used.

[0072] In the power transmission circuit PT0, the power transmission side resonance part RT1 and the power transmission part LT1 are connected in series to form a power transmission side resonance circuit. For example, a capacitor can be used for the power transmission side resonance part RT1. A coil can be used for the power transmission part LT1. The power receiving circuit PR0 includes a power receiving part LR1, a power receiving side resonance part RR1, and a rectifier circuit RC0. The power receiving part LR1 and the power receiving side resonance part RR1 are connected in parallel on the input side of the rectifier circuit RC0 to form a power receiving side resonance circuit. For example, a coil can be used for the power receiving part LR1. A capacitor can be used for the power receiving side resonance part RR1.

[0073] The rectifier circuit RC0 is a rectifier circuit for rectifying the AC power supplied from the power transmission circuit PT0, and a known rectifier circuit can be used. The motor 61 of this embodiment is a servo motor. Therefore, the DC power rectified by the rectifier circuit RC0 (in this figure, represented by the DC power Vdc2) is passed through Figure 6 The servo amplifier SV0 shown is supplied to the motor 61.

[0074] like Figure 6 As shown, the servo amplifier SV0 includes a power converter MC0. The power converter MC0 is a power converter that generates AC power from the input DC power, and converts the DC power (the DC power Vdc2 described above) into AC power. In addition, the servo amplifier SV0 can also include a boost unit that boosts the DC voltage of the DC power input to the power converter MC0.

[0075] 1-4-3. Multiple circuits 63

[0076] like Figure 6 As shown in the figure, a plurality of (three in this figure) circuits 63 transmit drive power from the power supply device 62 to the motor 61. As described above, the motor 61 of this embodiment is a three-phase servo motor, and the servo amplifier SV0 is provided in the power supply device 62. Therefore, the plurality of (three) circuits 63 of this embodiment are provided between the servo amplifier SV0 and the motor 61.

[0077] In addition, in this figure, for the convenience of explanation, one of the plurality of (3) circuits 63 is represented by the U phase. Similarly, another of the plurality of (3) circuits 63 is represented by the V phase. The remaining one of the plurality of (3) circuits 63 is represented by the W phase. The phases of the U phase, the V phase, and the W phase are delayed by 120° in sequence. In addition, when the motor 61 is a single-phase motor, the brake control device 60 can include a plurality of (2) circuits 63.

[0078] 1-4-4. Braking device 64 and monitoring device 66

[0079] The brake device 64 consumes the regenerative energy of the motor 61 between the plurality of circuits 63 when stopping the motor 61 to generate a braking force on the motor 61. The brake device 64 may be in various forms as long as it can generate the above-mentioned braking force.

[0080] like Figure 6 as well as Fig. 9 As shown, the brake device 64 of this embodiment includes a brake device side coil 64a, a brake device side switch 64b, a resistor 64c, and a brake device side control unit 64d. The brake device side coil 64a can use a well-known electromagnetic coil. The brake device side coil 64a can be supplied with DC power output from a DC power supply, for example, and the brake device side coil 64a is excited when the DC power is supplied. The brake device side switch 64b is provided in a plurality of (in Figure 6 Between the circuits 63 (three in the figure), the contacts are in a closed state when the brake device side coil 64a is demagnetized, and the contacts are in an open state when the brake device side coil 64a is excited.

[0081] The resistor 64c is connected in series with the brake device side switch 64b to consume regenerative energy. Specifically, one end of one resistor 64c is electrically connected to the U-phase circuit 63 via one brake device side switch 64b, and the other end is electrically connected to the other ends of the other two resistors 64c. One end of another resistor 64c is electrically connected to the V-phase circuit 63 via another brake device side switch 64b, and the other end is electrically connected to the other ends of the other two resistors 64c.

[0082] from Figure 6It can be seen that when the contacts of the two brake device side switches 64b are in an open state, no current flows through the resistor 64c electrically connected to the circuit 63 of the W phase. On the contrary, when the contacts of the two brake device side switches 64b are in a closed state, current also flows through the resistor 64c electrically connected to the circuit 63 of the W phase. Therefore, the brake device side switch 64b electrically connected to the circuit 63 of the W phase can be omitted. That is, one end side of the remaining resistor 64c is electrically connected to the circuit 63 of the W phase, and the other end side is electrically connected to the other end sides of the other two resistors 64c. In addition, one end side of the remaining resistor 64c can also be electrically connected to the circuit 63 of the W phase via another brake device side switch 64b.

[0083] In addition, the resistance values ​​of the plurality of (three in the figure) resistors 64c are set so as to consume the regenerative energy based on the current value flowing through the resistor 64c when the motor 61 is stopped or the voltage value between the circuit 63 and the power value (converted value) of the regenerative energy. The current value, the voltage value and the power value are all estimated values ​​and can be obtained in advance through verification based on simulation or actual machine. In addition, in the present embodiment, the brake device side coil 64a, the brake device side switch 64b and the resistor 64c are provided in the servo amplifier SV0.

[0084] The brake device side control unit 64d excites the brake device side coil 64a when driving the motor 61. As a result, the contact of the brake device side switch 64b switches from a closed state to an open state. The motor 61 can be driven by the driving power supplied from the power supply device 62, and the article conveying device 30 can move. The brake device side control unit 64d demagnetizes the brake device side coil 64a when stopping the motor 61, and changes the brake device side switch 64b from an open state to a closed state, thereby forming a current path for the current flowing through the resistor 64c.

[0085] Specifically, when the motor 61 starts to drive, the brake device side control unit 64d determines whether the motor 61 needs to be stopped in a predetermined manner ( Fig.10 For example, when the operation Figure 1 When the emergency stop button 66a shown is pressed, the motor 61 needs to be stopped quickly from the viewpoint of improving safety. In addition, if an abnormal state of the operator relative to the article transport device 30 occurs, including a proximity state where the distance between the operator and the article transport device 30 is shorter than a predetermined distance, the motor 61 needs to be stopped quickly from the viewpoint of improving safety. Furthermore, when a power outage occurs in the substrate production line 1, the motor 61 needs to be stopped quickly from the viewpoint of improving safety.

[0086] Therefore, if Figure 3 as well as Fig. 9As shown, the brake control device 60 may include a monitoring device 66. The monitoring device 66 of this embodiment is provided on the upper portion of the article conveying device 30. The monitoring device 66 monitors an emergency state, which is at least one of an operation of an emergency stop button 66a for stopping the article conveying device 30, an abnormal state of the operator relative to the article conveying device 30 including a proximity state where the distance between the operator and the article conveying device 30 is shorter than a predetermined distance, and a power outage.

[0087] For example, an emergency stop button 66a is provided on the substrate production line 1. When the emergency stop button 66a is operated, a detection signal indicating that the emergency stop button 66a is operated is sent to the monitoring device 66. The sending of the detection signal continues until the operation of the emergency stop button 66a is released. In addition, a human sensor can be provided on the article conveying device 30. The human sensor detects the presence of an operator (the approach state described above) around the article conveying device 30 using, for example, infrared rays, ultrasonic waves, etc.

[0088] A plurality of human sensors may be provided on the article transport device 30. For example, human sensors may be provided on the upper and lower parts of the article transport device 30 to supplement the detection area of ​​the human sensor. In addition, in the substrate production line 1, various safety measures are implemented so that the operator does not enter between the article transport device 30 and the substrate work machine WM0 (component mounting machine 10) during the movement of the article transport device 30.

[0089] Even when the operator enters between the article transport device 30 and the substrate work machine WM0 (component mounting machine 10) and is sandwiched between them, the load applied to the operator can be reduced by, for example, deformation of the frame of the article transport device 30. In this case, a sensor for detecting deformation of the frame can be provided in the article transport device 30. In this way, the monitoring device 66 can detect various abnormal states of the operator relative to the article transport device 30, including the above-mentioned approach state, based on the detection signals sent from various sensors.

[0090] In addition, a power monitoring sensor can be provided on the substrate production line 1. For example, the power monitoring sensor monitors the DC power (the DC power Vdc2 described above) input to the servo amplifier SV0. When the DC voltage of the DC power Vdc2 becomes less than a predetermined allowable voltage value, the power monitoring sensor sends a detection signal. The monitoring device 66 can detect a power outage of the substrate production line 1 based on the detection signal sent from the power monitoring sensor.

[0091] In this way, the brake device side control unit 64d can determine whether the motor 61 needs to be stopped in a predetermined manner based on whether the monitoring device 66 determines that an emergency has occurred. Fig.10When the monitoring device 66 determines that an emergency has occurred and the brake device side control unit 64d determines that the motor 61 needs to be stopped in a predetermined manner (if "yes" in step S11), the power supply device 62 stops supplying driving power (step S12).

[0092] Specifically, the power supply device 62 turns the switch element of the power converter MC0 of the servo amplifier SV0 into an open state, and stops the output of the power converter MC0. In addition, when a switch that interrupts the DC power (the DC power Vdc2 described above) input to the servo amplifier SV0 is provided on the input side of the power converter MC0, the power supply device 62 may switch the switch from a closed state to an open state.

[0093] In addition, if the monitoring device 66 determines that an emergency has occurred, and the brake device side control unit 64d determines that the motor 61 needs to be stopped in a predetermined manner (if "yes" in step S11), the brake device 64 generates a braking force on the motor 61 (step S12). Specifically, when stopping the motor 61, the brake device side control unit 64d demagnetizes the brake device side coil 64a and changes the brake device side switch 64b from an open state to a closed state, thereby forming a current path for the current flowing in the resistor 64c.

[0094] like Figure 6 As shown in FIG. 1 , when the brake device side switch 64b is switched from the open state to the closed state, a closed circuit is formed by the motor 61, the plurality of (three) circuits 63, and the brake device 64. When a closed circuit is formed, the regenerative energy of the motor 61 is consumed by the resistor 64c. Specifically, a current flows through the resistor 64c, and the regenerative energy of the motor 61 is consumed by the resistor 64c as heat. That is, the current path of the current flowing in the resistor 64c forms the above-mentioned closed circuit.

[0095] Thus, in the present embodiment, the power supply device 62 stops supplying driving power when the monitoring device 66 determines that an emergency has occurred, and the brake device 64 causes the motor 61 to generate braking force when the monitoring device 66 determines that an emergency has occurred. Therefore, the brake control device 60 of the present embodiment can cause the motor 61 to generate braking force when the monitoring device 66 determines that an emergency has occurred.

[0096] In addition, the brake device 64 of this embodiment includes a brake device side coil 64a, a brake device side switch 64b, a resistor 64c, and a brake device side control unit 64d. The brake device side switch 64b is in a closed state when the brake device side coil 64a is demagnetized, and is in an open state when the brake device side coil 64a is excited. The brake device side control unit 64d demagnetizes the brake device side coil 64a when stopping the motor 61, changes the brake device side switch 64b from an open state to a closed state, and forms a current path for the current flowing through the resistor 64c.

[0097] Therefore, even if a power failure occurs in the substrate production line 1 or a failure occurs in the brake device 64 (failure of the servo amplifier SV0), the brake device side coil 64a is demagnetized, so the brake device 64 can generate a braking force on the motor 61 when stopping the motor 61. In addition, if the monitoring device 66 does not determine that an emergency has occurred and the brake device side control unit 64d does not determine that the motor 61 needs to be stopped in a predetermined manner (if "No" in step S11), the control is temporarily terminated.

[0098] 1-4-5. Limiting device 65 and position detection device 67

[0099] After the motor 61 stops, the limiting device 65 switches from a closed state in which each of the plurality of circuits 63 between the motor 61 and the brake device 64 , namely, the target circuits 63 t is closed, to an open state in which each of the target circuits 63 t is opened, thereby limiting the generation of the braking force.

[0100] like Figure 6 as well as Fig. 9 As shown, the limiting device 65 of this embodiment includes a limiting device side coil 65a, a limiting device side switch 65b, and a limiting device side control unit 65c. The limiting device side coil 65a can use a known electromagnetic coil. For example, the limiting device side coil 65a can be supplied with DC power output from a DC power supply, and the limiting device side coil 65a is excited when the DC power is supplied. In addition, the limiting device side coil 65a of this embodiment is provided in the monitoring device 66.

[0101] The restricting device side shutters 65b are respectively provided at a plurality of ( Figure 6 The contact of the limiting device side coil 65a is in the open state when the limiting device side coil 65a is demagnetized, and the contact of the limiting device side coil 65a is in the closed state when the limiting device side coil 65a is excited. After the motor 61 stops, the limiting device side control unit 65c demagnetizes the limiting device side coil 65a, changes the limiting device side switch 65b from the closed state to the open state, and switches the object circuit 63t from the closed state to the open state.

[0102] Specifically, the limiting device side control unit 65c determines whether the switching condition of the target circuit 63t is satisfied ( Fig.10 When the switching condition of the object circuit 63t is satisfied (in the case of "yes" in step S13), the limiting device side control unit 65c demagnetizes the limiting device side coil 65a, changes the limiting device side switch 65b from the closed state to the open state, and switches the object circuit 63t from the closed state to the open state (step S14). Then, the control is temporarily terminated.

[0103] Thus, the generation of the braking force by the brake device 64 is suppressed. Therefore, for example, when the operator moves the article transport device 30, the movement of the article transport device 30 becomes easier than when the braking force by the brake device 64 is generated. In particular, in the article transport device 30 of the present embodiment, the driving wheel 52 of the driving unit 50 is applied to the travel path 32a of the first rail 32. Therefore, in the absence of the restriction device 65 (the restriction device side control unit 65c), the braking force by the brake device 64 is added to the friction force generated between the driving wheel 52 and the travel path 32a, and there is a possibility that the movement of the article transport device 30 by the operator becomes difficult.

[0104] The brake control device 60 of this embodiment is provided with the restriction device 65 (restriction device side control unit 65c), so it is possible to suppress the generation of the braking force of the brake device 64. Therefore, compared with the case where the restriction device 65 (restriction device side control unit 65c) is not provided, the movement of the article transport device 30 is easy. In addition, when the switching condition of the object circuit 63t is not satisfied (in the case of "No" in step S13), the control returns to the judgment shown in step S13. And the restriction device 65 (restriction device side control unit 65c) waits until the switching condition of the object circuit 63t is satisfied.

[0105] The switching condition of the object circuit 63t includes at least the stopping of the motor 61. For example, the limiting device 65 (limiting device side control unit 65c) can determine that the motor 61 has stopped when the elapsed time from the stop of the supply of driving power by the power supply device 62 reaches the required time required for the motor 61 to stop.

[0106] Thus, the limiting device 65 (limiting device side control unit 65c) can easily determine the stop of the motor 61. It should be noted that the required time can be obtained in advance by verification based on simulation or actual machine. In addition, the required time can also be set according to the type (output, size, etc.) of the motor 61, the type (weight, size, etc.) of the article transport device 30, the driving conditions of the motor 61 (speed of the mover, etc.), the magnitude of the friction force generated between the drive wheel 52 and the travel path 32a, etc.

[0107] In addition, the brake control device 60 may also include a position detection device 67. The position detection device 67 detects the position of at least one of the mover of the motor 61 and the article transport device 30. Figure 4 As shown, for example, the position detection device 67 includes a toothed belt 67a, a pinion 67b, and a rotary encoder 67c. The toothed belt 67a is formed of, for example, a rubber-like elastic material, and is provided along the first rail 32 in the X direction.

[0108] The pinion 67b is provided on the main body 41 of the moving device 40 so as to be rotatable about an axis parallel to the Y direction. The pinion 67b is held so as to maintain a meshing state with the teeth of the toothed belt 67a. The rotary encoder 67c can use, for example, a rotation angle sensor that detects the rotation angle of the pinion 67b.

[0109] The position detection device 67 detects the X-direction position of the replacement device 31 and the moving device 40 in the substrate production line 1 based on the output pulse of the rotary encoder 67c. Thus, the article transport device 30 can drive and control the moving device 40 based on the control command to the substrate work machine WM0 (component assembly machine 10) or the production line control device LC0 and the current position of the replacement device 31, so that the replacement device 31 moves to the X-direction position corresponding to the control command. In addition, the position detection device 67 can use various position detection devices such as linear scales. In addition, the position detection device 67 can also use a position detection device such as an encoder that is set on the motor 61 and detects the position of the mover of the motor 61.

[0110] In this way, in the mode in which the brake control device 60 includes the position detection device 67, the restriction device 65 (restriction device side control unit 65c) can also determine whether the motor 61 has stopped based on the detection result of the position detection device 67. Thus, the restriction device 65 (restriction device side control unit 65c) can more accurately determine whether the motor 61 has stopped than when determining based on the above-mentioned elapsed time.

[0111] In the case where the emergency state is not eliminated even when the motor 61 stops, for example, there is a case where the operator wants to move the article transport device 30. Therefore, the switching condition of the object circuit 63t can include the case where the emergency state described above is not eliminated. As described above, the brake control device 60 of this embodiment includes the monitoring device 66. The restriction device 65 (restriction device side control unit 65c) can switch the object circuit 63t from a closed circuit state to an open circuit state when the motor 61 stops and the monitoring device 66 determines that the emergency state is not eliminated.

[0112] In addition, for example, when there is a shortage of articles in the substrate work machine WM0 (for example, the components in the component mounting machine 10 are exhausted), there is a case where it is desired to give priority to the article carrying-in operation or the article carrying-out operation performed by the article transporting device 30. In this case, when the target circuit 63t is switched from the closed circuit state to the open circuit state, the generation of the braking force by the braking device 64 is suppressed, the article transporting device 30 is easy to move, and the article carrying-in operation or the article carrying-out operation may become difficult.

[0113] Therefore, the switching condition of the object circuit 63t may include the completion of the article loading or unloading operation by the article transport device 30. In this case, the restriction device 65 (restriction device side control unit 65c) may switch the object circuit 63t from the closed circuit state to the open circuit state after the article loading or unloading operation by the article transport device 30 is completed after the motor 61 stops.

[0114] In addition, the switching condition of the object circuit 63t can include various conditions. For example, when the operator performs maintenance work on the substrate operation machine WM0, there is a case where the operator wants to move the article transport device 30. In this case, the switching condition of the object circuit 63t can include the start of the maintenance work on the substrate operation machine WM0. The restriction device 65 (restriction device side control unit 65c) can switch the object circuit 63t from a closed circuit state to an open circuit state when the maintenance work on the substrate operation machine WM0 is started after the motor 61 stops.

[0115] 1-4-6. Power supply device during power outage 68

[0116] As described above, the limiting device 65 includes a limiting device side coil 65a, a limiting device side switch 65b, and a limiting device side control unit 65c. The limiting device side switch 65b is in an open state when the limiting device side coil 65a is demagnetized, and is in a closed state when the limiting device side coil 65a is excited. The above-mentioned limiting device 65 is preferable from the viewpoint of failure protection.

[0117] However, if a power failure occurs in the substrate production line 1 before the motor 61 stops, the limiting device side coil 65a is demagnetized, and there is a possibility that the object circuit 63t switches from the closed circuit state to the open circuit state before the motor 61 stops. Therefore, when the motor 61 is stopped, it is difficult to generate a braking force by the brake device 64. Fig. 9 As shown, the brake control device 60 of the present embodiment includes a power failure power supply device 68 .

[0118] The power supply device 68 during a power outage supplies power to the limiting device side control unit 65c from the time when the power outage occurs to the time when the motor 61 stops and the limiting device 65 switches the object circuit 63t from the closed circuit state to the open circuit state. The power supply device 68 during a power outage includes a power supply device such as a battery, and can supply power to the limiting device side control unit 65c. Thus, even if a power outage occurs in the substrate production line 1, the limiting device 65 (limiting device side control unit 65c) can switch the object circuit 63t from the closed circuit state to the open circuit state.

[0119] 1-4-7. Substrate production line 1 equipped with brake control device 60

[0120] The substrate production line 1 may also include a brake control device 60 of any of the above-mentioned modes. In addition, as described above, the article conveying device 30 can travel on the travel path 32a provided along the arrangement direction of the plurality of (4) substrate work machines WM0 (component assembly machines 10) (the conveying direction (X direction) of the substrate 90). In addition, the power supply device 62 includes a power supply device 62a, a power distribution device 62b, and a power supply circuit 62c, and uses the supply power supplied from the power supply circuit 62c by non-contact power supply to supply the driving power of the motor 61.

[0121] 1-5. Others

[0122] The article conveying device 30 of the present embodiment is capable of traveling on a travel path 32a provided along a plurality of (4) configuration directions (conveying directions (X directions) of the substrate 90) of the substrate work machines WM0 (component assembly machines 10). However, the article conveying device 30 may also be an unmanned guided vehicle (AGV: Automatic Guided Vehicle) capable of automatic travel. In addition, in the present embodiment, the article conveyed by the article conveying device 30 is a feeder 20. However, the article may also be, for example, a nozzle station, a waste tape recovery container, etc., which are equipped in a replaceable manner on the component assembly machine 10. Furthermore, the motor 61 of the present embodiment is a rotary motor in which a mover rotates. However, the motor 61 may also be a linear motor.

[0123] In addition, the brake control device 60 can generate a braking force caused by the so-called regenerative braking while generating a braking force caused by the brake device 64. Specifically, the brake control device 60 can include a second brake device. When the second brake device generates a braking force on the motor 61 through the brake device 64, the second brake device controls the opening and closing of the switching element of the power converter MC0 of the servo amplifier SV0. For example, the second brake device can control the DC power ( Figure 6The second braking device can also control the opening and closing of multiple (3) positive-side switching elements connected to the positive side of the DC power Vdc2 (shown). In addition, the second braking device can also control the opening and closing of multiple (3) negative-side switching elements connected to the negative side of the DC power (DC power Vdc2) input to the power converter MC0 at a predetermined duty cycle. In either case, the second braking device has passive elements such as resistors and capacitors, and the regenerative energy is consumed by the passive elements.

[0124] 2. Example of Effects of Implementation

[0125] The brake control device 60 includes a brake device 64 and a limiter 65. Therefore, the brake control device 60 can quickly stop the motor 61 that moves the article conveying device 30, and can reduce the braking force generated when the article conveying device 30 is moved after the motor 61 stops, compared with a case where the brake control device 60 does not include the brake device 64 and the limiter 65. The above contents about the brake control device 60 are also the same for the substrate production line 1.

[0126] Description of Reference Numerals

[0127] 1: Substrate production line 30: Article transport device 32a: Travel path

[0128] 60: Braking control device 61: Electric motor 62: Power supply device

[0129] 62a: power supply device 62b: power distribution device 62c: power supply circuit

[0130] 63: Circuit 63t: Object circuit 64: Braking device

[0131] 64a: Braking device side coil 64b: Braking device side switch 64c: Resistor

[0132] 64d: brake device side control unit 65: limiter 65a: limiter side coil

[0133] 65b: Limiting device side switch 65c: Limiting device side control unit 66: Monitoring device

[0134] Place

[0135] 66a: Emergency stop button 67: Position detection device

[0136] 68: Power supply device during power failure 90: Substrate WM0: Substrate operation machine

Claims

1. A brake control device comprising: A motor moves an article transport device, wherein the article transport device transports the article to a predetermined substrate operation machine of a substrate production line in which a plurality of substrate operation machines are arranged to perform predetermined substrate operations on the substrate; A power supply device for supplying driving power to the motor; a plurality of circuits for transmitting the driving power from the power supply device to the motor; a brake device for consuming regenerative energy of the motor between the plurality of circuits when stopping the motor so that the motor generates a braking force; as well as a limiting device that switches from a closed circuit state in which target circuits are respectively closed to an open circuit state in which the target circuits are respectively opened after the motor stops, thereby limiting the generation of the braking force, wherein the target circuits are the plurality of circuits between the motor and the braking device, After the motor stops, the article transporting device completes the loading or unloading operation of the article, and the limiting device switches the target circuit from the closed state to the open state.

2. The brake control device according to claim 1, in, The brake control device includes a monitoring device that monitors an emergency state, the emergency state being at least one of an operation of an emergency stop button that stops the article transporting device, an abnormal state of the operator relative to the article transporting device including a proximity state where the distance between the operator and the article transporting device is shorter than a predetermined distance, and a power outage. When the monitoring device determines that the emergency has occurred, the power supply device stops supplying the driving power. When the monitoring device determines that the emergency state has occurred, the braking device causes the electric motor to generate the braking force.

3. The brake control device according to claim 1 or 2, in, The braking device comprises: Braking device side coil; A brake device side switch, which is provided between the plurality of circuits, and has a contact which is in a closed state when the brake device side coil is demagnetized, and has a contact which is in an open state when the brake device side coil is excited; a resistor connected in series with the brake device-side switch and capable of consuming the regenerative energy; as well as The brake device side control unit demagnetizes the brake device side coil when stopping the electric motor, changes the brake device side switch from an open state to a closed state, and forms a current path for the current to flow through the resistor.

4. The brake control device according to claim 1 or 2, in, The restriction device determines that the motor has stopped when the elapsed time from when the power supply device stops supplying the driving power reaches the required time required until the motor stops.

5. The brake control device according to claim 1 or 2, in, The brake control device includes a position detection device that detects a position of at least one of a mover of the motor and the article transport device. The restriction device determines whether the motor has stopped based on the detection result of the position detection device.

6. The brake control device according to claim 1 or 2, in, The brake control device includes a monitoring device that monitors an emergency state, the emergency state being at least one of an operation of an emergency stop button that stops the article transporting device, an abnormal state of the operator relative to the article transporting device including a proximity state where the distance between the operator and the article transporting device is shorter than a predetermined distance, and a power outage. When the motor stops and the monitoring device determines that the emergency state has not been resolved, the limiting device switches the target circuit from the closed state to the open state.

7. The brake control device according to claim 1 or 2, in, The limiting device comprises: Restriction device side coil; a limiter-side switch, provided in each of the plurality of circuits, wherein a contact is in an open state when the limiter-side coil is demagnetized, and a contact is in a closed state when the limiter-side coil is energized; as well as The limiting device side control unit demagnetizes the limiting device side coil after the motor stops, changes the limiting device side switch from a closed state to an open state, and switches the target circuit from the closed state to the open state.

8. The brake control device according to claim 7, in, The brake control device includes a power failure power supply device that supplies power to the limiting device side control unit during a period from when a power failure occurs to when the motor stops and when the limiting device switches the target circuit from the closed state to the open state.

9. A substrate production line comprising the brake control device according to any one of claims 1 to 8, in, The article transport device is capable of traveling on a travel path provided along the arrangement direction of the plurality of substrate working machines. The power supply device comprises: A power supply device, generating electricity; a power distribution device for distributing the power generated by the power supply device to each of the plurality of substrate working machines; as well as a power supply circuit provided in each of the plurality of substrate working machines, and generating the driving power supplied to the motor using the power distributed via the power distribution device, The power supply device supplies the driving power of the motor using the supply power supplied from the power supply circuit by contactless power supply.

Images