Component supply control system

Abstract

A bulk supply device includes: a supply device main body; a track member provided so as to be able to vibrate with respect to the supply device main body, and formed with a conveyance path that conveys a plurality of components; a vibration applying device that applies vibration to the track member to convey the plurality of components along the conveyance path; and a vibration sensor that detects a vibration value that indicates a vibration state of the track member that vibrates by the vibration application of the vibration applying device.

Description

Technical Field

[0001] This invention relates to a bulk feeder and a component supply control system. Background Technology

[0002] The component supply control system controls the supply of components using a bulk feeder. The bulk feeder is equipped on a component mounting machine that mounts components onto a substrate, supplying components in a bulk state. Patent Document 1 discloses a structure that applies vibration to the conveying path to transport multiple components. Through this conveying action, the bulk feeder supplies components in a supply area that opens upwards, allowing the suction nozzle to pick up the components.

[0003] Existing technical documents

[0004] Patent Document 1: Japanese Patent Application Publication No. 2011-114084 Summary of the Invention

[0005] The problem that the invention aims to solve

[0006] Such bulk feeders, for example, are instructed by the control device of a component mounting machine to supply components and perform predetermined conveying actions. However, due to changes in the operating environment of the bulk feeder, even if the bulk feeder performs preset actions according to external instructions, it is not guaranteed to maintain a reliable component supply. Furthermore, in systems that control the component supply using bulk feeders, it is necessary to maintain a reliable component supply status to improve productivity.

[0007] The purpose of this specification is to provide a bulk feeder capable of obtaining useful information related to actual feeding operations, and a component supply control system capable of ensuring good supply status of components in the bulk feeder and improving the productivity of component assembly machines equipped with bulk feeders.

[0008] Technical solutions for solving the problem

[0009] This specification discloses a bulk feeder comprising: a feeder body; a track component arranged to vibrate relative to the feeder body, forming a conveying path for conveying multiple components; a vibration device that applies vibration to the track component to convey the multiple components along the conveying path; and a vibration sensor that detects a vibration value indicating the vibration state of the track component vibrating due to the vibration of the vibration device.

[0010] This specification discloses a component supply control system comprising: a bulk feeder; a frequency determination unit that determines the natural vibration frequency of a vibrating body, including the track component, based on the detection results of the vibration sensor; and a conveying control unit that controls the conveying operation of the component in the bulk feeder based on the determination result of the frequency determination unit.

[0011] Invention Effects

[0012] Based on this structure, by detecting the vibration value representing the actual vibration state of the vibrating track component, useful information related to the actual feeding operation can be obtained. Furthermore, by equipping such a bulk feeder and controlling the conveying operation based on the inherent vibration frequency of the vibrating body, including the track component, the feeding state of the components in the bulk feeder can be optimized. Therefore, the productivity of component assembly machines equipped with bulk feeders can be improved. Attached Figure Description

[0013] Figure 1 It is a schematic top view of a component assembly machine equipped with a bulk feeder.

[0014] Figure 2 This is a three-dimensional view showing the appearance of the bulk feeder.

[0015] Figure 3 This is a schematic side view showing the main parts of the bulk feeder.

[0016] Figure 4 From Figure 2 A top view taken from direction IV.

[0017] Figure 5 This is a block diagram representing a component mounting machine that utilizes a component supply control system.

[0018] Figure 6 It is a graph that shows the relationship between the frequency and amplitude of a vibrating body.

[0019] Figure 7 This is a flowchart representing the component supply control process.

[0020] Figure 8 This is a flowchart representing the correction process. Detailed Implementation

[0021] The component supply control system 80, which controls the supply of components using the bulk feeder 30, will be described with reference to the accompanying drawings. The bulk feeder 30 is, for example, equipped on a component mounting machine 10 that mounts components 92 onto a substrate 91, and supplies components 92 in a bulk state (each in an irregular, scattered state).

[0022] 1. Structure of component mounting machine 10

[0023] The component mounting machine 10, together with various substrate mounting machines including other component mounting machines 10, constitutes a production line for producing substrate products. The substrate mounting machines constituting the above-mentioned production line may include printers, inspection devices, reflow ovens, etc.

[0024] 1-1. Substrate conveying device

[0025] like Figure 1 As shown, the component mounting machine 10 includes a substrate transport device 11. The substrate transport device 11 transports substrates 91 sequentially in the transport direction and positions the substrates 91 at predetermined positions within the machine.

[0026] 1-2. Component supply device 12

[0027] The component mounting machine 10 includes a component supply device 12. The component supply device 12 supplies components to be mounted on the substrate 91. The component supply device 12 is equipped with feeders 122 in a plurality of slots 121. The feeders 122 may be, for example, belt feeders, which feed a carrier belt containing a plurality of components, thereby providing components in a pick-up manner. Alternatively, the feeders 122 may be bulk feeders 30 that provide components in a bulk state for pick-up. Details regarding bulk feeders 30 will be described later.

[0028] 1-3. Component transfer device 13

[0029] The component mounting machine 10 includes a component transfer device 13. The component transfer device 13 transfers components supplied by the component supply device 12 to predetermined mounting positions on the substrate 91. The component transfer device 13 includes a head drive device 131, a moving stage 132, a mounting head 133, and a suction nozzle 134. The head drive device 131 moves the moving stage 132 horizontally (in the X and Y directions) via a linear motion mechanism. The mounting head 133 is detachably fixed to the moving stage 132 by a clamping member (not shown) and is arranged within the machine in a manner that allows it to move horizontally.

[0030] The mounting head 133 supports multiple suction nozzles 134 in a rotatable and height-adjustable manner. Each suction nozzle 134 is a holding member that picks up and holds the component 92 supplied by the feeder 122. The suction nozzle 134 adsorbs the component supplied by the feeder 122 using supplied negative pressure air. As a holding member mounted on the mounting head 133, a chuck or similar device that holds the component by a gripping element can be used.

[0031] 1-4. Component camera 14, substrate camera 15

[0032] The component mounting machine 10 includes a component camera 14 and a substrate camera 15. The component camera 14 and substrate camera 15 are digital imaging devices with imaging elements such as CMOS. The component camera 14 and substrate camera 15 capture images based on control signals and transmit the image data acquired through this capture. The component camera 14 is configured to capture images of components held in the suction nozzle 134 from below. The substrate camera 15 is mounted on the moving stage 132 in a manner that allows it to move horizontally integrally with the mounting head 133. The substrate camera 15 is configured to capture images of the substrate 91 from above.

[0033] In addition to photographing the surface of the substrate 91, the substrate camera 15 can also photograph various devices as long as they are within the movable range of the moving stage 132. For example, in this embodiment, such as Figure 4 As shown, the substrate camera 15 can capture the supply area As of the supply element 92 of the bulk feeder 30 and the reference mark 344 provided on the upper part of the bulk feeder 30 within the camera's field of view for imaging. In this way, the substrate camera 15 can be used for imaging different subjects in order to obtain image data used in various image processing.

[0034] 1-5. Control Device 16

[0035] like Figure 1 As shown, the component mounting machine 10 includes a control device 16. The control device 16 mainly consists of a CPU, various memories, control circuits, and storage devices. The control device 16 stores various data, such as control programs for controlling the mounting process. The control program indicates the mounting position, mounting angle, and mounting sequence of the components mounted onto the substrate 91 during the mounting process.

[0036] The control device 16 performs image processing to identify the holding state of the components held by the multiple holding members (nozzles 134). Specifically, the control device 16 performs image processing on image data acquired by the component camera 14 to identify the position and angle of each component relative to the reference position of the mounting head 133. In addition to the component camera 14, the control device 16 can also perform image processing on image data acquired from the side, below, or above of the components, such as from a head camera unit integrated with the mounting head 133.

[0037] The control device 16 controls the component mounting actions performed by the mounting head 133 and executes the mounting process based on a control program. Here, the mounting process includes repeating a PP cycle (pick-and-place cycle) that includes both pick-up and mounting actions multiple times. The aforementioned "pick-up action" refers to the action of picking up the component supplied by the component supply device 12 through the nozzle 134.

[0038] In this embodiment, when the control device 16 performs the aforementioned picking operation, it controls the operation of the component supply device 12, which includes the bulk feeder 30. The control targeting the operation of the bulk feeder 30 includes, for example, the control of the supply operation of the component 92 performed by the bulk feeder 30 and the control of the opening and closing operation of the opener 37, which will be described later.

[0039] The control device 16 includes a status recognition unit 81. The status recognition unit 81 identifies the supply status of multiple components 92 in the supply area As of the bulk feeder 30 based on image data acquired by a camera (in this embodiment, a substrate camera 15). The supply status recognition process includes identifying whether a pickable component 92 exists in the supply area As, and, if so, identifying the position and angle of that component 92. Furthermore, the control device 16 controls the operation of the mounting head 133 during the picking action based on the result of the supply status recognition process.

[0040] Furthermore, the aforementioned "installation action" refers to the action of installing the picked-up component at a predetermined installation angle onto a predetermined installation position on the substrate 91. During the installation process, the control device 16 controls the movement of the mounting head 133 based on information output from various sensors, image processing results, control programs, etc. This controls the position and angle of the multiple suction nozzles 134 supported on the mounting head 133.

[0041] 2. Structure of the bulk feeder 30

[0042] The bulk feeder 30 is equipped on the component mounting machine 10 and functions as part of the component supply device 12. The bulk feeder 30 supplies components 92 that are contained in a bulk state, which is not as neatly arranged as a carrier belt. Therefore, unlike a belt feeder, the bulk feeder 30 does not use a carrier belt, thus having advantages in terms of eliminating the need for carrier belt filling and the recycling of the belt after use.

[0043] Bulk feeder 30, for example, is of the type that supplies components 92 in an irregular posture to a planar supply area As. However, if the components 92 are in close contact with each other or are stacked (overlapping in the vertical direction) in the supply area As, or if the width direction of the components 92 is in a horizontal posture like the vertical direction, the component mounting machine 10 cannot pick up these components 92. Therefore, in order to increase the proportion of components 92 that can be picked up, there is a type of bulk feeder 30 that supplies components 92 in a neatly arranged state in the supply area As. In this embodiment, a bulk feeder 30 of the type that neatly arranges components 92 will be described.

[0044] 2-1. Feeder body 31

[0045] like Figure 2 As shown, the bulk feeder 30 has a flat, box-shaped feeder body 31. A connector 311 and two pins 312 are provided at the front of the feeder body 31. When the feeder body 31 is installed in the slot 121 of the component supply device 12, it is powered via the connector 311 and becomes capable of communicating with the control device 16. The two pins 312 are inserted into guide holes provided in the slot 121 for positioning the feeder body 31 when installed in the slot 121.

[0046] 2-2. Receiving component 32

[0047] On the feeder body 31, a component box 70 is detachably mounted via a receiving member 32, which holds multiple components 92 in a bulk state. The component box 70 is an external device of the bulk feeder 30. A suitable type of component box 70 is selected from various types for installation on the feeder body 31. A discharge port 71 for discharging components 92 to the outside is formed at the front of the component box 70.

[0048] The receiving member 32 is configured to vibrate relative to the feeder body 31, supporting the mounted component cassette 70. The receiving member 32 forms a receiving area Ar for receiving components 92 discharged from the component cassette 70. In this embodiment, the receiving member 32 has an inclined portion 321 in the receiving area Ar that is inclined forward relative to the horizontal plane. This inclined portion 321 is located below the discharge port 71 of the component cassette 70 and is planar. The receiving member 32 forms a flow path for the components 92 extending upward into the receiving area Ar, and this flow path forms an upwardly opening discharge portion 322.

[0049] 2-3. Bracket 33, Track component 34, Locking unit 35

[0050] The bulk feeder 30 includes a bracket 33 and a track component 34. The bracket 33 is configured to vibrate relative to the feeder body 31. The bracket 33 is formed as a block extending along the front-rear direction of the feeder body 31, and the track component 34 is mounted on its upper surface. The bracket 33 is supported by a support component 41 of the vibration device 40, which will be described later. The track component 34 has a conveying path R for conveying multiple components 92 and a supply area As that communicates with the conveying path R and opens upward to pick up multiple components 92.

[0051] The bulk feeder 30 includes a locking unit 35. The locking unit 35 locks the track component 34 when it is mounted on the bracket 33. When locked by the locking unit 35, the track component 34 vibrates integrally with respect to the feeder body 31 and the bracket 33. The track component 34 can be detached from the bracket 33 by unlocking the locking unit 35.

[0052] 2-4. Detailed structure of track component 34, cover 36, opener / closer 37, connecting component 38

[0053] The track component 34 runs along the front-rear direction of the feeder body 31. Figure 4 It is formed by extending in the left-right direction. In the width direction of track component 34 ( Figure 4 The two edges of the conveyor (in the vertical direction) have a pair of upwardly projecting sidewalls 341. The pair of sidewalls 341, together with the front end portion 342 of the track component 34, surround the periphery of the conveying path R to prevent leakage of the component 92 conveyed on the conveying path R. On the upper surface of the front end portion 342, a pair of circular reference marks 344 are attached to the left and right sides to indicate the reference position of the supply area As.

[0054] In this embodiment, a aligning member 50 is replaceably mounted on the track member 34. The aligning member 50 has multiple cavities 51 that respectively accommodate multiple elements 92. Specifically, the multiple cavities 51 are arranged in a matrix in the supply area As. For example, the aligning member 50 has a total of 80 cavities 51, of which 8 are regularly arranged in the conveying direction and 10 are regularly arranged in the width direction of the conveying path R. The multiple cavities 51 open upwards to accommodate the elements 92 in an orientation where the thickness direction of the elements 92 is vertical.

[0055] The opening of cavity 51 is set to be slightly larger than the external shape of element 92 when viewed from above. The depth of cavity 51 is set according to the type (shape, mass, etc.) of element 92. The track component 34 is equipped with one of various types of track components 34 selected according to the type of element 92, the necessary number of cavities 51, and functionality.

[0056] Here, the "supply area As" of the track component 34 refers to the area where the component 92 is supplied in a bulk state, and is the area where the component 92 can be picked up by the suction nozzle 134 supported on the mounting head 133. In addition, the "transport path R" of the track component 34 refers to the channel through which the component 92 flowing from the receiving area Ar to the track component 34 is transported to the supply area As.

[0057] The bulk feeder 30 includes a cover 36. The cover 36 is fixed to the track component 34 and covers the top of the conveying path R. Multiple vents 361 are formed on the upper surface of the cover 36. Mesh openings smaller than the external dimensions of the element 92 are provided on the vents 361. With this structure, the cover 36 is configured to prevent the element 92 from flying out of the conveying path R and to allow air to be discharged to the outside through the vents 361.

[0058] The bulk feeder 30 includes an opener / closer 37, which is located on the upper part of the track component 34 and can block the opening of the supply area As. By opening and closing the opener / closer 37, the bulk feeder 30 can prevent the component 92 from flying out and foreign matter from entering the supply area As. In this embodiment, the opener / closer 37 switches between an open state, a closed state, and an intermediate state through an opening and closing action. The closed state of the opener / closer 37 refers to the state in which the opener / closer 37 is in contact with the track component 34, and the opening of the supply area As is completely blocked. At this time, if... Figure 4 As shown by the dotted line, the opening / closing device 37 is located on the rear side of the feeder body 31, relative to the pair of reference marks 344 of the track component 34. When viewed from above, the pair of reference marks 344 can be visually confirmed and photographed.

[0059] Furthermore, the "open state" of the open / close device 37 refers to the state where the opening of the supply area As is not blocked, and the main area of ​​the supply area As (the area where multiple cavities 51 are provided in this embodiment) is exposed. At this time, the suction nozzle 134 can perform the picking-up action of the element 92 on any cavity 51. The "intermediate state" of the open / close device 37 refers to the state between the closed state and the open state, which is the state where the open / close device 37 moves away from the track member 34 at a position at least larger than the amplitude of the track member 34 vibrating by the vibration device 40, and the limiting element 92 flies out of the opening of the supply area As. The open / close device 37 performs the opening and closing action by a drive device (not shown in the figure), and becomes the closed state, open state, and intermediate state depending on the driving state of the drive device.

[0060] The track component 34 has a flow path for a downwardly extending element 92 formed at its rear, and an inlet portion 343 that opens downwardly into the flow path. The inlet portion 343 faces the outlet portion 322 of the receiving component 32 in the vertical direction. The bulk feeder 30 includes a tubular connecting member 38. The connecting member 38 connects the outlet portion 322 of the receiving component 32 and the inlet portion 343 of the track component 34. In this embodiment, the connecting member 38 is a closely spaced helical spring and is flexible overall.

[0061] With the above-described structure, the connecting member 38 connects the receiving area Ar and the conveying path R in a manner that allows the multiple elements 92 to flow through. Furthermore, the connecting member 38 absorbs vibration by deforming in response to vibrations of the receiving member 32 relative to the feeder body 31 and the track member 34. The connecting member 38 reduces or interrupts vibrations transmitted between the independently vibrating receiving member 32 and track member 34.

[0062] 2-5. Air supply device 39

[0063] The bulk feeder 30 includes an air supply device 39. The air supply device 39 supplies positive pressure air from below the receiving area Ar, allowing multiple components 92 to flow 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 according to the instructions of the feeder control device 60 described later.

[0064] When the air supply device 39 supplies positive pressure air, the multiple components 92 that are retained in the receiving area Ar are blown upward by the positive pressure air. The positive pressure air and the multiple components 92 flow in the order of the delivery part 322, the connecting part 38 and the inlet part 343 of the receiving member 32, 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. In addition, the multiple components 92 fall into the transport path R of the track member 34 due to their own weight.

[0065] 2-6. Vibration device 40

[0066] The bulk feeder 30 includes a vibration device 40 disposed on the feeder body 31. The vibration device 40 applies vibration to the track component 34 to cause multiple components 92 to be conveyed along the conveying path R. Specifically, the vibration device 40 includes multiple support components 41, multiple piezoelectric elements 42, vibration sensors 43, and a power supply device 44. The multiple support components 41 directly or indirectly connect the feeder body 31 and the bracket 33, thereby supporting the bracket 33.

[0067] In this embodiment, the plurality of support members 41 have a forward support member 41A for front-side conveying of the element 92 and a backward support member 41B for rear-side conveying. The forward support member 41A and the backward support member 41B each have different inclination directions relative to the vertical direction. The plurality of piezoelectric elements 42 are oscillators that vibrate at a frequency corresponding to the power supplied from the power supply device 44. The plurality of piezoelectric elements 42 are attached to each of the plurality of support members 41.

[0068] When at least a portion of the piezoelectric elements 42 vibrates, vibration is applied to the track component 34 via the bracket 33. Furthermore, the amplitude of the track component 34 varies depending on the voltage applied to the piezoelectric elements 42. The vibration sensor 43 detects a vibration value representing the vibration state of the track component 34 vibrating due to the applied vibration from the vibration device 40. As the vibration value representing the aforementioned vibration state, amplitude, frequency, decay time, vibration trajectory (the movement trajectory of a specific part accompanying the vibration), etc., can be applied. In this embodiment, the vibration sensor 43 detects the actual frequency or amplitude of the vibration of the track component 34 when the piezoelectric elements 42 are powered and vibrate.

[0069] In this embodiment, vibration sensors 43 are respectively disposed on a plurality of support members 41 that support the bracket 33, which vibrates integrally with the track member 34. More specifically, piezoelectric elements 42 and vibration sensors 43 are disposed on each of the forward support member 41A and the backward support member 41B. When the piezoelectric element 42 disposed on the forward support member 41A is powered and vibration is applied to the track member 34 via the bracket 33, the vibration sensor 43 disposed on the forward support member 41A detects the actual frequency or amplitude as a vibration value.

[0070] Here, when the vibration device 40 applies vibration to the track component 34, the track component 34 undergoes elliptical motion in a side view. As a result, multiple elements 92 located on the transport path R are subjected to an external force in front and above, or an external force in rear and above, depending on the rotational direction of the elliptical motion of the track component 34. As a result, the multiple elements 92 are transported to the front of the track component 34 or to the rear.

[0071] Based on instructions from the feeder control device 60 (described later), the power supply device 44 adjusts the frequency and applied voltage of the power supplied to the piezoelectric element 42. This adjusts the frequency and amplitude of the vibration applied to the track component 34, determining the rotational direction of the elliptical motion of the track component 34. When the frequency, amplitude, and rotational direction of the elliptical motion caused by the vibration of the track component 34 change, the conveying speed, dispersion of the conveyed element 92, and conveying direction also change.

[0072] Therefore, in order to improve conveying efficiency, the vibration device 40 is pre-set with a power supply (frequency, applied voltage) corresponding to the vibration characteristics (including the inherent vibration frequency) with individual differences. For example, the bulk feeder 30 performs a correction process when the track component 34 for the predetermined feeding action is installed, that is, when the track component 34 is locked relative to the bracket 33 by the locking unit 35. Details of the correction process described above will be described later.

[0073] 2-7. Feeder control device 60

[0074] The bulk feeder 30 includes a feeder control device 60. The feeder control device 60 mainly consists of a CPU, various memories, and control circuits. When the bulk feeder 30 is installed in the slot 121, the feeder control device 60 is powered via the connector 311 and is also able to communicate with the control device 16 of the component mounting machine 10.

[0075] like Figure 2As shown, the feeder control device 60 has a storage unit 61. The storage unit 61 is composed of flash memory or the like. Various data, such as programs and transport parameters used in the control of the component supply process, are stored in the storage unit 61. The aforementioned "transport parameters" are parameters used to control the operation of the vibration device 40 to ensure that the vibration applied to the track component 34 is appropriate when the component 92 is transported in the component supply process. For example, they are preset in association with each type of component 92.

[0076] The feeder control device 60 includes a vibration control unit 62. The vibration control unit 62 controls the operation of the vibration device 40 and executes the conveying action of the element 92. Specifically, when executing the conveying action, the vibration control unit 62 sends a command to the power supply device 44 of the vibration device 40. As a result, the power supply device 44 supplies a predetermined amount of power to the piezoelectric element 42, thereby applying vibration to the track component 34 via the bracket 33. Furthermore, the element 92 on the conveying path R is conveyed by an external force to move along the conveying direction.

[0077] Based on the structure of the bulk feeder 30 described above, by detecting the vibration value representing the actual vibration state of the vibrated track component 34, useful information related to the actual feeding operation in the bulk feeder 30 can be obtained. This vibration value can be used to diagnose whether the bulk feeder 30 is performing the intended operation, and, as shown below, can be used to determine the frequency of vibration that should be applied to the track component 34 for efficient feeding operation. Furthermore, the vibration value can be used for correction processing of the bulk feeder 30 performed in response to changes in the vibration environment. Details of each processing will be described later.

[0078] 3. Structure of the component supply control system 80

[0079] The component supply control system 80 controls the supply of components using the aforementioned bulk feeder 30. In this embodiment, as... Figure 5 As shown, the component supply control system 80 is assembled in the control device 16 and is configured to communicate with the bulk feeder 30 equipped in the slot 121. The component supply control system 80 controls the component supply to maintain a good supply state of components 92 in the bulk feeder 30.

[0080] 3-1. Status Recognition Unit 81

[0081] like Figure 5As shown, the component supply control system 80 includes a status recognition unit 81. As described above, the status recognition unit 81 identifies the supply status of multiple components 92 in the supply area As of the bulk feeder 30 based on image data acquired by the substrate camera 15. More specifically, the status recognition unit 81 first performs supply status recognition processing based on image data acquired by capturing the supply area As while the bulk feeder 30 is conveying multiple components 92 into the supply area As through vibration.

[0082] In the supply area As, there are multiple components 92 in a bulk state. For example, there may be components housed in the cavity 51 in a normal posture, components located outside the cavity 51, components in contact with or stacked together, components in a horizontal posture, etc. Furthermore, the state recognition unit 81 identifies whether each component 92 identified by image processing is in a supply state that can be picked up. Alternatively, the state recognition unit 81 identifies the supply state for each of the multiple cavities 51.

[0083] The aforementioned "supply state" includes: a state in which the element 92 is present in the cavity 51 and can be picked up; a state in which the element 92 is present in the cavity 51 but cannot be picked up; and a state in which the element 92 is not present in the cavity 51. Here, in the supply area As, for example, due to an excess of elements 92 being supplied relative to the number of cavities 51, multiple densely packed element groups of 92 may sometimes be formed. The state recognition unit 81 may also further calculate the position and size of the element group as the element group state based on image data.

[0084] 3-2. Frequency Determination Unit 82

[0085] like Figure 5 As shown, the component supply control system 80 includes a frequency determination unit 82. Based on the detection results of the vibration sensor 43, the frequency determination unit 82 determines the natural vibration frequency of the vibrating body, including the track component 34. Here, the vibrating body refers to an assembly of components that vibrate integrally with the track component 34 through the vibration of the vibration device 40. In this embodiment, the vibrating body is composed of the track component 34, the bracket 33, the locking unit 35, and the cover 36.

[0086] Here, the "natural vibration frequency" in this specification refers to the vibration frequency under the premise that the vibrating body is supported by the support member 41 and in contact with other members such as the connecting member 38, which is equivalent to the vibration frequency when resonance occurs due to external force (vibration of the vibration device 40). In this embodiment, the frequency determination unit 82 causes the vibration device 40 to apply vibrations of different frequencies to the track member 34, and sets the vibration frequency at which the amplitude of the track member 34 reaches its maximum, as detected by the vibration sensor 43, as the natural vibration frequency.

[0087] When the vibration device 40 applies vibration, the vibrating body, for example, receives a reaction from the connecting member 38, resonates at the aforementioned inherent vibration frequency in a vibration environment that also contains such resistance. Figure 6 Curves L1 and L2 in the diagram represent the relationship between the frequency of the vibration applied by the vibration device 40 and the amplitude of the actual vibration of the track component 34. For example, as... Figure 6 As shown by curve L1, the vibration of track component 34 reaches its maximum amplitude Max1 at a predetermined frequency Fn1.

[0088] In this embodiment, the frequency determination unit 82 first applies vibrations of various frequencies to the track component 34 (vibrating body). These various frequencies can be frequencies obtained by dividing a predetermined frequency band into a predetermined number of equal parts, or frequencies obtained by adding or subtracting a predetermined number from a designed frequency. The frequency determination unit 82 obtains the amplitude of the track component 34 to which each frequency has been applied, and sets the frequency Fn1, which vibrates with the largest amplitude Max1, as the natural vibration frequency. The aforementioned frequency is the frequency at which the vibrating body resonates in the current vibration environment.

[0089] Furthermore, the inherent vibration frequency may also vary within a few Hz due to changes in the structure of the components in contact with the vibrating body (such as the connecting component 38) and the vibration device 40. Specifically, the vibration device 40 illustrated in this embodiment has a forward support member 41A for front-side conveying and a backward support member 41B for rear-side conveying, which applies vibration by supplying power to the piezoelectric elements 42 respectively disposed thereon. Therefore, for example, the backward support member 41B is a component in contact with the bracket 33, and thus affects the vibration of the vibrating body during front-side conveying.

[0090] Figure 6 Curves L1 and L2 in the diagram show that the natural vibration frequencies (frequency Fn1, Fn2) of the vibrators differ between front-side and rear-side conveying. Furthermore, in cases where the structures of the individual vibrators are substantially different, such as... Figure 6 As shown, the maximum amplitudes Max1 and Max2 of the vibrating body at each natural vibration frequency (frequency Fn1, Fn2) may be different from each other. Therefore, in this embodiment, the frequency determination unit 82 causes the vibration application device 40 to apply vibrations corresponding to the front conveying and rear conveying to the track component 34, and determines two natural vibration frequencies (frequency Fn1, Fn2) for the conveying actions used for the front conveying and rear conveying respectively.

[0091] Here, the natural vibration frequency of the vibrator may change as the track component 34 or the aligning component 50 is replaced. Therefore, the frequency determination unit 82 can determine the natural vibration frequency of the vibrator, for example, when the bulk feeder 30 is powered on. In addition, the natural vibration frequency of the vibrator may gradually change due to the changes in the bulk feeder 30 over the years. Therefore, the frequency determination unit 82 can also determine the natural vibration frequency of the vibrator when a predetermined time has elapsed after the bulk feeder 30 is powered on or when the conveying operation of the component 92 performed by the bulk feeder 30 exceeds a predetermined number of times.

[0092] Furthermore, the determination of the natural vibration frequency requires actual vibration of the track component 34. If this is performed at an arbitrary time, it may affect the execution of the mounting process in the component mounting machine 10. Therefore, the frequency determination unit 82 preferably performs the natural vibration frequency determination process during a rest period of the component supply device 12 that does not affect the mounting process. In this embodiment, the frequency determination unit 82 performs at least a portion of the natural vibration frequency determination process during the loading or unloading of the substrate 91 relative to the component mounting machine 10. The frequency determination unit 82 stores the determined natural vibration frequency (for forward and backward movement) of the vibrating body in the control device 16.

[0093] 3-3. Correction section 83

[0094] like Figure 5 As shown, the component supply control system 80 includes a correction unit 83. The correction unit 83 performs correction processing to correct the operation of the vibration device 40. Based on the natural vibration frequency determined by the frequency determination unit 82, the correction unit 83 adjusts the power supplied to the vibrator (piezoelectric element 42) to obtain the power supplied to the vibrator (piezoelectric element 42) when the track component 34 vibrates at its natural vibration frequency (in other words, the current value relative to the applied voltage). The correction unit 83 obtains the power corresponding to each of the natural vibration frequencies of the vibrating body, respectively, for forward and backward movements.

[0095] Specifically, the correction unit 83 first obtains the inherent vibration frequency of the vibrating body, including the track component 34, when it vibrates as a whole under the vibration of the vibration device 40 via the control device 16. Next, the correction unit 83 instructs the power supply device 44 of the vibration device 40 to supply a predetermined amount of power to the piezoelectric element 42 for a predetermined period. Thus, during this period, the actual vibration frequency of the track component 34 is determined based on the detection value of the vibration sensor 43.

[0096] Next, the calibration unit 83 adjusts the power supplied by the power supply device 44 to the piezoelectric element 42 based on the frequency measured as a vibration-related result. At this time, the calibration unit 83 adjusts the power supplied to the piezoelectric element 42 based on the difference between the measured actual frequency and the previously obtained natural vibration frequency. By repeating the above measurement and adjustment, the calibration unit 83 obtains the power supplied to the piezoelectric element 42 when the vibrating body vibrates at its natural vibration frequency.

[0097] In addition to the methods described above, the calibration unit 83 may, for example, instruct the power supplied in stages during predetermined periods, and compare the frequencies measured in each period with the known natural vibration frequencies. Furthermore, the calibration unit 83 obtains the power supplied during the period when the vibration frequency is closest to the natural vibration frequency. Thus, the calibration unit 83 obtains the power required for vibration at the natural vibration frequency within the current structure of the bulk feeder 30.

[0098] Then, the calibration unit 83 sets the bulk feeder 30 (stored in the storage unit 61) using the aforementioned power as the reference power for feeding the component 92. Thus, when the bulk feeder 30 feeds the component 92 based on external commands, it is controlled so that the power supply unit 44 supplies the set reference power to the piezoelectric element 42. Furthermore, the bulk feeder 30 may sometimes apply predetermined corrections to the reference power depending on the feeding operation method (feeding, return, etc.).

[0099] Furthermore, as mentioned above, the inherent vibration frequency of the vibrator is inherent to each bulk feeder 30 and may vary depending on the track component 34 and the alignment component 50 installed on the bulk feeder 30. Therefore, it is preferable to perform the aforementioned inherent vibration frequency determination process at least after replacing the track component 34. Through this inherent vibration frequency determination process, the current inherent vibration frequency of the bulk feeder 30 is determined, and the power to be supplied is obtained. However, due to other interferences, even if the obtained power is supplied, the vibrator may sometimes not vibrate at the determined inherent vibration frequency.

[0100] For example, the vibration state of the vibrator in the bulk feeder 30 varies depending on the fixed state of the slot 121 on the bulk feeder 30. That is, depending on which slot 121 the bulk feeder 30 is installed in, even if the same power is supplied to the piezoelectric element 42, the actual frequency of the vibrator may vary. Moreover, considering that the appropriate power may vary depending on the operating time of the bulk feeder 30, the correction unit 83 preferably performs a correction process to address the current situation, for example, after a certain period of time or when the power is turned on.

[0101] 3-4. Conveying Control Unit 85

[0102] like Figure 5 As shown, the component supply control system 80 includes a conveying control unit 85. The conveying control unit 85 controls the conveying operation of the components 92 in the bulk feeder 30. Here, the conveying operation of the components 92 in the bulk feeder 30 includes a feeding operation and a return operation. The aforementioned "feeding operation" is the operation of conveying the components 92 from the rear side to the front side of the track member 34, which is the operation of moving multiple components 92 from the conveying path R connected to the supply area As towards the supply area As. On the other hand, the "return operation" is the operation of conveying the components 92 from the front side to the rear side of the track member 34, which is the operation of moving multiple components 92 backward from the supply area As towards the conveying path R.

[0103] The transport control unit 85 controls the number of times and execution time of the aforementioned feed and return actions based on the supply status of the components 92 in the supply area As identified by the status recognition unit 81. For example, the transport control unit 85 switches between multiple transport modes in the control of the transport operation based on the number of components 92 that can be picked up in the supply area As and the approximate number of components 92 that exist regardless of whether they can be picked up in the supply area As. The multiple transport modes include normal transport, replenishment transport, and removal transport.

[0104] The term "normal transport" refers to a transport mode in which feed and return actions are performed within a pre-set time frame. In this normal transport, feed and return actions may be performed alternately more than twice. The term "replenishment transport" refers to a transport mode in which the number of advancing elements 92 or the execution time of the feed action is increased compared to normal transport. Furthermore, the term "removal transport" refers to a transport mode in which the number of retreating elements 92 or the execution time of the return action is reduced compared to normal transport.

[0105] Furthermore, the conveying control unit 85 controls the conveying operation of the component 92 in the bulk feeder 30 based on the determination result of the frequency determination unit 82. For example, when instructing the conveying operation, the conveying control unit 85 may also specify the conveying mode and frequency (or the power supplied to the piezoelectric element 42). Alternatively, the determination result of the frequency determination unit 82 may be pre-stored in the storage unit 61 of the bulk feeder 30, and the conveying control unit 85 may only specify the conveying mode. Thus, the conveying control unit 85 performs control so that vibration at the inherent vibration frequency determined by the frequency determination unit 82 is applied to the track component 34 during the conveying operation of the component 92 in the bulk feeder 30.

[0106] 4. Feeder control of component supply control system 80

[0107] During the installation process of the component mounting machine 10, the component supply control system 80 performs feeder control corresponding to the supply status of the bulk feeder 30. This feeder control includes control of the conveying action and control of the opening and closing action of the switch 37. Here, after the bulk feeder 30 is installed in the slot 121, the control device 16 of the component mounting machine 10 performs a calibration process and identifies the position of the supply area As within the machine.

[0108] In detail, the control device 16 first instructs the feeder control device 60 to close the opening / closing device 37. This creates a state where multiple reference marks 344 can be photographed from above. The control device 16 moves the substrate camera 15 above the multiple reference marks 344 of the bulk feeder 30, acquiring image data through the photographing by the substrate camera 15. Furthermore, based on the positions of the multiple reference marks 344 included in the image data through image processing and the position of the substrate camera 15 during the photographing, the control device 16 identifies the position of the bulk feeder 30 within the machine, i.e., the position of the supply area As.

[0109] Next, as Figure 7 As shown, the frequency determination unit 82 determines the inherent vibration frequency Fn1 used in the conveying operation on the front side (S11). Then, the frequency determination unit 82 determines the inherent vibration frequency Fn2 used in the rear side conveying (S12). In the above-described inherent vibration frequency determination process, for example, vibrations of multiple frequencies, each differing by 0.25 Hz from the lower limit to the upper limit of a predetermined frequency band, are applied to the track component 34. Furthermore, the frequency determination unit 82 obtains the amplitude of the track component 34 to which each frequency vibration is applied, and sets the frequency of vibration with the largest amplitude as the inherent vibration frequency. The frequency determination unit 82 stores the two inherent vibration frequencies (for forward and backward) of the determined vibrator in the storage unit 61 of the control device 16 and the bulk feeder 30 (S13).

[0110] As described above, the frequency determination unit 82 performs the determination of the inherent vibration frequency when the bulk feeder 30 is powered on. Additionally, the frequency determination unit 82 may also perform the determination of the inherent vibration frequency when the track component 34 or the aligning component 50 is replaced, or when the bulk feeder 30's conveying operation to the element 92 exceeds a predetermined number of times. Furthermore, even if the bulk feeder 30 is powered on, if the track component 34 or the aligning component 50 is not replaced during power-off, the frequency determination unit 82 may omit the execution of the inherent vibration frequency determination process.

[0111] Before picking up component 92 from bulk feeder 30 during the installation process, conveying control unit 85 instructs bulk feeder 30 to convey component 92. As a result, bulk feeder 30 discharges component 92 from component box 70 as needed and allows component 92 to flow to track component 34. Then, bulk feeder 30 maintains opening / closing device 37 in an intermediate state while conveying component 92. As a result, component 92 is accommodated in multiple cavities 51, and excess component 92 is retracted from supply area As towards conveying path R.

[0112] When performing supply status identification processing, the status identification unit 81 instructs the bulk feeder 30 to open the switch 37. The status identification unit 81 moves the substrate camera 15 above the supply area As, acquires image data by capturing images with the substrate camera 15, and identifies the position and angle of the pickable element 92 as the supply status through image processing based on the image data.

[0113] Before executing the pick-up action in the PP cycle, the control device 16 instructs the bulk feeder 30 to open the switch 37. Additionally, after the pick-up action ends and during the installation action in the PP cycle, the control device 16 instructs the bulk feeder 30 to feed the component 92 in a set conveying mode. When instructed to feed the component 92, the bulk feeder 30 performs the conveying operation in the set conveying mode.

[0114] In this way, the bulk feeder 30 performs a conveying operation corresponding to the supply status of the components 92 in the supply area As. Thus, if the components 92 are supplied correctly according to the initial settings, normal conveying is performed; otherwise, if fewer components 92 can be picked up after the conveying operation, supplementary conveying is performed. Furthermore, during this supplementary conveying, sometimes, according to the instructions of the conveying control unit 85, a process is performed to discharge multiple components 92 from the component box 70, allowing them to flow into the conveying path R.

[0115] Furthermore, in cases where the current supply status indicates an oversupply of component 92, or in the presence of component groups, a removal conveying operation is performed. This appropriately adjusts the quantity of component 92 in the supply area As. Such conveying action facilitates the proper placement of component 92 within the cavity 51, increasing the number of component 92 that can be picked up in the supply area As. Thus, by ensuring a good supply status of component 92 in the bulk feeder 30, the productivity of the component mounting machine 10 can be improved.

[0116] After the conveying operation of component 92 by the bulk feeder 30 is completed, the status recognition unit 81 performs the status recognition process again. This identifies the current supply status of the supply area As after the conveying operation. Additionally, the calibration unit 83 performs calibration processing at predetermined intervals. For example, if the bulk feeder 30 is powered on and the determination process of the inherent vibration frequency is omitted, the calibration unit 83 performs calibration processing as needed.

[0117] like Figure 8 As shown, the correction unit 83 instructs the power supply device 44 of the vibration device 40 to supply a predetermined amount of power to the piezoelectric element 42 within a predetermined period (S21). The predetermined power is set as an initial value, which is a reference power. Thus, vibration is applied to the track component 34 within the aforementioned period. Next, the correction unit 83 determines whether the difference between the actual vibration frequency of the track component 34, measured based on the detection value of the vibration sensor 43, and the natural vibration frequency of the vibrating body is within an acceptable range (S22).

[0118] If the difference mentioned above is not within the allowable range (S22: No), the correction unit 83 adjusts the prescribed power supplied by the power supply device 44 (S23). Specifically, the correction unit 83, for example, increases or decreases the reference power to obtain the prescribed power based on the relationship between the natural vibration frequency and the actual vibration frequency. The correction unit 83 repeats S21-S23 above, and if the difference between the actual vibration frequency and the natural vibration frequency of the vibrating body is within the allowable range (S22: Yes), obtains the power supplied to the piezoelectric element 42 at this time.

[0119] The calibration unit 83 sets the bulk feeder 30 using the aforementioned power as the reference power for supplying the component 92 (S24). In other words, as a result of calibration, the calibration unit 83 stores the power that should be supplied to the piezoelectric element 42 when vibration is applied at its natural vibration frequency in the storage unit 61 of the bulk feeder 30. Furthermore, the calibration unit 83 determines that calibration is needed and performs it, for example, if there is a change in the slot 121 equipped with the bulk feeder 30, or if a certain period has elapsed since the last calibration process. The component supply control system terminates the aforementioned control process when all scheduled PP cycles have ended and the supply of the component 92 is no longer required.

[0120] Based on the structure of this component supply control system 80, the conveying action is controlled based on the inherent vibration frequency of the vibrating body, including the track component 34, ensuring a good supply status of the components 92 in the bulk feeder 30. This improves the productivity of the component assembly machine 10 equipped with the bulk feeder 30.

[0121] 5. Variations of the implementation method

[0122] 5-1. Regarding the component supply control system 80

[0123] In this embodiment, a structure is illustrated and described in which the components 81-83, 85 (status recognition unit 81, frequency determination unit 82, correction unit 83, and transport control unit 85) of the component supply control system 80 are assembled into the control device 16 of the component mounting machine 10. Alternatively, some or all of the components 81-83, 85 may be assembled in an external device of the control device 16. For example, the status recognition unit 81 may be integrally movably mounted on the moving stage 132 and assembled in the shooting unit that controls the shooting action of the control board camera 15.

[0124] Alternatively, the frequency determination unit 82, the correction unit 83, and the conveying control unit 85 can also be assembled in the component supply device 12, which relays communication between the feeder 122 equipped in the multiple slots 121 and the control device 16. Furthermore, as a self-control function of the bulk feeder 30, each of the units 81-83, 85 can also be assembled in the feeder control device 60 of the bulk feeder 30. Moreover, each of the units 81-83, 85 can also be assembled in a host computer or dedicated equipment communicatively connected to the component mounting machine 10. In any of these embodiments, the same effects as in the previous embodiment can be achieved.

[0125] Furthermore, the component supply control system 80 can be configured without a correction unit 83. In this configuration, the frequency determination unit 82, as illustrated in the embodiment, performs a process to determine the natural vibration frequency of the vibrating body during the timing of the correction process performed by the correction unit 83. This allows the current natural vibration frequency and the power to be supplied to the piezoelectric element 42 (oscillator) to be obtained. However, in cases where there are no or few changes in the natural vibration frequency, such as changes to the slot 121, it is preferable to have a configuration that includes a correction unit 83 to enable the correction process, as illustrated in the embodiment.

[0126] 5-2. Regarding the vibration sensor 43 and the frequency determination unit 82

[0127] In this embodiment, the vibration sensor 43 detects the actual frequency or amplitude as a vibration value. The vibration sensor 43 outputs an electrical signal corresponding to the external force. Therefore, the actual frequency and amplitude can be determined by analyzing the electrical signal. Alternatively, in addition to the above structure, the vibration sensor 43 can also be, for example, a displacement gauge that measures the displacement of the vibrating track component 34.

[0128] In the above-described manner, the frequency determination unit 82 can also analyze the displacement of the track component 34 and the time change of the displacement measured by the vibration sensor 43, thereby obtaining the frequency and amplitude of the track component 34. Furthermore, the frequency determination unit 82 can also determine the natural vibration frequency of the vibrating body based on the decay time of the vibration from the time the power supply to the piezoelectric element 42 is cut off until the track component 34 stops, or the fact that the movement trajectory of a specific part of the track component 34 subjected to vibration varies with multiple frequencies.

[0129] 5-3. Regarding track component 34

[0130] In one embodiment, the track component 34, configured as a bulk feeder 30, includes neatly arranged components 50 having a plurality of cavities 51. Alternatively, the neatly arranged components 50 may be omitted. That is, a concave portion or a planar portion uniformly aligned with the upper surface of the conveying path R may be formed in the supply area As of the track component 34, distributing the elements 92 at a position lower than the upper surface of the conveying path R, to supply the elements 92 in a bulk state. However, from the viewpoint of improving the efficiency of element supply processing and reducing the image processing load in the supply state recognition processing in the supply area As, the structure illustrated in this embodiment is preferred.

[0131] Explanation of reference numerals in the attached figures

[0132] 10: Component mounting machine, 12: Component supply device, 13: Component transfer device, 15: Substrate camera, 16: Control device, 30: Bulk feeder, 31: Feeder body, 34: Track component, 40: Vibration device, 41: Support component, 41A: Forward support component, 41B: Backward support component, 42: Piezoelectric element (oscillator), 43: Vibration sensor, 44: Power supply device, 50: Alignment component, 51: Cavity, 60: Feeder control device, 80: Component supply control system, 81: Status recognition unit, 82: Frequency determination unit, 83: Calibration unit, 85: Conveying control unit, 91: Substrate, 92: Component, As: Supply area, R: Conveying path.

Claims

1. A component supply control system, comprising: A bulk feeder includes: a feeder body; a track component arranged to vibrate relative to the feeder body, forming a conveying path for conveying multiple components; a vibration device that applies vibration to the track component to convey the multiple components along the conveying path; and a vibration sensor that detects a vibration value representing the vibration state of the track component vibrating due to the vibration of the vibration device. The frequency determination unit determines the natural vibration frequency of the vibrating body, including the track component, based on the detection results of the vibration sensor; and The conveying control unit, based on the determination result of the frequency determination unit, controls the conveying action of the components in the bulk feeder. The vibration-inducing device has the following features: Supporting components, supporting the track components; and An oscillator, mounted on the support member, vibrates in response to the supplied electrical power. The vibration sensor is installed on the support component and detects the actual vibration amplitude of the track component as the vibration value. The frequency determination unit causes the vibration application device to apply vibrations of different frequencies to the track component, and sets the vibration frequency at which the amplitude of the track component reaches its maximum, as detected by the vibration sensor, as the natural vibration frequency. The support member includes: a forward support member for conveying the element to the front side of the conveying path; and a backward support member for conveying the element to the rear side of the conveying path. The oscillator and the vibration sensor are respectively disposed on the forward support component and the backward support component. The frequency determination unit causes the vibration application device to apply vibrations corresponding to the front conveying and the rear conveying to the track component, respectively, and determines two natural vibration frequencies for the conveying actions of the front conveying and the rear conveying, respectively.

2. The component supply control system according to claim 1, wherein, The component supply control system further includes a correction unit that adjusts the power supplied to the oscillator based on the natural vibration frequency determined by the frequency determination unit, and obtains the power supplied to the oscillator when the track component vibrates at the natural vibration frequency.

3. The component supply control system according to claim 1 or 2, wherein, The frequency determination unit determines the inherent vibration frequency when the bulk feeder is powered on, or when a predetermined time has elapsed since the bulk feeder was powered on, or when the conveying action of the component performed by the bulk feeder exceeds a predetermined number of times.

4. The component supply control system according to claim 1 or 2, wherein, The frequency determination unit performs at least a portion of the determination process for determining the inherent vibration frequency during the process of moving a substrate into or out of the component mounting machine, wherein the component mounting machine mounts the components supplied by the bulk feeder onto the substrate.

5. The component supply control system according to claim 1 or 2, wherein, The conveying control unit controls the application of vibrations at the inherent vibration frequency determined by the frequency determination unit to the track component during the conveying operation of the components of the bulk feeder.

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