Feeder insertion device and component mounting system

Abstract

A feeder insertion and extraction device (4) is a device for inserting and extracting a feeder (25) with respect to a plurality of holding portions (24) in an component mounting machine (2). The feeder insertion and extraction device (4) is provided with an insertion and extraction moving mechanism (45), a detection portion (454), and an insertion and extraction control portion (493). The insertion and extraction moving mechanism (45) moves the feeder (25) along an insertion and extraction direction (DX) with respect to the holding portion (24). The detection portion (454) detects an index of a load applied to the feeder (25) due to movement of the feeder (25), that is, a load index value (IV), when the insertion and extraction moving mechanism (45) inserts and extracts the feeder (25) with respect to the holding portion (24). The insertion and extraction control portion (493) inputs a drive signal (DS) to the insertion and extraction moving mechanism (45) in accordance with the load index value (IV) detected by the detection portion (454), thereby controlling movement of the feeder (25) when the feeder (25) is inserted and extracted with respect to the holding portion (24).

Description

Technical Field

[0001] The present invention relates to a feeder insertion / removal device for each insertion / removal feeder relative to a plurality of holding portions in a component mounting machine, and a component mounting system having the device, the component mounting machine mounting components on a substrate. Background Technology

[0002] A component mounting machine for producing component mounting substrates on substrates such as printed circuit boards (PCBs) for mounting electronic components includes: multiple holding sections for retaining feeders that supply components in a pluggable manner; and a mounting head for mounting components supplied from the feeders held by the holding sections onto the substrate. In this component mounting machine, the mounting head repeatedly mounts components onto the substrate after removing them from the feeders until all components are mounted onto the substrate.

[0003] When components are not properly supplied from the feeder, the component mounting machine may experience a decrease in the productivity of the component mounting substrate. Patent documents 1 and 2 disclose a technique for detecting malfunctions in the feeder when it supplies components. In this technique, malfunctions in the feeder are detected based on the current value of the drive motor in the tape feed mechanism that delivers the tape containing the components. If a malfunction is detected, a process is performed to eliminate the malfunction.

[0004] However, if we only consider the problems that occur in the feeder when supplying components, it is difficult to say that the feeder's proper supply of components has been adequately considered.

[0005] When inserting or removing a feeder from any of the multiple holders, jamming may occur, hindering feeder insertion or removal. For example, jamming may occur when the feeder is in an abnormal tilted position, or when the feeder and holder are damaged, worn, or have foreign matter adhering to them. In such cases, it may be difficult to properly insert or remove the feeder relative to the holder. Consequently, it may be difficult to properly supply components from the feeder, potentially reducing the productivity of the component mounting machine on the component mounting substrate.

[0006] Existing technical documents

[0007] Patent documents

[0008] Patent Document 1: Japanese Patent Publication No. 2017-224771

[0009] Patent Document 2: Japanese Patent Publication No. 6620306 Summary of the Invention

[0010] The object of the present invention is to provide a feeder insertion / removal device capable of properly inserting and removing a feeder relative to a plurality of retaining parts in a component mounting machine, and a component mounting system having the device.

[0011] One aspect of the present invention relates to a feeder insertion / removal device for inserting / removing a feeder relative to each of a plurality of holding portions in a component mounting machine capable of holding the feeder, the feeder supplying components, the component mounting machine mounting the components onto a substrate. The feeder insertion / removal device includes: an insertion / removal movement mechanism for moving the feeder relative to the holding portions along an insertion / removal direction; a detection unit for detecting an index, i.e., a load index value, of the load applied to the feeder due to the movement of the feeder when the insertion / removal movement mechanism inserts / removes the feeder relative to the holding portions; and an insertion / removal control unit for inputting a drive signal into the insertion / removal movement mechanism based on the load index value detected by the detection unit, thereby controlling the movement of the feeder when inserting / removing relative to the holding portions.

[0012] Another aspect of the invention relates to a component mounting system comprising: a component mounting machine having a plurality of holding portions capable of holding a feeder for supplying a component, wherein the component supplied by the feeder is mounted on a substrate; and the aforementioned feeder insertion / removal device for inserting / removing the feeder relative to each of the plurality of holding portions.

[0013] The objectives, features, and advantages of this invention will become clearer from the following detailed description and accompanying drawings. Attached Figure Description

[0014] Figure 1 This is a block diagram showing the configuration of a component mounting system for a feeder insertion / removal device according to an embodiment of the present invention.

[0015] Figure 2 This is a cross-sectional view showing the configuration of the component mounting machine in the component mounting system.

[0016] Figure 3 It is a magnified 3D view showing the vicinity of the component supply unit in the component mounting machine.

[0017] Figure 4 This is a diagram showing the component supply unit in the component mounting machine when viewed from the X-axis direction.

[0018] Figure 5 This is a side view of the feeder insertion and removal device of the component mounting system.

[0019] Figure 6 It is a graph showing the relationship between the load index value detected by the detection unit of the feeder insertion and removal device and the feeder movement distance.

[0020] Figure 7A This diagram illustrates the situation where the feeder insertion / removal device inserts or removes the feeder relative to the holding part.

[0021] Figure 7B This diagram illustrates the situation where the feeder insertion / removal device inserts or removes the feeder relative to the holding part.

[0022] Figure 8A This is a flowchart illustrating the operation of the feeder insertion and removal device.

[0023] Figure 8B This is a flowchart illustrating the operation of the feeder insertion and removal device. Detailed Implementation

[0024] The feeder insertion / removal device and component mounting system according to embodiments of the present invention will now be described with reference to the accompanying drawings.

[0025] like Figure 1 As shown, the component mounting system 1 includes a component mounting machine 2, a management device 3, and a feeder insertion / removal device 4. In the component mounting system 1, the component mounting machine 2 and the management device 3 are connected in a data communication manner, and the management device 3 and the feeder insertion / removal device 4 are also connected in a data communication manner.

[0026] Component mounting system 1 is a system for producing component mounting substrates on which electronic components (hereinafter referred to as "components") are mounted on a printed circuit board (hereinafter referred to as "board"). In component mounting system 1, component mounting substrates are produced by component mounting machine 2, and the production of component mounting substrates by component mounting machine 2 is managed by management device 3. Under the instruction of management device 3, feeder insertion and removal device 4 performs the necessary preparatory work for the production of component mounting substrates.

[0027] Apart from Figure 1 In addition, refer to Figures 2 to 4 The structure of component mounting machine 2 will be explained below. The directional relationships will be explained using an orthogonal XYZ coordinate axis. The X-axis and Y-axis are orthogonal to each other on the horizontal plane, and the Z-axis extends along a vertical direction orthogonal to both the X-axis and Y-axis.

[0028] Component mounting machine 2 is an apparatus for producing component mounting substrates by mounting components onto substrates. Before mounting components on the substrate, a pattern of solder paste is printed on the substrate. That is, component mounting machine 2 mounts components onto the substrate on which the patterning apparatus has printed the pattern of solder paste. Component mounting machine 2 includes a mounting machine body 21, a conveyor 22, a component supply unit 23, and a mounting head 26.

[0029] The mounting machine body 21 is a frame structure with an internal space containing the various parts that constitute the component mounting machine 2. A conveyor 22 extends along the Y-axis and is disposed approximately in the central region of the mounting machine body 21. The conveyor 22 transports substrates along the Y-axis. A mounting head 26 mounts components onto the substrate transported by the conveyor 22. The mounting head 26 removes components from the feeder 25 disposed in the component supply unit 23 and mounts the removed components onto the substrate. Multiple suction nozzles 261 are mounted in the mounting head 26. Each suction nozzle 261 is a holder that holds components by adsorbing them. The suction nozzles 261 can be connected to a negative pressure generator, a positive pressure generator, or the atmosphere via an electrically operated switching valve. That is, by supplying negative pressure to the suction nozzles 261, components can be adsorbed and held by the suction nozzles 261 (component removal), and then, by supplying positive pressure, the adsorption and holding of the components is released.

[0030] The component supply unit 23 is disposed at the end region of the mounting machine body 21 in the X-axis direction. The component supply unit 23 has an upper frame 231, a lower frame 232, and an inner frame 233 for forming a plurality of holding portions 24, which hold the component feeder 25 in a pluggable manner. The upper frame 231 is a plate-shaped frame extending in both the X-axis and Y-axis directions. The upper frame 231 is disposed at one end of the mounting machine body 21 in the X-axis direction such that a portion of its X-axis-direction end protrudes from the outside of the mounting machine body 21, while a portion of its X-axis-direction end is housed inside the mounting machine body 21. The lower frame 232 is a plate-shaped frame extending in both the X-axis and Y-axis directions, disposed facing the upper frame 231 on its lower side in the Z-axis direction. The lower frame 232 has a protrusion 2321 that protrudes upward in the Z-axis direction in the region on the other side of the X-axis direction within the mounting body 21. The inner frame 233 is a plate-shaped frame that extends in both the Y-axis and Z-axis directions. It is disposed inside the mounting body 21 at the other end of the X-axis direction relative to the upper frame 231 and the lower frame 232, near the center of the mounting body 21.

[0031] Multiple holding portions 24 respectively constitute portions in the component supply unit 23 that can hold the feeder 25 in an insertable and removable manner. In the component supply unit 23, the multiple holding portions 24 are arranged side by side in the Y-axis direction. By inserting the feeder 25 into each of these holding portions 24, the multiple feeders 25 are arranged side by side in the Y-axis direction.

[0032] The feeder 25 is, for example, a belt feeder. The feeder 25 supplies components by delivering a component storage belt PT capable of holding multiple components. The component storage belt PT includes: a carrier belt PT1 with a storage section for holding multiple components; and a cover belt PT2 engaged with the carrier belt PT1 to cover the storage section. The feeder 25 includes a feeder body 251, a reel support 252, a belt delivery section 254, and a take-up section 255.

[0033] A tape delivery path 253 is formed in the feeder body 251. The tape delivery path 253 is the path for feeding out the component storage tape PT, and a component take-out section 2531 is provided between the upstream and downstream ends of the component storage tape PT in the feeding direction. A reel support section 252 is disposed on the upstream end side of the tape delivery path 253 of the feeder body 251. The reel support section 252 supports the reel on which the component storage tape PT is wound.

[0034] The tape feed section 254, for example, has a sprocket and is positioned near the component removal section 2531 of the tape feed path 253. The tape feed section 254 unwinds the component storage tape PT from a reel supported by the reel support section 252 and feeds the unwound component storage tape PT along the tape feed path 253. The operation of the tape feed section 254 is controlled by a control circuit mounted on the control board 259. In the component storage tape PT fed along the tape feed path 253, the cover tape PT2 is peeled off from the carrier tape PT1 upstream of the component removal section 2531. As a result, the component is exposed on the carrier tape PT1 at the component removal section 2531. The component exposed on the carrier tape PT1 can be removed by the mounting head 26. That is, the mounting head 26 removes the component supplied by the feeder 25 from the component removal section 2531.

[0035] The cover tape PT2, detached from the carrier tape PT1 on the upstream side of the component removal section 2531, is recovered by the recovery section 255. The recovery section 255 has, for example, a pair of rollers that abut against each other. In this case, the recovery section 255 recovers the cover tape PT2 based on the rotation of the roller pair. The cover tape PT2 recovered by the recovery section 255 is housed in the recovery box 2551.

[0036] After the component is removed by the head 26, the carrier tape PT1 is fed out from the feeder 25 to the outside via the downstream end of the tape feed path 253 based on the feeding action of the tape feed section 254. The carrier tape PT1 fed out from the feeder 25 is cut to a specified length by the tape cutter 23A located near the protrusion 2321 of the lower frame 232 of the component supply unit 23.

[0037] In addition, such as Figure 2As shown, the feeder 25 has an upper positioning pin 256, a lower positioning pin 257, and a feeder-side connector 258. The upper positioning pin 256 and the lower positioning pin 257 are pins that protrude from one end of the feeder body 251 in the X-axis direction. The upper positioning pin 256 and the lower positioning pin 257 are spaced apart from each other in the Z-axis direction at one end of the feeder body 251 in the X-axis direction, with the upper positioning pin 256 positioned above the lower positioning pin 257. One end of the feeder body 251 in the X-axis direction has a stepped portion that is recessed to the other side in the X-axis direction relative to the portion where the upper positioning pin 256 and the lower positioning pin 257 are located. The feeder-side connector 258 is provided at this stepped portion at one end of the feeder body 251 in the X-axis direction. The feeder-side connector 258 is a connector that is electrically connected to the control board 259.

[0038] Multiple retaining portions 24 for retaining the feeder 25 in a pluggable manner are formed in the component supply unit 23, including an upper frame 231, a lower frame 232, and an inner frame 233. Each retaining portion 24 includes an upper retaining guide 241, a lower retaining guide 242, an upper pin socket 243, a lower pin socket 244, and a unit-side connector 245.

[0039] Multiple upper retaining guides 241 are formed side-by-side in the Y-axis direction, extending along the X-axis direction on the lower side of the upper frame 231. The upper retaining guides 241 are guide members that guide the upper end of the feeder 25 when it moves relative to the retaining part 24 during insertion and removal. Multiple lower retaining guides 242 are formed side-by-side in the Y-axis direction, extending along the X-axis direction on the upper side of the lower frame 232. The lower retaining guides 242 are guide members that guide the lower end of the feeder 25 when it moves relative to the retaining part 24 during insertion and removal.

[0040] The upper pin insertion hole 243 is formed in parallel along the Y-axis direction at the upper end of the inner frame 233. The upper pin insertion hole 243 allows the upper positioning pin 256 of the feeder 25 to pass through when the feeder 25 is inserted into the retaining part 24. Conversely, when the feeder 25 is pulled out of the retaining part 24, the passage of the upper positioning pin 256 through the upper pin insertion hole 243 is released. The lower pin insertion hole 244 is formed in parallel along the Y-axis direction at the lower end of the inner frame 233. The lower pin insertion hole 244 allows the lower positioning pin 257 of the feeder 25 to pass through when the feeder 25 is inserted into the retaining part 24. Conversely, when the feeder 25 is pulled out of the retaining part 24, the passage of the lower positioning pin 257 through the lower pin insertion hole 244 is released. The feeder 25 is positioned in the holding part 24 based on the upper positioning pin 256 passing through the upper pin insertion hole 243 and the lower positioning pin 257 passing through the lower pin insertion hole 244.

[0041] The unit-side connector 245 is a connector in which multiple protrusions 2321 of the lower skeleton 232 are arranged side by side in the Y-axis direction and are electrically connected to the mounting control unit 29 of the component mounting machine 2. The unit-side connector 245 is connected to the feeder-side connector 258 of the feeder 25 when the feeder 25 is inserted into the retaining part 24.

[0042] In addition, such as Figure 3 As shown, a marking section 211 is provided near the component supply unit 23 of the mounting machine body 21. This marking section 211 is used to indicate the position of each of the plurality of holding sections 24 in the component supply unit 23.

[0043] like Figure 1 As shown, the component mounting machine 2 also includes a mounting display unit 27, a mounting communication unit 28, and a mounting control unit 29. Details of the mounting display unit 27 will be described later, but it displays information output from the feeder insertion / removal device 4 after it is input via the management device 3. By checking the information displayed on the mounting display unit 27, the operator can understand the status of the feeder insertion / removal device 4 inserting / removing the feeder 25 relative to the holding part 24. The mounting communication unit 28 is an interface circuit for data communication with the management device 3.

[0044] The installation control unit 29 comprises a CPU (Central Processing Unit), a ROM (Read Only Memory) storing the control program, and RAM (Random Access Memory) used as the CPU's working area. The installation control unit 29 controls the installation display unit 27 and the installation communication unit 28 by executing the control program stored in the ROM via the CPU, and also controls the operations of the transport conveyor 22, the feeder 25 held by the holding unit 24 of the component supply unit 23, and the mounting head 26. Functionally, the installation control unit 29 includes a transport control unit 291, a component supply control unit 292, a mounting control unit 293, an installation display control unit 294, and an installation communication control unit 295.

[0045] The transport control unit 291 controls the transport operation of the transport conveyor 22 on the substrate. The component supply control unit 292 controls the component supply operation of each feeder 25 held by each of the plurality of holding units 24. The mounting control unit 293 controls the component mounting operation of the mounting head 26 on the substrate. The mounting display control unit 294 controls the display operation of various information performed by the mounting display unit 27. The mounting communication control unit 295 controls the data communication between the mounting communication unit 28 and the management device 3.

[0046] Secondly, refer to Figure 1The management device 3 is described below. The management device 3 manages the production of the component mounting substrate based on the component mounting machine 2 and sends data required for the preparation of each of the insertion / removal feeders 25 of the multiple holding sections 24 to the feeder insertion / removal device 4. The management device 3 is, for example, composed of a microcomputer. Functionally, the management device 3 includes a data generation unit 31, a data storage unit 32, a data management unit 33, and a management communication unit 34.

[0047] The data generation unit 31 generates configuration data D1 indicating the arrangement positions of the feeders 25 to each holding part 24 in the component supply unit 23 required when the component mounting machine 2 produces the component mounting substrate. Configuration data D1, for example, indicates the positions of the holding parts 24 arranged in a dense configuration by the feeders 25 to minimize the travel distance of the mounting head 26 during component mounting on the substrate. Furthermore, the data generation unit 31 generates a mounting program P1 indicating the steps of mounting the components supplied by the feeders 25 arranged in the holding parts 24 according to configuration data D1 onto the substrate. The mounting program P1 records information such as the mounting positions of each component on the substrate, the arrangement positions of the feeders 25 to the holding parts 24 according to configuration data D1, and the order in which the mounting head 26 mounts the components.

[0048] The configuration data D1 and the mounting program P1 generated by the data generation unit 31 are stored in the data storage unit 32.

[0049] The data management unit 33 reads the configuration data D1 and the mounting program P1 from the data storage unit 32 and transmits them. Specifically, the data management unit 33 sends the configuration data D1 to the feeder insertion and removal device 4 through the management communication unit 34, and sends the mounting program P1 to the component mounting machine 2 through the management communication unit 34.

[0050] The management communication unit 34 is an interface circuit that enables data communication with the component mounting machine 2 and the feeder insertion / removal device 4. The management communication unit 34 receives data regarding the production status of the component mounting machine 2 on the component mounting substrate. Furthermore, under the control of the data management unit 33, the management communication unit 34 sends the configuration data D1 generated by the data generation unit 31 and the configuration data D1 in the mounting program P1 to the feeder insertion / removal device 4, and sends the mounting program P1 to the component mounting machine 2.

[0051] In the component mounting machine 2, after the mounting communication unit 28 receives the mounting program P1 sent from the management communication unit 34, the production of the component mounting substrate begins based on the mounting program P1. At this time, the component mounting operation performed by the mounting head 26 is executed according to the mounting program P1. Specifically, after the substrate is transported by the transport conveyor 22, the mounting head 26 removes components from each feeder 25 of each holding unit 24 held in the component supply unit 23 according to the mounting program P1. Thereafter, the mounting head 26 moves onto the substrate and mounts components sequentially according to the component mounting order shown by the mounting program P1 until all components are mounted on the substrate.

[0052] On the other hand, after receiving configuration data D1 from the management communication unit 34, the feeder insertion / removal device 4 performs preparation work for inserting / removing the feeder 25 relative to each holding part 24 in the component supply unit 23 based on the configuration data D1. Regarding this feeder insertion / removal device 4, besides... Figure 1 In addition, refer to Figure 5 , Figure 6 , Figure 7A and Figure 7B Please provide an explanation.

[0053] The feeder insertion / removal device 4 is a work robot that performs preparation work, which involves inserting / removing the feeder 25 relative to each of the plurality of retaining parts 24. The feeder insertion / removal device 4 inserts / removes the feeder 25 by moving it relative to each retaining part 24 along the insertion / removal direction DX. The insertion / removal direction DX is parallel to the X-axis direction along which the upper retaining guide rail 241 and the lower retaining guide rail 242 extend on each retaining part 24. The direction in which the feeder 25 moves when it is inserted into each retaining part 24, i.e., the insertion direction DX1, is along the X-axis direction from the outside to the inside of the mounting body 21. The direction in which the feeder 25 moves when it is removed from each retaining part 24, i.e., the removal direction DX2, is opposite to the insertion direction DX1.

[0054] The feeder insertion / removal device 4 moves the feeder 25 along the insertion direction DX1 according to the configuration data D1, so that the feeders 25 required for the production of component mounting substrates by the component mounting machine 2 are inserted into each holding part 24. Furthermore, the feeder insertion / removal device 4 moves the feeder 25 along the removal direction DX2 to remove feeders 25 that need to be replaced due to component supply interruption, etc., from each holding part 24. The feeder insertion / removal device 4 includes a base 41, a horizontal support platform 42, a horizontal movement mechanism 43, a vertical movement mechanism 44, an insertion / removal movement mechanism 45, a detection unit 454, a display unit 46, a communication unit 47, a storage unit 48, and a control unit 49.

[0055] Details of the display unit 46 will be described later. It displays information output from the insertion / removal control unit 493 of the control unit 49 (insertion stop information DI1, non-substitution information DI2, warning information DI3). By checking the information displayed on the display unit 46, the operator can understand the status of the feeder insertion / removal device 4 inserting / removing the feeder 25 from the holding unit 24. Furthermore, the warning light 46A can be activated corresponding to the timing of various information displayed on the display unit 46.

[0056] The communication unit 47 is an interface circuit that enables data communication with the management device 3. The communication unit 47 receives configuration data D1 sent from the management device 3. Furthermore, the communication unit 47 sends information output from the insertion / removal control unit 493 to the management device 3. The information sent to the management device 3 via the communication unit 47 is input to the component mounting machine 2 and displayed on the mounting display unit 27.

[0057] The storage unit 48 includes a threshold storage unit 481 and a configuration storage unit 482. The threshold storage unit 481 stores various preset thresholds (allow threshold T1, warning threshold T2, stop threshold T3, and count threshold T4) used by the insertion / removal control unit 493 when controlling the insertion / removal movement mechanism 45. The configuration storage unit 482 stores configuration data D1 received by the communication unit 47.

[0058] The base section 41 is a base on which a horizontal moving mechanism 43 and the like are arranged in the feeder insertion and removal device 4. Rollers 411 are installed in the base section 41 to allow the feeder insertion and removal device 4 to move, and a position detection sensor 412 is also installed. The feeder insertion and removal device 4 moves to various positions of the multiple holding sections 24 in the component supply unit 23 by detecting the marking section 211 provided on the mounting machine body 21 by the position detection sensor 412.

[0059] The horizontal support platform 42 is a platform disposed on the base portion 41. The horizontal support platform 42 is a platform that extends horizontally on the horizontal plane along the Y-axis direction orthogonal to the insertion / removal direction DX. The horizontal support platform 42 supports the horizontal moving support column 431 of the horizontal moving mechanism 43 in a manner that allows it to move along the Y-axis direction.

[0060] The horizontal moving mechanism 43 is a mechanism that moves the feeder 25 relative to each holding part 24 in the Y-axis direction while it is being held by the gripping part 4512 of the insertion / removal moving body 451 in the insertion / removal moving mechanism 45. The horizontal moving mechanism 43 includes a horizontal moving support body 431, a horizontal drive motor 432, and a horizontal drive transmission part 433.

[0061] The horizontally moving support column 431 is a support column extending along the Z-axis direction and is supported by the horizontal support platform 42 in a manner that allows it to move along the Y-axis direction. The horizontally moving support column 431 supports the vertically moving body 441 of the vertical moving mechanism 44 in a manner that allows it to move along the Z-axis direction. The horizontal drive motor 432 is a drive motor that generates a driving force on the horizontal support platform 42 to move the horizontally moving support column 431 along the Y-axis direction. The horizontal drive transmission unit 433 is a mechanism for transmitting the driving force of the horizontal drive motor 432 to the horizontally moving support column 431.

[0062] In the horizontal moving mechanism 43, the horizontal moving support 431 moves along the Y-axis direction on the horizontal support platform 42 based on the driving force of the horizontal drive motor 432 transmitted from the horizontal drive transmission unit 433.

[0063] The vertical movement mechanism 44 is a mechanism that moves the feeder 25 relative to each holding part 24 in the Z-axis direction while it is being held by the gripping part 4512 of the insertion / removal moving body 451 in the insertion / removal moving mechanism 45. The vertical movement mechanism 44 includes a vertical moving body 441, a vertical drive motor 442, and a vertical drive transmission part 443.

[0064] The vertical moving body 441 is supported by the horizontal moving support 431 in a manner that allows it to move along the Z-axis. The vertical moving body 441 has a plug-in support 4411 extending along the plug-in direction DX (X-axis direction) and a plug-in guide 4412 extending along the plug-in direction DX on the lower side of the plug-in support 4411. The plug-in support 4411 supports the plug-in moving body 451 of the plug-in moving mechanism 45 in a manner that allows it to move along the plug-in direction DX. The plug-in guide 4412 supports the feeder 25 from below, which is held by the gripping part 4512 of the plug-in moving body 451, and guides the feeder 25 to move along the plug-in direction DX as the plug-in moving body 451 moves. The vertical drive motor 442 is a drive motor for generating a driving force that causes the vertical moving body 441 to move along the horizontal moving support 431 in the Z-axis direction. The vertical drive transmission unit 443 is a mechanism that transmits the driving force of the vertical drive motor 442 to the vertical moving body 441.

[0065] In the vertical moving mechanism 44, the vertical moving body 441 moves along the horizontal moving support body 431 in the Z-axis direction based on the driving force of the vertical drive motor 442 transmitted from the vertical drive transmission unit 443.

[0066] The insertion / removal movement mechanism 45 is a mechanism that moves the feeder 25 relative to each holding part 24 in the insertion / removal direction DX. The insertion / removal movement mechanism 45 includes an insertion / removal moving body 451, an insertion / removal drive motor 452, and an insertion / removal drive transmission part 453.

[0067] The insertion / removal moving body 451 is supported by the insertion / removal support 4411 of the vertical moving body 441 in a manner that allows it to move along the insertion / removal direction DX. The insertion / removal moving body 451 has a moving base 4511 extending along the Z-axis direction, a gripping part 4512 mounted on the upper end of the moving base 4511 in a manner that allows it to swing about a swing axis 4513, and a cylinder 4514. The gripping part 4512 grips the upper portion of the feeder body 251 in the feeder 25, which is supported by the insertion / removal guide 4412, opposite to the end in the X-axis direction where the upper positioning pin 256 and the lower positioning pin 257 are located. The cylinder 4514 moves along the Z-axis direction, causing the gripping part 4512 to swing about the swing axis 4513. Based on the swinging of the gripping part 4512 in response to the movement of the cylinder 4514, the posture of the feeder 25 gripped by the gripping part 4512 can be changed. The insertion / removal drive motor 452 is a drive motor that generates a driving force to move the insertion / removal moving body 451 along the insertion / removal support portion 4411 of the vertical moving body 441 in the insertion / removal direction DX. The insertion / removal drive transmission unit 453 is a mechanism that transmits the driving force of the insertion / removal drive motor 452 to the insertion / removal moving body 451.

[0068] In the insertion / removal movement mechanism 45, the insertion / removal moving body 451 moves along the insertion / removal support portion 4411 of the vertical moving body 441 in the insertion / removal direction DX based on the driving force of the insertion / removal drive motor 452 transmitted from the insertion / removal drive transmission unit 453. After the insertion / removal moving body 451 moves, based on this movement, the feeder 25 held by the gripping portion 4512 moves along the insertion / removal direction DX on the insertion / removal guide portion 4412.

[0069] In the feeder insertion / removal device 4, the horizontal moving mechanism 43 and the vertical moving mechanism 44 operate before the insertion / removal moving mechanism 45 begins to operate. Specifically, the horizontal moving mechanism 43 moves its horizontal moving support column 431 on the horizontal support platform 42, and the vertical moving mechanism 44 moves its vertical moving body 441 along the horizontal moving support column 431 so that the insertion / removal guide 4412 and the lower holding guide rail 242 of the holding part 24 are on the same straight line. Thus, with the insertion / removal guide 4412 and the lower holding guide rail 242 of the holding part 24 on the same straight line, the insertion / removal moving mechanism 45, based on the movement of the insertion / removal moving body 451, causes the feeder 25 held by the gripping part 4512 to move on the insertion / removal guide 4412 and along the upper holding guide rail 241 and the lower holding guide rail 242 of the holding part 24 in the insertion / removal direction DX.

[0070] When the feeder 25 is moved along the insertion direction DX1, the insertion / removal mechanism 45 moves the feeder 25 on the insertion / removal guide 4412. Thereafter, the insertion / removal mechanism 45 moves the feeder 25 along the upper retaining guide 241 and the lower retaining guide 242 until the upper positioning pin 256 and the lower positioning pin 257 pass through the upper pin insertion hole 243 and the lower pin insertion hole 244 respectively, and the feeder-side connector 258 is connected to the unit-side connector 245.

[0071] On the other hand, when the feeder 25 is moved along the pull-out direction DX2, the insertion / removal mechanism 45 moves the feeder 25 along the upper retaining guide 241 and the lower retaining guide 242, thereby releasing the penetration of the upper positioning pin 256 and the lower positioning pin 257 into the upper pin insertion hole 243 and the lower pin insertion hole 244, and releasing the connection between the feeder-side connector 258 and the unit-side connector 245. Thereafter, the insertion / removal mechanism 45 moves the feeder 25 until it is positioned on the insertion / removal guide 4412.

[0072] When the insertion / removal mechanism 45 inserts / removes the feeder 25 relative to the holding portion 24, the detection unit 454 detects an index of the load applied to the feeder 25 due to the movement of the feeder 25, namely, the load index value IV. In this embodiment, the detection unit 454 detects the current or voltage value of the insertion / removal drive motor 452 as the load index value IV. Alternatively, the detection unit 454 may be configured to detect the load applied to the feeder 25 using a load sensor or the like.

[0073] The load index value IV detected by the detection unit 454 increases with the increase of the load applied to the feeder 25 when the feeder 25 is inserted or removed from the holding part 24. The load index value IV changes according to the movement of the feeder 25 relative to the holding part 24. Regarding the change of the load index value IV when the insertion / removal movement mechanism 45 moves the feeder 25 in the insertion direction DX1, refer to... Figure 6 The following explanation uses the diagram. In the following description, the distance from the starting position of the feeder 25 on the insertion / removal guide 4412 to the position where the feeder 25's distal end (the end with the upper positioning pin 256 and lower positioning pin 257) has been inserted into the holding part 24 is defined as the first distance MD1. Similarly, the distance from the starting position of the feeder 25 to the boundary between the insertion / removal guide 4412 and the lower holding guide 242 is defined as the second distance MD2. Furthermore, the distance from the starting position of the feeder 25 to the position where the upper positioning pin 256 and lower positioning pin 257 pass through the upper pin insertion hole 243 and lower pin insertion hole 244, respectively, is defined as the third distance MD3.

[0074] like Figure 6As shown, when the feeder 25 moves a first distance MD1 on the insertion / removal guide 4412, the load index value IV begins to rise. This phenomenon is believed to occur because the distal end of the feeder 25 moving on the insertion / removal guide 4412 comes into contact with the feeder 25 that has been inserted into the holding part 24, thereby increasing the load applied to the moving feeder 25.

[0075] The load index value IV, which initially began to rise corresponding to the movement of the feeder 25 at a first distance MD1, decreased as the feeder 5 moved further on the insertion / removal guide 4412. Subsequently, when the feeder 25 moved a second distance MD2 on the insertion / removal guide 4412, the load index value IV began to rise again. This phenomenon is believed to occur because the portion guiding the movement of the feeder 25 switched from the insertion / removal guide 4412 to the upper holding guide 241 and lower holding guide 242 of the holding portion 24, thus increasing the load applied to the moving feeder 25.

[0076] The load index value IV, which begins to rise corresponding to the movement of the feeder 25 at a second distance MD2, moves steadily at a specified value as the feeder 5 moves along the upper holding guide 241 and the lower holding guide 242. Subsequently, when the feeder 25 moves a third distance MD3 along the upper holding guide 241 and the lower holding guide 242, the load index value IV begins to rise again. This phenomenon is believed to occur because the upper locating pin 256 and the lower locating pin 257 pass through the upper pin insertion hole 243 and the lower pin insertion hole 244, respectively, increasing the load applied to the moving feeder 25.

[0077] During the period when the feeder 25 is inserted and removed from the holding part 24, the detection unit 454 detects the load index value IV that changes in accordance with the movement of the feeder 25 relative to the holding part 24.

[0078] The control unit 49 comprises a CPU, a ROM storing the control program, and RAM used as the CPU's working area. The control unit 49 controls the display unit 46 and the communication unit 47 by executing the control program stored in the ROM via the CPU, and also controls the operations of the horizontal movement mechanism 43, the vertical movement mechanism 44, and the plug-in movement mechanism 45. Functionally, the control unit 49 includes a horizontal movement control unit 491, a vertical movement control unit 492, a plug-in control unit 493, a display control unit 494, a threshold setting unit 495, and a communication control unit 496.

[0079] The display control unit 494 controls the display operations of the display unit 46 for various information. The communication control unit 496 controls the data communication between the communication unit 47 and the management device 3.

[0080] The horizontal movement control unit 491 controls the horizontal movement mechanism 43. Specifically, the horizontal movement control unit 491 controls the movement of the horizontal movement support 431 on the horizontal support platform 42 by inputting a drive signal into the horizontal drive motor 432. The vertical movement control unit 492 controls the vertical movement mechanism 44. Specifically, the vertical movement control unit 492 controls the movement of the vertical movement body 441 along the horizontal movement support 431 by inputting a drive signal into the vertical drive motor 442. The insertion / removal control unit 493 controls the movement of the feeder 25 relative to the holding part 24 during insertion / removal by inputting a drive signal DS into the insertion / removal movement mechanism 45. Specifically, the insertion / removal control unit 493 controls the movement of the feeder 25 relative to the holding part 24 during insertion / removal by changing the drive signal DS to be input to the insertion / removal drive motor 452, which corresponds to the movement of the insertion / removal movement body 451 along the insertion / removal support part 4411. In other words, the insertion / removal control unit 493 controls the movement of the feeder 25 relative to the holding unit 24 when inserting or removing components by changing the input value of the drive signal DS to the insertion / removal drive motor 452.

[0081] The threshold setting unit 495 sets various thresholds, including an allowable threshold T1, a warning threshold T2, and a stop threshold T3, as used by the insertion / removal control unit 493 to control the insertion / removal drive motor 452. The various thresholds set by the threshold setting unit 495 are stored in the threshold storage unit 481.

[0082] The allowable threshold T1 is a threshold representing the upper limit of the allowable range of variation of the load index value IV, corresponding to the upper limit of the allowable range of the load applied to the feeder 25 when the feeder 25 is inserted or removed from the holding part 24. The warning threshold T2 is a threshold value in the load index value IV that is smaller than the allowable threshold T1, and it is a threshold value that indicates a warning that the load applied to the feeder 25 when the feeder 25 is inserted or removed from the holding part 24 is exceeding the allowable range. The stop threshold T3 is a threshold value in the load index value IV that is larger than the allowable threshold T1, and it is a threshold representing the upper limit of the allowable range of variation based on the rated current or rated voltage value of the insertion / removal drive motor 452.

[0083] The threshold setting unit 495 sets an allowable threshold T1 based on the moving speed of the feeder 25 when it is inserted or removed from the holding unit 24. Specifically, the threshold setting unit 495 sets the allowable threshold T1 based on correlation data that associates the rotational speed of the insertion / removal drive motor 452, which is related to the moving speed of the feeder 25, with the current or voltage value of the insertion / removal drive motor 452, which is a load index value IV. The threshold setting unit 495 sets the allowable threshold T1 to a smaller value as the moving speed of the feeder 25 decreases.

[0084] Here, when the feeder 25 is inserted or removed from the retaining part 24, sometimes a jamming situation occurs that hinders the insertion or removal of the feeder 25 (see reference). Figure 7A For example, if the feeder 25 is in an abnormal tilted position, or if the feeder 25 and the holding part 24 are damaged, worn, or have foreign matter adhering to them, the feeder 25 may get stuck when being inserted or removed. In this case, it may be difficult to properly insert or remove the feeder 25 relative to the holding part 24. Therefore, it is difficult to properly supply components from the feeder 25, and as a result, the component mounting machine 2 may reduce the productivity of the component mounting substrate.

[0085] Therefore, in this embodiment, the insertion / removal control unit 493 controls the movement of the feeder 25 relative to the holding unit 24 during insertion / removal by changing the input value of the drive signal DS to the insertion / removal drive motor 452 based on the load index value IV detected by the detection unit 454. Thus, the movement of the feeder 25 during insertion / removal, driven by the insertion / removal drive motor 452, can be controlled according to the load applied to the feeder 25. For example, if the load applied to the feeder 25 increases due to jamming or other obstructions hindering insertion / removal, the movement of the feeder 25 during insertion / removal can be controlled according to this increase in load. Therefore, the feeder 25 can be properly inserted / removed relative to the holding unit 24. As a result, components can be properly supplied from the feeder 25, thus reducing the risk of decreased productivity of the component mounting machine 2.

[0086] When the load index value IV detected by the detection unit 454 is less than the allowable threshold T1 set by the threshold setting unit 495, the insertion / removal control unit 493 performs standard control. In standard control, the insertion / removal control unit 493 inputs the drive signal DS into the insertion / removal drive motor 452 to control the movement of the feeder 25 relative to the holding unit 24 during insertion / removal, so as to perform the standard operation of moving the feeder 25 along the insertion / removal direction DX.

[0087] On the other hand, when the load index value IV detected by the detection unit 454 is above the allowable threshold T1, the insertion / removal control unit 493 performs retry control. In retry control, the insertion / removal control unit 493 inputs a drive signal DS into the insertion / removal drive motor 452 to control the movement of the feeder 25 relative to the holding unit 24 during insertion / removal, in a manner that causes the feeder 25 to stop moving along the insertion / removal direction DX and then move again. In other words, when the load index value IV is above the allowable threshold T1 and the load applied to the feeder 25 reaches the upper limit of the allowable range, the feeder 25 performs a retry operation by performing retry control by the insertion / removal control unit 493. During the retry operation, the movement of the feeder 25 is temporarily stopped and then resumed after the load index value IV becomes above the allowable threshold T1. Through this retry operation of the feeder 25, the possibility of reducing the load applied to the feeder 25 can be increased. Therefore, the feeder 25 can be inserted and removed more appropriately relative to the retaining part 24.

[0088] The insertion / removal control unit 493 performs standard control during standard operation to move the feeder 25 at a specified standard speed, and performs retry control during retry operation to move the feeder 25 at a retry speed slower than the standard speed. When the feeder 25 performs a retry operation by executing retry control by the insertion / removal control unit 493, the feeder 25 moves at a retry speed slower than the standard speed. Based on the retry operation of the feeder 25 moving at a relatively slow speed, the possibility of reducing the load applied to the feeder 25 can be further improved. Therefore, the feeder 25 can be inserted / removed more appropriately relative to the holding unit 24.

[0089] In addition, such as Figure 7B As shown, the insertion / removal control unit 493 performs retry control during a retry operation by causing the feeder 25 to move a specified reverse distance in the opposite direction after stopping its movement in either the insertion direction DX1 or the removal direction DX2 of the insertion / removal direction DX, and then move in that direction again. Figure 7B The following example illustrates a retry operation: After stopping its movement in the insertion direction DX1, the feeder 25 moves a specified reverse distance in the withdrawal direction DX2, and then moves again in the insertion direction DX1. This retry operation of the feeder 25 further increases the possibility of reducing the load applied to the feeder 25. Therefore, the feeder 25 can be inserted and removed more appropriately relative to the holding part 24.

[0090] During a retry operation, when the feeder 25 moves again in one direction, it is assumed that the load index value IV detected by the detection unit 454 becomes above the allowable threshold T1. In this case, the insertion / removal control unit 493 inputs a drive signal DS to the insertion / removal drive motor 452 to cause the feeder 25 to repeat the retry operation. Furthermore, during the repeated retry operation of the feeder 25, the insertion / removal control unit 493 inputs the drive signal DS to the insertion / removal drive motor 452 in such a way that the reverse distance in each retry operation increases with the repetition of the retry operation. As a result, with the repeated retry operation of the feeder 25, the possibility of reducing the load applied to the feeder 25 can be increased. Therefore, based on the repetition of the feeder 25's retry operation, the feeder 25 can be properly inserted / removed relative to the holding unit 24.

[0091] Secondly, consider the case where the retry operation during the insertion of the feeder 25 into the holding section 24 is repeated. Specifically, assume that when the number of retry operations during the insertion of the feeder 25 reaches a preset threshold value T4, the load index value IV detected by the detection unit 454 remains above the allowable threshold value T1. In this case, the insertion / removal control unit 493 executes insertion stop control by inputting the drive signal DS into the insertion / removal drive motor 452 to stop the feeder 25 from inserting into the holding section 24, the object of the retry operation. Based on the insertion stop control executed by the insertion / removal control unit 493, the insertion of the feeder 25 into the holding section 24, the object of the retry operation, is stopped. Thus, it is possible to limit the feeder 25 from being inserted into the holding section 24 under conditions where an excessive load is applied to the feeder 25.

[0092] In the insertion abort control, the insertion / removal control unit 493 outputs insertion abort information DI1 indicating that the insertion of the feeder 25 into the holding part 24 of the object to be retried is stopped. The insertion abort information DI1 output from the insertion / removal control unit 493 is utilized by the display control unit 494. The display control unit 494 controls the display unit 46 to display the insertion abort information DI1. By checking the insertion abort information DI1 displayed on the display unit 46, the operator can understand that the insertion of the feeder 25 into the holding part 24 has been stopped.

[0093] After the insertion abort control is executed, the insertion / removal control unit 493 executes the substitution insertion control. In this substitution insertion control, the insertion / removal control unit 493 determines whether there is a substitute holding part 24 among the plurality of holding parts 24 in the component supply unit 23 of the component mounting machine 2 that can replace the holding part 24 of the object to be inserted by the feeder 25, thus allowing the feeder 25 to be inserted. Specifically, the insertion / removal control unit 493 determines whether there is a substitute holding part among the plurality of holding parts 24 that is a holding part 24 other than the holding part 24 shown in the configuration data D1 stored in the configuration storage unit 482 and that has not been inserted by the feeder 25. If a substitute holding part exists, the insertion / removal control unit 493 inputs a drive signal DS into the insertion / removal drive motor 452 to move the feeder 25 toward the substitute holding part along the insertion direction DX1. Furthermore, when multiple alternative holding parts exist, the insertion / removal control unit 493 inputs a drive signal DS to the insertion / removal drive motor 452, so that the alternative holding part located at the position closest to the holding part 24 where the insertion of the feeder 25 was stopped is moved along the insertion direction DX1. Thus, when the feeder 25 is inserted into the alternative holding part, the component can be supplied from the feeder 25.

[0094] If a replacement holding part is not present in the replacement insertion control, the insertion / removal control unit 493 outputs a non-replaceable information DI2 indicating this condition. The non-replaceable information DI2 output from the insertion / removal control unit 493 is utilized by the display control unit 494. The display control unit 494 controls the display unit 46 to display the non-replaceable information DI2. By checking the non-replaceable information DI2 displayed on the display unit 46, the operator can understand that there is no replacement holding part that allows the feeder 25, whose insertion of the holding part 24 has been stopped, to be inserted.

[0095] Here, the load applied to the feeder 25 during insertion and removal from the holding portion 24 sometimes varies depending on the moving speed of the feeder 25. Therefore, the load index value IV, which is an indicator of the load applied to the feeder 25, also sometimes varies depending on the moving speed of the feeder 25. For this reason, as described above, the threshold setting unit 495 sets the allowable threshold T1 used when the insertion / removal control unit 493 controls the insertion / removal drive motor 452 based on the moving speed of the feeder 25 during insertion and removal. Specifically, the threshold setting unit 495 sets the allowable threshold T1 to a smaller value as the moving speed of the feeder 25 decreases. Thus, by comparing the allowable threshold T1 set by the insertion / removal control unit 493 based on the moving speed of the feeder 25 with the load index value IV, the movement of the feeder 25 driven by the insertion / removal drive motor 452 can be more appropriately controlled during insertion and removal. Therefore, the feeder 25 can be properly inserted and removed from the holding portion 24.

[0096] Secondly, assuming the load index value IV detected by the detection unit 454 is less than the allowable threshold T1 and is higher than the warning threshold T2 set by the threshold setting unit 495, the insertion / removal control unit 493 outputs warning information DI3. This warning information DI3 indicates that there is a warning that the load applied to the feeder 25 exceeds the allowable range when inserting or removing it relative to the holding part 24, corresponding to the movement of the feeder 25 driven by the insertion / removal drive motor 452. The warning information DI3 output from the insertion / removal control unit 493 is used by the display control unit 494. The display control unit 494 controls the display unit 46 to display the warning information DI3. By checking the warning information DI3 displayed on the display unit 46, the operator can grasp the situation where there is a warning that the load applied to the feeder 25 exceeds the allowable range.

[0097] The insertion / removal control unit 493 can also be configured to record historical information in the storage unit 48 when outputting the warning information DI3. The historical information corresponds to the output of the warning information DI3 and includes feeder-specific information for determining the moving object of the insertion / removal movement mechanism 45, holding-part-specific information for determining the insertion / removal object of the feeder 25, and insertion / removal operation information indicating the operating status of the insertion / removal movement mechanism 45. By utilizing the historical information, the operator can investigate the main reasons for the output of the warning information DI3. For example, the operator can investigate whether the feeder 25 is in an abnormal tilted posture during insertion / removal, or whether there is damage, wear, or foreign matter adhesion on the feeder 25 and holding-part 24.

[0098] Secondly, assuming the load index value IV detected by the detection unit 454 is higher than or equal to the stop threshold T3 set by the threshold setting unit 495, the plug-in control unit 493 stops the plug-in drive motor 452. When the load index value IV becomes higher than or equal to the stop threshold T3, the plug-in drive motor 452 drives at a value exceeding the upper limit of the allowable variation range based on the rated current or rated voltage value of the plug-in drive motor 452. In such a case, by stopping the drive of the plug-in drive motor 452, concerns about the plug-in drive motor 452 malfunctioning can be alleviated.

[0099] Secondly, regarding the operation of the feeder insertion / removal device 4, refer to... Figure 8A and Figure 8B The flowchart will be described in detail. Here, the operation of the feeder insertion and removal device 4 when the feeder 25 is inserted into the holding part 24 will be explained.

[0100] Based on the configuration data D1 sent from the management device 3 received by the communication unit 47, the operation of the feeder insertion / removal device 4 begins. The feeder insertion / removal device 4 moves to the position of each of the plurality of holding parts 24 in the component supply unit 23 based on the detection of the marker part 211 provided on the mounting machine body 21 by the position detection sensor 412. Furthermore, the horizontal movement control unit 491 controls the horizontal movement mechanism 43, and the vertical movement control unit 492 controls the vertical movement mechanism 44, so that the insertion / removal guide part 4412 and the lower holding guide rail 242 of the holding part 24 are aligned on a straight line. As a result, the feeder 25, gripped by the gripping part 4512 of the insertion / removal movement mechanism 45, moves to the insertion start position where insertion into the holding part 24 begins (step S1).

[0101] After the feeder 25 is positioned at the insertion start position, the insertion / removal control unit 493 executes standard control based on the load index value IV detected by the detection unit 454 (step S2). In standard control, the insertion / removal control unit 493 inputs a drive signal DS to the insertion / removal drive motor 452 to perform a standard operation that moves the feeder 25 along the insertion direction DX1. In this standard control, the insertion / removal control unit 493 determines whether the load index value IV is above the warning threshold T2 (step S3). If the load index value IV is above the warning threshold T2 (if "yes" is true in step S3), the insertion / removal control unit 493 outputs warning information DI3 (step S4). The warning information DI3 output from the insertion / removal control unit 493 is displayed on the display unit 46.

[0102] In standard control, the insertion / removal control unit 493 determines whether the load index value IV is above the allowable threshold T1 (step S5). If the load index value IV is below the allowable threshold T1 (if "No" is true in step S5), the insertion / removal control unit 493 continues standard control and determines whether the insertion of the feeder 25 into the holding part 24 is complete (step S100). If the insertion of the feeder 25 is complete, the operation of the feeder insertion / removal device 4 ends.

[0103] If the load index value IV is above the allowable threshold T1 (if "Yes" is true in step S5), the insertion / removal control unit 493 performs retry control (step S6). During retry control, the insertion / removal control unit 493 controls the drive of the insertion / removal drive motor 452 to cause the feeder 25 to retry. When the feeder 25 moves again in the insertion direction DX1 during the retry operation, the insertion / removal control unit 493 determines whether the load index value IV is above the allowable threshold T1 (step S7). If the load index value IV is below the allowable threshold T1 (if "No" is true in step S7), the insertion / removal control unit 493 transitions the process to step S100, determining whether the insertion of the feeder 25 into the holding part 24 based on the retry operation is complete. If the insertion of the feeder 25 is complete, the operation of the feeder insertion / removal device 4 ends.

[0104] If the load index value IV is above the allowable threshold T1 (if "Yes" is true in step S7), the insertion / removal control unit 493 repeats the retry control (step S8). When the feeder 25 moves again in the insertion direction DX1 during each repeated retry operation, the insertion / removal control unit 493 determines whether the load index value IV is above the allowable threshold T1 (step S9). If the load index value IV is below the allowable threshold T1 (if "No" is true in step S9), the insertion / removal control unit 493 transitions the process to step S100, determining whether the repeated insertion of the feeder 25 into the holding unit 24 based on the retry operation is complete. If the feeder 25 is completely inserted, the operation of the feeder insertion / removal device 4 ends.

[0105] If the load index value IV is above the allowable threshold T1 (if "Yes" is true in step S9), the insertion / removal control unit 493 determines whether the number of repetitions of the retry action during the insertion of the feeder 25 has reached the number threshold T4 (step S10). If the number of repetitions of the retry action has reached the number threshold T4 (if "Yes" is true in step S10), the insertion / removal control unit 493 executes insertion abort control (step S11). During insertion abort control, the insertion / removal control unit 493 inputs the drive signal DS to the insertion / removal drive motor 452 to stop the feeder 25 from inserting into the holding part 24 of the object to be retried. At this time, the insertion / removal control unit 493 outputs insertion abort information DI1 (step S12). The insertion abort information DI1 output from the insertion / removal control unit 493 is displayed on the display unit 46.

[0106] After the insertion abort control is executed, the insertion / removal control unit 493 determines whether there is a substitute holding part that allows the feeder 25 to be inserted, which stops the insertion of the holding part 24 (step S13). If there is no substitute holding part (if "No" is true in step S13), the insertion / removal control unit 493 outputs a non-substitutable information DI2 indicating that this content cannot be substituted (step S131).

[0107] If a replacement holding part is present (if "Yes" is selected in step S13), the insertion / removal control unit 493 performs replacement insertion control (step S14). During replacement insertion control, the insertion / removal control unit 493 inputs a drive signal DS to the insertion / removal drive motor 452, causing the feeder 25 to move relative to the replacement holding part along the insertion direction DX1. Furthermore, the insertion / removal control unit 493 determines whether the feeder 25 has completed inserting the replacement holding part (step S15). If the feeder 25 has completed inserting the replacement holding part, the operation of the feeder insertion / removal device 4 ends.

[0108] As described above, in the feeder insertion / removal device 4 according to this embodiment, the insertion / removal control unit 493 changes the input value of the drive signal DS for the insertion / removal drive motor 452 based on the load index value IV detected by the detection unit 454, thereby controlling the movement of the feeder 25 relative to the holding unit 24 during insertion / removal. Therefore, the movement of the feeder 25 during insertion / removal, driven by the insertion / removal drive motor 452, can be controlled according to the load applied to the feeder 25. Thus, the feeder 25 can be properly inserted / removed relative to the holding unit 24.

[0109] The component mounting system 1 includes a feeder insertion / removal device 4 that allows for proper insertion and removal of feeders 25 relative to the plurality of holding portions 24 in the component mounting machine 2. This enables proper supply of components from the feeders 25 inserted into the holding portions 24, thereby mitigating the risk of decreased productivity of component-mounted substrates in the component mounting machine 2.

[0110] The specific embodiments described above mainly include inventions having the following configuration.

[0111] One aspect of the present invention relates to a feeder insertion / removal device for inserting / removing a feeder relative to each of a plurality of holding portions in a component mounting machine capable of holding the feeder, the feeder supplying components, the component mounting machine mounting the components onto a substrate. The feeder insertion / removal device includes: an insertion / removal movement mechanism for moving the feeder relative to the holding portions along an insertion / removal direction; a detection unit for detecting an index, i.e., a load index value, of the load applied to the feeder due to the movement of the feeder when the insertion / removal movement mechanism inserts / removes the feeder relative to the holding portions; and an insertion / removal control unit for inputting a drive signal into the insertion / removal movement mechanism based on the load index value detected by the detection unit, thereby controlling the movement of the feeder when inserting / removing relative to the holding portions.

[0112] According to this feeder insertion / removal device, the feeder is moved in the insertion / removal direction by an insertion / removal movement mechanism controlled by an insertion / removal control unit, thereby inserting / removing the feeder relative to each of the multiple holding units in the component mounting machine. At this time, when inserting / removing the feeder relative to the holding unit, the insertion / removal control unit inputs a drive signal to the insertion / removal movement mechanism based on an index of the load applied to the feeder, i.e., a load index value. Therefore, the movement of the insertion / removal movement mechanism during feeder insertion / removal can be controlled according to the load applied to the feeder. For example, if the load applied to the feeder increases due to jamming or other obstructions hindering feeder insertion / removal, the movement of the feeder during insertion / removal can be controlled based on this increase in load. Therefore, the feeder can be properly inserted / removed relative to the holding unit. As a result, components can be properly supplied from the feeder, thus mitigating the risk of decreased productivity of the component mounting machine on the component mounting substrate.

[0113] The feeder insertion / removal device described above can be configured as follows: the insertion / removal movement mechanism includes a drive motor for generating a driving force that moves the feeder along the insertion / removal direction; the detection unit detects the current or voltage value of the drive motor as the load index value; and the insertion / removal control unit controls the movement of the feeder relative to the holding unit during insertion / removal by changing the drive signal to be input to the drive motor.

[0114] In this configuration, the detection unit detects the current or voltage value of the drive motor as a load index value used when the insertion / removal control unit changes the input value of the drive signal to the drive motor. Therefore, the detection unit can detect the load index value without using load sensors or other load detection sensors.

[0115] The feeder insertion / removal device described above can be configured as follows: when the load index value detected by the detection unit is less than a preset allowable threshold, the insertion / removal control unit performs standard control by inputting a drive signal into the insertion / removal moving mechanism to control the movement of the feeder during insertion / removal, thereby performing a standard operation to move the feeder along the insertion / removal direction; when the load index value detected by the detection unit becomes greater than or equal to the allowable threshold, the insertion / removal control unit performs retry control by inputting a drive signal into the insertion / removal moving mechanism to control the movement of the feeder during insertion / removal, thereby performing a retry operation to move the feeder again after it has stopped moving along the insertion / removal direction.

[0116] In this configuration, the insertion / removal control unit performs standard control to cause the feeder to operate normally when the load index value is less than the allowable threshold, and performs retry control to cause the feeder to retry its operation when the load index value becomes higher than the allowable threshold. In other words, when the load index value becomes higher than the allowable threshold and the load applied to the feeder reaches the upper limit of the allowable range, the feeder is retried by the insertion / removal control unit performing retry control. During the retry operation, after the feeder movement is temporarily stopped due to the load index value becoming higher than the allowable threshold, the feeder movement resumes. This retry operation of the feeder increases the possibility of reducing the load applied to the feeder. Therefore, the feeder can be inserted and removed more appropriately compared to the holding unit.

[0117] The feeder insertion / removal device described above can be configured as follows: the insertion / removal control unit performs the retry control in the following manner: during the retry operation, after the feeder stops moving in either the insertion direction or the removal direction of the insertion / removal direction, it moves a specified reverse distance in the opposite direction to the first direction, and then moves in the first direction again.

[0118] In this configuration, when the feeder retryes due to retry control performed by the insertion / removal control unit, after the feeder's movement in one direction is temporarily stopped, the feeder moves in the opposite direction, and then resumes movement in that direction. This retrying action of the feeder further increases the possibility of reducing the load applied to the feeder. Therefore, the feeder can be inserted and removed more appropriately relative to the holding part.

[0119] The feeder insertion / removal device described above can be configured such that the insertion / removal control unit performs standard control in the standard operation by moving the feeder at a specified standard speed, and performs retry control in the retry operation by moving the feeder at a retry speed that is slower than the standard speed.

[0120] In this configuration, when the feeder retryes due to retry control performed by the insertion / removal control unit, the feeder moves at a retry speed slower than the standard speed. By retrying the feeder at such a slower speed, the possibility of reducing the load applied to the feeder can be further increased. Therefore, the feeder can be inserted and removed more appropriately relative to the holding unit.

[0121] The feeder insertion / removal device described above can be configured as follows: during the retry operation, when the feeder moves in the same direction again, if the load index value detected by the detection unit becomes above the allowable threshold, the insertion / removal control unit inputs a drive signal into the insertion / removal movement mechanism to cause the feeder to repeat the retry operation. When the feeder repeats the retry operation, the insertion / removal control unit inputs a drive signal into the insertion / removal movement mechanism to increase the reverse distance in each retry operation as the retry operation is repeated.

[0122] In this configuration, when the feeder repeatedly performs retry operations due to retry control executed by the insertion / removal control unit, the feeder's backtracking distance is set to increase as the retry operations are repeated. Therefore, as the feeder's retry operations are repeated, the possibility of reducing the load applied to the feeder can be increased. Thus, based on the repetition of the feeder's retry operations, the feeder can be properly inserted / removed relative to the holding unit.

[0123] The feeder insertion / removal device described above can be configured as follows: when a retry action with the insertion direction as the retry action of the feeder is set and the number of repetitions of the retry action reaches a preset threshold number, and the load index value detected by the detection unit is maintained above the allowable threshold, the insertion / removal control unit performs insertion abort control in the following manner: a drive signal is input to the insertion / removal movement mechanism to stop the feeder from being inserted into the holding part that is the object of the retry action.

[0124] In this configuration, when the number of repetitions of the feeder insertion into the holding section reaches a specified threshold, and the load index value is maintained above the allowable threshold, the insertion / removal control unit performs insertion abort control. Based on the insertion abort control performed by the insertion / removal control unit, the feeder's insertion into the holding section of the object to be retried is stopped. This prevents the feeder from being inserted into the holding section under excessive load.

[0125] The feeder insertion / removal device described above can be configured as follows: after the insertion abort control is executed, the insertion / removal control unit determines whether there is a substitute holding part among the plurality of holding parts that allows the feeder to be inserted to replace the holding part where the feeder insertion was aborted, and if the substitute holding part exists, it performs a substitute insertion control in the following manner: a drive signal is input into the insertion / removal movement mechanism to move the feeder relative to the substitute holding part along the insertion direction.

[0126] In this configuration, when a substitute holding part is present, the substitute holding part allows the feeder, whose insertion into the holding part has been stopped, to be inserted therein. The insertion / removal control unit performs substitute insertion control to insert the feeder into the substitute holding part. Thus, when the feeder is inserted into the substitute holding part, components can be supplied from the feeder.

[0127] The feeder insertion and removal device described above can be configured such that, in the case of the substitution insertion control, the insertion and removal control unit outputs information indicating that the content cannot be substituted when the substitution holding unit is not present.

[0128] In this configuration, when a substitute retainer is not present, the substitute retainer allows the feeder, whose insertion into the retainer has been interrupted, to be inserted into it, and the insertion / removal control unit outputs a non-substitute information. By utilizing the non-substitute information output from the insertion / removal control unit, the operator can, for example, be aware that a substitute retainer is not present.

[0129] The feeder insertion / removal device described above can be configured such that the insertion / removal control unit outputs insertion stop information indicating that the holding unit for the object of the retry operation stops the insertion of the feeder in the insertion stop control.

[0130] In this configuration, the insertion / removal control unit outputs insertion stop information in the insertion stop control. By utilizing the insertion stop information output from the insertion / removal control unit, the operator can, for example, be aware of the status of stopping the insertion of the feeder to the holding unit.

[0131] The feeder insertion / removal device described above can be configured as follows: when the load index value detected by the detection unit is less than the allowable threshold and is above a preset warning threshold, the insertion / removal control unit outputs warning information indicating that the load applied to the feeder exceeds the allowable range when the insertion / removal movement mechanism moves the feeder so that the feeder is inserted / removed relative to the holding unit based on the movement.

[0132] In this configuration, the insertion / removal control unit outputs warning information when the load index value is less than the allowable threshold and exceeds the warning threshold. By utilizing the warning information output from the insertion / removal control unit, operators can, for example, recognize a situation where the load applied to the feeder is showing signs of exceeding the allowable range.

[0133] The feeder insertion / removal device described above can be configured to include a display unit for displaying information output from the insertion / removal control unit.

[0134] In this configuration, the display unit shows the information output from the insertion / removal control unit. By checking the information displayed on the display unit, the operator can understand the status of the feeder insertion / removal device inserting or removing the feeder relative to the holding part.

[0135] The feeder insertion and removal device described above can be configured to include a threshold setting unit that sets the allowable threshold based on the moving speed of the feeder when it is inserted or removed from the holding unit.

[0136] The load applied to the feeder during insertion and removal from the holding section sometimes varies depending on the feeder's moving speed. Therefore, the load index, or load index value, applied to the feeder sometimes also varies based on the feeder's moving speed. To address this, a threshold setting unit sets an allowable threshold used by the insertion / removal control unit when controlling the insertion / removal movement mechanism based on the feeder's moving speed. Thus, by comparing the allowable threshold set based on the feeder's moving speed with the load index value, the insertion / removal control unit can more appropriately control the movement of the insertion / removal movement mechanism when inserting or removing the feeder. Therefore, the feeder can be inserted / removed appropriately relative to the holding section.

[0137] Another aspect of the invention relates to a component mounting system comprising: a component mounting machine having a plurality of holding portions capable of holding a feeder for supplying a component, wherein the component supplied by the feeder is mounted on a substrate; and the aforementioned feeder insertion / removal device for inserting / removing the feeder relative to each of the plurality of holding portions.

[0138] According to this component mounting system, it has a feeder insertion / removal device that can properly insert and remove feeders relative to multiple holding sections in a component mounting machine. Therefore, components can be properly supplied from the feeders inserted into the holding sections, thus mitigating the risk of decreased component-mounted substrate productivity in the component mounting machine.

[0139] As described above, according to the present invention, a feeder insertion / removal device capable of properly inserting and removing a feeder relative to a plurality of retaining portions in a component mounting machine, and a component mounting system having the device, can be provided.

Claims

1. A feeder insertion / removal device for inserting / removing a feeder relative to each of a plurality of holding portions in a component mounting machine capable of holding the feeder separately, the feeder supplying components, the component mounting machine mounting the components onto a substrate, the feeder insertion / removal device being characterized by comprising: The insertion / removal mechanism moves the feeder relative to the retaining part along the insertion / removal direction; The detection unit detects an index of the load applied to the feeder due to the movement of the feeder, i.e., the load index value, when the insertion and removal moving mechanism inserts or removes the feeder relative to the holding part. as well as, The insertion / removal control unit inputs a drive signal into the insertion / removal movement mechanism based on the load index value detected by the detection unit, thereby controlling the movement of the feeder relative to the holding part during insertion / removal.

2. The feeder insertion / removal device according to claim 1, characterized in that, The insertion / removal mechanism includes a drive motor for generating a driving force that moves the feeder along the insertion / removal direction. The detection unit detects the current or voltage value of the drive motor as the load index value. The insertion / removal control unit controls the movement of the feeder relative to the holding part during insertion / removal by changing the drive signal to be input to the drive motor.

3. The feeder insertion / removal device according to claim 1 or 2, characterized in that, If the load index value detected by the detection unit is less than a preset allowable threshold, the insertion / removal control unit performs standard control by inputting a drive signal into the insertion / removal movement mechanism to control the movement of the feeder during insertion / removal, thereby performing a standard operation to move the feeder along the insertion / removal direction. If the load index value detected by the detection unit becomes higher than the allowable threshold, the insertion / removal control unit performs retry control by inputting a drive signal into the insertion / removal moving mechanism to control the movement of the feeder during insertion / removal, so as to perform a retry operation after the feeder stops moving along the insertion / removal direction.

4. The feeder insertion / removal device according to claim 3, characterized in that, The insertion / removal control unit performs the retry control in the following manner: during the retry operation, after the feeder stops moving in either the insertion direction or the removal direction of the insertion / removal direction, it moves a specified reverse distance in the opposite direction, and then moves in the same direction again.

5. The feeder insertion / removal device according to claim 3, characterized in that, The insertion / removal control unit performs standard control in the standard operation by moving the feeder at a specified standard speed, and performs retry control in the retry operation by moving the feeder at a retry speed that is slower than the standard speed.

6. The feeder insertion / removal device according to claim 4, characterized in that, During the retry operation, when the feeder moves in the same direction again, if the load index value detected by the detection unit becomes above the allowable threshold, the insertion / removal control unit inputs a drive signal to the insertion / removal movement mechanism to cause the feeder to repeat the retry operation. When the feeder repeats the retry action, the insertion / removal control unit inputs a drive signal into the insertion / removal movement mechanism so that the reverse distance in each retry action increases as the retry action is repeated.

7. The feeder insertion / removal device according to claim 6, characterized in that, When a retry action with the insertion direction as the retry action of the feeder is set and the number of repetitions of the retry action reaches a preset threshold, if the load index value detected by the detection unit is maintained above the allowable threshold, the insertion / removal control unit performs insertion abort control in the following manner: a drive signal is input to the insertion / removal movement mechanism to stop the feeder from being inserted into the holding part that is the object of the retry action.

8. The feeder insertion / removal device according to claim 7, characterized in that, After the insertion abort control is executed, the insertion control unit determines whether there is a substitute holding part among the plurality of holding parts that allows the feeder to be inserted to replace the holding part where the feeder insertion was aborted. If the substitute holding part exists, the substitution insertion control is executed in the following manner: a drive signal is input to the insertion moving mechanism to move the feeder relative to the substitute holding part along the insertion direction.

9. The feeder insertion / removal device according to claim 8, characterized in that, In the substitution insertion control, if the substitution holding unit is not present, the insertion / removal control unit outputs information indicating that the content cannot be substituted.

10. The feeder insertion / removal device according to any one of claims 7 to 9, characterized in that, In the insertion abort control, the insertion control unit outputs insertion abort information indicating that the holding unit of the object to be retried stops the insertion of the feeder.

11. The feeder insertion / removal device according to claim 3, characterized in that, If the load index value detected by the detection unit is less than the allowable threshold and is above a preset warning threshold, the insertion / removal control unit outputs warning information indicating that the load applied to the feeder exceeds the allowable range when the insertion / removal moving mechanism moves the feeder so that the feeder is inserted / removed relative to the holding part based on the movement.

12. The feeder insertion / removal device according to claim 9, characterized in that... Also includes: The display unit is used to display information output from the plug-in / plug-out control unit.

13. The feeder insertion / removal device according to claim 3, characterized in that... Also includes: The threshold setting unit sets the allowable threshold based on the moving speed of the feeder when it is inserted or removed from the holding unit.

14. A component mounting system, characterized in that... include: A component mounting machine has multiple holding parts capable of holding a feeder for supplying components, and mounts the components supplied by the feeder onto a substrate; as well as, The feeder insertion / removal device according to any one of claims 1 to 13 is used for inserting / removing the feeder relative to each of the plurality of retaining portions.

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