Method of controlling parts mounter and parts mounter

Abstract

To provide a method of controlling a parts mounter allowing for suppressing vibration occurring in moving a mounting head while repressing the efficiency of mounting parts from lowering, and a parts mounter.SOLUTION: A method of controlling a parts mounter includes: a high accuracy mode to output an acceleration movement command signal (acceleration section) that, when a mounting head stopping at a first position on a beam is moved to a second position on the beam into stoppage (time Ta0-Ta3), starts up the mounting head from the first position and acceleration-moves it to a predetermined speed (maximum speed Vxa.max), a constant-speed movement command signal (constant speed section) for moving the mounting head constantly at a predetermined speed, and a deceleration movement command signal (deceleration section) for deceleration-moving the mounting head from the predetermined speed into stoppage at a second position, in this order. The constant-speed movement command signal has an output continuation time Tc equal to or shorter than 50% of a proper period of the parts mounter.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a component mounting device that mounts components on a board, and a control method for the component mounting device. [Background technology]

[0002] In a component mounting device, an XY robot moves a mounting head in a horizontal plane, picks up components supplied by a parts feeder, and mounts them at a predetermined position on a board. In such a component mounting device, when the mounting head starts moving from a stopped state or when the moving mounting head stops, the driving force of the XY robot changes and the speed or acceleration of the mounting head changes suddenly, causing vibrations in the component mounting device including the XY robot. In such a component mounting device, problems such as a decrease in component mounting accuracy due to the influence of these vibrations may occur (see, for example, Patent Document 1).

[0003] Incidentally, the amplitude of the residual vibration generated when the mounting head stops moving becomes large when the movement time of the mounting head is close to the natural period of the XY robot. To address this problem, Patent Document 1 discloses that the time from starting the mounting head to accelerating to a predetermined speed and the time from decelerating from the predetermined speed to stopping are each set to 25% or less of the natural period of the XY robot. As a result, the phase of the vibration generated when the mounting head stops moving is in the opposite phase to the vibration generated at the start, and the amplitude of the residual vibration after stopping can be reduced by being canceled out by the vibration of the opposite phase. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 4737205 Summary of the Invention [Problem to be solved by the invention]

[0005] In a component mounting device, when a moving mounting head transitions to a deceleration state, in other words, immediately after the driving force is switched from positive to negative and negative acceleration occurs, larger vibrations are generated. However, the prior art including Patent Document 1 does not disclose any reduction in vibrations generated by the mounting head while it is moving. Therefore, in a so-called dual-head component mounting device in which two mounting heads perform component mounting work independently, there is a problem that the mounting accuracy of the opposing mounting head is reduced due to the influence of vibrations generated by the other mounting head while moving. In addition, there is also a problem that the component mounting efficiency is reduced when the moving speed of the opposing mounting head is reduced so as not to reduce the mounting accuracy of the mounting head that is mounting components.

[0006] SUMMARY OF THE PRESENT EMBODIMENTS Accordingly, an object of the present invention is to provide a component mounting device and a control method thereof that can suppress a decrease in component mounting efficiency while suppressing vibrations that occur during movement of the mounting head. [Means for solving the problem]

[0007] The control method for a component mounting device of the present invention is a control method for a component mounting device having a robot that moves a mounting head in a horizontal plane on a beam based on an output command signal, picks up components from a part feeder, and mounts them on a board, wherein, when the control device moves the mounting head, which is stopped at a first position on the beam, to a second position on the beam and stops it there, it outputs, in this order, an acceleration movement command signal for starting the mounting head from the first position and accelerating it to a predetermined speed, a constant speed movement command signal for moving the mounting head at a constant speed at the predetermined speed, and a deceleration movement command signal for decelerating the mounting head from the predetermined speed and stopping it at the second position, wherein the output duration of the constant speed movement command signal is 50% or less of the natural period of the component mounting device.

[0008] The component mounting device of the present invention is a component mounting device having a robot that moves a mounting head in a horizontal plane on a beam based on an output command signal, picks up components from a part feeder and mounts them on a board, and is equipped with a control device that, when moving the mounting head, which is stopped at a first position on the beam, to a second position on the beam and stops it there, outputs, in this order, an acceleration movement command signal for starting the mounting head from the first position and accelerating it to a predetermined speed, a constant speed movement command signal for moving the mounting head at a constant speed at the predetermined speed, and a deceleration movement command signal for decelerating the mounting head from the predetermined speed and stopping it at the second position, wherein the output duration of the constant speed movement command signal is 50% or less of the natural period of the component mounting device. Effect of the Invention

[0009] According to the present invention, it is possible to suppress the vibrations that occur when the mounting head is moving while preventing a decrease in component mounting efficiency. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a plan view showing a schematic structure of a component mounting device according to an embodiment of the present invention; [Diagram 2] FIG. 2 is a block diagram showing the configuration of a control system of the component mounting apparatus according to the embodiment of the present invention. [Diagram 3] FIG. 1A is a diagram showing the time progression of the moving speed of the mounting head in a component mounting device according to an embodiment of the present invention; FIG. 1B is a diagram showing the time progression of the acceleration of the mounting head; and FIG. 1C is a diagram showing the time progression of vibrations caused by the movement of the mounting head. [Figure 4] FIG. 13 is a diagram showing the time transition of the moving speed of the mounting head in the high-precision mode when the moving distance is short in the component mounting device according to the embodiment of the present invention. [Diagram 5] FIG. 1 is an explanatory diagram of an example of movement rule data used in a component mounting apparatus according to an embodiment of the present invention. [Figure 6] FIG. 2 is a flow chart showing a control method for a component mounting apparatus according to an embodiment of the present invention. [Figure 7]FIG. 11 is an explanatory diagram of an example of movement rule data used in another embodiment of the component mounting apparatus according to the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] An embodiment of the present invention will be described in detail below with reference to the drawings. The configuration, shape, etc. described below are examples for explanation and can be changed as appropriate depending on the specifications of the component mounting device. In the following, the same reference numerals are used for corresponding elements in all drawings, and duplicated explanations will be omitted. In FIG. 1 and in some parts described later, the X-axis (left-right direction in FIG. 1) in the board transport direction and the Y-axis (up-down direction in FIG. 1) perpendicular to the board transport direction are shown as two axes perpendicular to each other in the horizontal plane. In FIG. 1 and in some parts described later, the Z-axis (perpendicular to the paper surface in FIG. 1) is shown as the height direction perpendicular to the horizontal plane.

[0012] First, the configuration of the component mounting device 1 will be described with reference to Fig. 1. A first board transport lane L1 and a second board transport lane L2 that transport a board 3 along the X-axis are arranged at a distance in the Y-axis direction in the upper center of the base 2. Hereinafter, in the Y-axis direction, the side where the first board transport lane L1 is arranged will be referred to as the front (lower side of the drawing), and the side where the second board transport lane L2 is arranged will be referred to as the rear (upper side of the drawing).

[0013] The first board transport lane L1 is equipped with a first board transport section K1 having a pair of board transport conveyors that transport the board 3. The second board transport lane L2 is equipped with a second board transport section K2 having a pair of board transport conveyors that transport the board 3. The first board transport section K1 and the second board transport section K2 transport the board 3 transported from upstream to the mounting work position, position it, and hold it. In addition, the first board transport section K1 and the second board transport section K2 transport the board 3 downstream after the component mounting work has been completed.

[0014] In Fig. 1, the component mounting device 1 has a first component supply unit S1 disposed in front of a first board transport lane L1 and a second component supply unit S2 disposed behind a second board transport lane L2. A cart 5 having a plurality of part feeders 4 (tape feeders) previously attached thereto is set on the upper portion of the first component supply unit S1 and the second component supply unit S2. The part feeder 4 pitch-feeds a carrier tape holding the components, and supplies the components held by the carrier tape to a component supply position. The part feeder 4 may be a tray feeder that supplies components placed on a tray.

[0015] Y-axis beams 6 equipped with linear drive mechanisms are arranged along the Y-axis at both ends in the X-axis direction on the upper surface of the base 2. A first X-axis beam B1 equipped with a linear drive mechanism is arranged in front between the Y-axis beams 6, and a second X-axis beam B2 equipped with a linear drive mechanism is arranged in the rear. The first X-axis beam B1 and the second X-axis beam B2 are driven by the linear drive mechanism of the Y-axis beam 6 to move back and forth along the Y-axis.

[0016] In Fig. 1, a first moving member E1 is coupled to the first X-axis beam B1, which is driven by a linear drive mechanism of the first X-axis beam B1 and moves left and right along the X-axis. A first mounting head H1 and a first head camera C1 are attached to the first moving member E1. A second moving member E2 is coupled to the second X-axis beam B2, which is driven by a linear drive mechanism of the second X-axis beam B2 and moves left and right along the X-axis. A second mounting head H2 and a second head camera C2 are attached to the second moving member E2.

[0017] The first placement head H1 and the second placement head H2 are equipped with multiple component holding nozzles at their lower ends to hold components. The first placement head H1 and the second placement head H2 raise and lower the component holding nozzles along the Z axis and rotate them around the Z axis. The first placement head H1 and the second placement head H2 hold components using the component holding nozzles and place them on the board 3.

[0018] 1, the first mounting head H1 moves in a horizontal plane (X-axis direction, Y-axis direction) by a linear drive mechanism of the Y-axis beam 6 and the first X-axis beam B1. That is, the first mounting head H1, the Y-axis beam 6, and the first X-axis beam B1 move the first mounting head H1 in a horizontal plane on the beams (Y-axis beam 6 and the first X-axis beam B1) to constitute a first robot U1 that picks up components from the parts feeder 4 and mounts them on the board 3. The first robot U1 moves the first mounting head H1 based on a command signal output by a control device 10 (see FIG. 2) included in the component mounting device 1.

[0019] The second placing head H2 moves in a horizontal plane by a linear drive mechanism of the Y-axis beam 6 and the second X-axis beam B2. That is, the second placing head H2, the Y-axis beam 6, and the second X-axis beam B2 constitute a second robot U2 that moves the second placing head H2 in a horizontal plane on the beams (Y-axis beam 6 and second X-axis beam B2) to pick up components from the parts feeder 4 and place them on the board 3. The second robot U2 moves the second placing head H2 based on a command signal output by the control device 10.

[0020] 1, the first head camera C1 and the second head camera C2 move above the board 3 held at the mounting work position of the first board transport lane L1 or the mounting work position of the second board transport lane L2, and capture an image of a board mark (not shown) provided on the board 3. The captured image is subjected to image recognition, and the position of the board 3 is detected.

[0021] On the upper surface of the base 2, a first component camera G1 that captures an image of the upper side is disposed between the first component supply unit S1 and the first board transport lane L1. In addition, a second component camera G2 that captures an image of the upper side is disposed between the second component supply unit S2 and the second board transport lane L2. When the first mounting head H1 that has taken out a component from the first component supply unit S1 moves above the first component camera G1, the first component camera G1 captures an image of the component held by the component holding nozzle. When the second mounting head H2 that has taken out a component from the second component supply unit S2 moves above the second component camera G2, the second component camera G2 captures an image of the component held by the component holding nozzle. The captured image is subjected to image recognition, and the posture of the component held by the component holding nozzle is detected.

[0022] 1, in the task of mounting components on the board 3 by the first mounting head H1, the mounting positions of the components are corrected taking into account the results of board position recognition by the first head camera C1 and the results of component recognition by the first component camera G1. Similarly, in the task of mounting components on the board 3 by the second mounting head H2, the mounting positions of the components are corrected taking into account the results of board position recognition by the second head camera C2 and the results of component recognition by the second component camera G2.

[0023] Hereinafter, unless there is a need to distinguish between them, the first X-axis beam B1 and the second X-axis beam B2 will be simply referred to as the "X-axis beam B." Additionally, the first mounting head H1 and the second mounting head H2 will be simply referred to as the "mounting head H." Additionally, the first robot U1 and the second robot U2 will be simply referred to as the "robot U."

[0024] That is, the component mounting device 1 is equipped with two beams (Y-axis beam 6 and X-axis beam B) that run along two intersecting axial directions in a horizontal plane (X-axis direction and Y-axis direction). The component mounting device 1 also has a robot U that moves a mounting head H on the two beams in the horizontal plane, picks up components from a part feeder 4, and mounts them on a board 3. The component mounting device 1 shown in Fig. 1 is an example of a dual-head component mounting device that has two sets of two beams that run along two axial directions, and two mounting heads H (a first mounting head H1 and a second mounting head H2) that move on the two beams, respectively.

[0025] Next, the configuration of the control system of the component mounting device 1 will be described with reference to Fig. 2. Here, the function of suppressing vibrations that occur while the mounting head H is moving will be mainly described. The component mounting device 1 is equipped with a control device 10 to which a first board transport unit K1, a second board transport unit K2, a first component supply unit S1, a second component supply unit S2, a first robot U1, a second robot U2, a first head camera C1, a second head camera C2, a first component camera G1, and a second component camera G2 are connected. The control device 10 is equipped with a component mounting control unit 11, a movement condition calculation unit 12, and a memory unit 13.

[0026] The storage unit 13 is a storage device, and stores production data 14, movement rule data 15, etc. The production data 14 stores, for each type of mounting board, information required for component mounting work, such as the size of the board 3, the type of component to be mounted and the mounting position (XY coordinates), as well as control programs and information regarding the operation mode (normal mode, high precision mode, etc.) for mounting the components on the board 3. The movement rule data 15 stores various rules that are referred to when the movement condition calculation unit 12 calculates the conditions for moving the mounting head H. The component mounting control unit 11 controls the robot U based on the production data 14 and the conditions calculated by the movement condition calculation unit 12 to have the robot U pick up the components supplied by the parts feeder 4 and mount them on the board 3.

[0027] 3, a relationship between the movement conditions of the mounting head H and the vibrations generated in the component mounting device 1 will be described. Based on the movement conditions calculated by the movement condition calculation unit 12, the component mounting control unit 11 controls the robot U in a normal mode (first mode) in which components are placed on the board 3, and a high-precision mode (second mode) in which components are placed on the board 3 with higher precision than in the normal mode.

[0028] FIG. 3(a) shows an example of the time transition of the speed Vx of the mounting head H moving in the X-axis direction controlled by the normal mode (1) (shown by a dashed line), the normal mode (2) with an acceleration of 1 / 2 (shown by a dotted line), and the high-precision mode (1) (shown by a solid line). FIG. 3(a) also shows the acceleration section, the constant speed section, and the deceleration section in the high-precision mode (1). FIG. 3(b) shows an example of the time transition of the acceleration Ax in the X-axis direction corresponding to FIG. 3(a). FIG. 3(c) shows an example of the time transition of the amplitude Wx of the vibration in the X-axis direction generated in the component mounting device 1 corresponding to FIG. 3(a). Each mode is shown under the movement condition of moving from the same movement start position (first position) to the same movement end position (second position). The same applies to the Y-axis direction, and illustration and explanation are omitted.

[0029] First, a description will be given of the normal mode (1) indicated by the dashed line in Fig. 3. In the normal mode (first mode), different controls are performed by the component mounting control unit 11 in each of the acceleration section (from time Ta0 to time Ta1) and the deceleration section (from time Ta1 to time Ta2) during the period from when the mounting head H, which has been stopped at the movement start position (first position), starts moving until it stops at the movement end position (second position).

[0030] 3(a) and 3(b), in the acceleration section, the mounting head H stopped at the movement start position (first position) is controlled to accelerate at a constant acceleration Axa until it reaches a maximum speed Vxa.max (predetermined speed). Specifically, the component mounting control unit 11 (control device 10) outputs an acceleration movement command signal to the robot U to start the mounting head H from the movement start position (first position) and accelerate it to the maximum speed Vxa.max (predetermined speed) at the acceleration Axa.

[0031] In the deceleration section, the mounting head H, which has been moving at a maximum speed Vxa.max (predetermined speed), is controlled to decelerate at a constant acceleration Axa and stop at the movement end position (second position). Specifically, the component mounting control unit 11 (control device 10) outputs a deceleration movement command signal to the robot U to decelerate the mounting head H from the maximum speed Vxa.max (predetermined speed) at the acceleration Axa and stop it at the movement end position (second position). Note that, in this example, the acceleration in the acceleration section (acceleration acceleration) and the acceleration in the deceleration section (deceleration acceleration) are the same (acceleration Axa), but the acceleration acceleration and the deceleration acceleration may be different.

[0032] 3(c), when the driving force applied to the mounting head H changes and the acceleration Ax changes, large vibrations are generated in the component mounting device 1 including the robot U. Specifically, the acceleration Ax applied to the mounting head H changes at time Ta0 when an accelerating driving force is applied to the stopped mounting head H and the mounting head H starts to move, at time Ta1 when the driving force applied to the mounting head H changes from accelerating (plus) to decelerating (minus) and the mounting head H starts to decelerate, and at time Ta2 when the moving mounting head H stops.

[0033] The amplitude Wx of the vibration generated by the change in the driving force (acceleration Ax) depends on the magnitude of the acceleration change amount ΔAx, which is the amount of change in the acceleration Ax. That is, the larger the acceleration change amount ΔAx, the larger the amplitude Wx of the generated vibration. In the case of the normal mode (1), the acceleration change amount ΔAx at the start of the acceleration section (time Ta0) and the end of the deceleration section (time Ta2) is +Axa, and the acceleration change amount ΔAxa at the transition from the acceleration section to the deceleration section (time Ta1) is -2Axa. That is, in the normal mode, a vibration of maximum amplitude Wxa.max occurs at the transition from the acceleration section to the deceleration section (time Ta1). The period of the generated vibration is a natural period (natural period) that depends on the structure and rigidity of the component mounting device 1 including the robot U, and is different in the X-axis direction and the Y-axis direction.

[0034] If the vibration generated at the end of the deceleration section (time Ta2) is large, the remaining vibration will also cause that mounting head H to vibrate, which may reduce the placement accuracy of the components placed by that mounting head H. Also, if the vibration generated at the timing when the acceleration changes (times Ta0, Ta1, Ta2) is large, the vibration generated by the movement of that mounting head H may cause other mounting heads H to vibrate significantly, which may reduce the placement accuracy of the components placed by the other mounting heads H. Therefore, in order to improve the placement accuracy of the component mounting device 1, it is desirable for the acceleration change amount ΔAx at each timing (times Ta0, Ta1, Ta2) to be small.

[0035] Next, the normal mode (2) indicated by the dotted line in Fig. 3 will be described. In Fig. 3(a) and Fig. 3(b), the acceleration Ax in the acceleration section and deceleration section in the normal mode (2) is 1 / 2 that in the normal mode (1) (Axb = 1 / 2Axa). That is, in the normal mode (2), in the acceleration section (from time Tb0 to time Tb1), the mounting head H is controlled to accelerate at a constant acceleration Axb that is 1 / 2 that of the normal mode (1) until it reaches the maximum speed Vxb.max (predetermined speed). Also, in the deceleration section (from time Tb1 to time Tb2), the mounting head H is controlled to decelerate from the maximum speed Vxb.max (predetermined speed) at a constant acceleration Axb that is 1 / 2 that of the normal mode (1) and stop.

[0036] 3(b) and 3(c), in normal mode (2), the amount of change in acceleration ΔAx at the start of the acceleration section (time Tb0) and the end of the deceleration section (time Tb2) is +Axb (=1 / 2Axa), half that of normal mode (1). Also, the amount of change in acceleration ΔAxb at the transition from the acceleration section to the deceleration section (time Tb1) is -2Axb (=-Axa), half that of normal mode (1). As a result, the maximum amplitude Wxb.max of vibrations occurring at the transition from the acceleration section to the deceleration section (time Tb1) is about half that of normal mode (1).

[0037] On the other hand, the movement time (time Tb0 to Tb2) from the movement start position (first position) to the movement end position (second position) in normal mode (2) is significantly longer than the movement time (time Ta0 to Ta2) in normal mode (1) (FIG. 3(a)). That is, in normal mode, the vibration generated at the transition from the acceleration section to the deceleration section can be reduced by reducing the acceleration Ax in the acceleration section and the deceleration section, but the movement time required to move the same distance is longer.

[0038] Next, the high-precision mode (1) indicated by the solid line in Fig. 3 will be described. In the high-precision mode (second mode), different controls are performed by the component mounting control unit 11 in each of the acceleration section (from time Tc0 to time Tc1), the constant speed section (from time Tc1 to time Tc2), and the deceleration section (from time Tc2 to time Tc3) during the period from when the mounting head H, which has been stopped at the movement start position (first position), starts moving until it stops at the movement end position (second position). The control by the component mounting control unit 11 in the acceleration section and the deceleration section is the same as in the normal mode, and detailed description thereof will be omitted.

[0039] 3(a) and 3(b), the acceleration Ax in the acceleration section and the deceleration section in the high-precision mode (1) is the same as that in the normal mode (1) (Axc=Axa). In the constant-speed section, the mounting head H is controlled to move at a maximum speed Vxc.max (predetermined speed) for the output duration Tcx. Specifically, the component mounting control unit 11 (control device 10) outputs a constant-speed movement command signal to the robot U to move the mounting head H at a constant speed of the maximum speed Vxc.max (predetermined speed) for the output duration Tcx.

[0040] In Fig. 3(b) and Fig. 3(c), in the high-precision mode (1), the acceleration change amount ΔAx at the start of the acceleration section (time Tc0) and the end of the deceleration section (time Tc3) is +Axc (=Axa), which is the same as in the normal mode (1). In addition, the acceleration change amount ΔAxc at the transition from the acceleration section to the constant speed section (time Tc1) and the acceleration change amount ΔAxc at the transition from the constant speed section to the deceleration section (time Tc2) are -Axc (=-1 / 2 x 2Axa), which is half the acceleration change amount ΔAxa at the transition from the acceleration section to the deceleration section (time Ta1) in the normal mode (1). As a result, the maximum amplitude Wxc.max of the vibration generated at the transition from the acceleration section to the constant speed section (time Tc1) and the transition from the constant speed section to the deceleration section (time Tc2) is about half that of the normal mode (1).

[0041] In the high-precision mode (1), the movement time (time Tc0 to Tc3) from the movement start position (first position) to the movement end position (second position) is slightly longer than the movement time (time Ta0 to Ta2) in the normal mode (1), but is significantly shorter than the movement time (time Tb0 to Tb2) in the normal mode (2) (Figure 3(a)). On the other hand, the maximum amplitude Wxc.max of the vibration generated in the high-precision mode (1) is significantly smaller than the maximum amplitude Wxa.max in the normal mode (1) and is approximately the same as the maximum amplitude Wxb.max in the normal mode (2).

[0042] In this way, the high-precision mode (second mode) can shorten the movement time more than the normal mode (first mode), in which the acceleration Ax is simply reduced to reduce the generated vibration, by providing a constant speed section between the acceleration section and the deceleration section, in which the mounting head H is moved at a constant speed of a predetermined value.

[0043] Furthermore, if the output duration Tcx of the constant speed section is set to 50% of the natural period of the component mounting device 1, the phase of the vibration generated at the transition from the acceleration section to the constant speed section (time Tc1) and the vibration generated at the transition from the constant speed section to the deceleration section (time Tc2) will be shifted by 180°. As a result, the vibration generated at the transition from the constant speed section to the deceleration section is cancelled by the vibration of the opposite phase generated at the transition from the acceleration section to the constant speed section, and the amplitude Wx of the vibration generated at the transition from the constant speed section to the deceleration section (time Tc2) becomes smaller.

[0044] In other words, by setting the output duration Tcx to a length such that the first vibration generated when the accelerating movement of the mounting head H ends (time Tc1) and the second vibration generated when the decelerating movement of the mounting head H begins (time Tc2) interfere with each other, reducing the amplitude Wx of the second vibration, the amplitude Wx of the vibration generated by the movement of the mounting head H can be reduced.

[0045] In the high-precision mode, if the acceleration Ax is the same as in the normal mode, and the vibration generated when the output duration Tcx is set to 50% of the natural period of the component mounting device 1 is within an allowable range (allowable mounting accuracy), the movement time (times Tc0 to Tc3) can be shortened by increasing the acceleration Ax within the allowable range of the vibration or shortening the output duration Tcx. Conversely, if the vibration exceeds the allowable range, the acceleration Ax is decreased so that the vibration is within the allowable range while maintaining the output duration Tcx. Note that, when the acceleration Ax of the mounting head H is the same, the movement time (time Ta0 to time Ta2) from the first position (movement start position) to the second position (movement end position) in the normal mode (first mode) is shorter than the movement time (time Tc0 to time Tc3) from the first position to the second position in the high-precision mode (second mode).

[0046] Next, referring to Fig. 4, the control by the component mounting control unit 11 when the movement distance of the mounting head H is short in the high-precision mode (high-precision mode (2) shown by the dotted line) will be described. In the high-precision mode (1), when the distance from the movement start position (first position) to the movement end position (second position) becomes short, the output duration Tcx of the constant speed section is shortened within a range where the generated vibration is tolerable. However, when the distance from the movement start position (first position) to the movement end position (second position) becomes very short, the movement time is shortened by omitting the constant speed section and lowering the acceleration Ax to a range where the generated vibration is tolerable (high-precision mode (2)).

[0047] Therefore, the component mounting control unit 11 (control device 11) controls the output duration Tcx of the constant speed movement command signal to be 0 (or does not output the constant speed movement command signal) when the distance from the movement start position (first position) to the movement end position (second position) is less than a predetermined value.

[0048] Next, an example of movement rule data 15 in high accuracy mode (second mode) stored in storage unit 13 will be described with reference to Fig. 5. Fig. 5 shows an example of movement rule data 15 in the X-axis direction, but the same is true in the Y-axis direction, and illustration and description will be omitted. In movement rule data 15, maximum speed 21, maximum acceleration 22, maximum output duration 23, and maximum deceleration 24 are stored for each movement distance 20 of mounting head H. Movement distance 20 indicates the distance section from the movement start position (first position) to the movement end position (second position) of mounting head H.

[0049] The maximum speed 21 is the maximum speed Vx at which the mounting head H is allowed to move. The maximum acceleration 22 is the maximum acceleration Aax allowed in the acceleration section. The maximum output duration 23 is the maximum output duration Tcx allowed in the constant speed section. In this example, in the section where the movement distance 20 is short (0 to ΔX1), the maximum output duration 23 is set to "0" (high accuracy mode (2) shown in FIG. 4). Furthermore, by setting the output duration Tcx to 50% or less of the natural period of the component mounting device 1, it is possible to suppress the increase in movement time in the high accuracy mode and to suppress the vibration generated during the movement of the mounting head H. The maximum deceleration acceleration 24 is the maximum deceleration Adx allowed in the deceleration section.

[0050] In this way, the storage unit 13 pre-stores information (movement rule data 15) on the acceleration (acceleration acceleration Aax, deceleration acceleration Adx) and output duration Tcx that satisfy a predetermined component mounting accuracy according to the distance from the first position (movement start position) to the second position (movement end position). In addition, the movement rule data 15 is set so as to satisfy the predetermined component mounting accuracy and to shorten the movement time from the first position to the second position. For example, by setting the output duration Tcx to 50% or less of the natural period of the component mounting device 1, it is possible to suppress the decrease in mounting efficiency due to an increase in movement time while suppressing vibrations that occur during the movement of the mounting head H.

[0051] 2, the movement condition calculation unit 12 calculates the movement conditions of the mounting head H in the component mounting operation based on the production data 14 and the movement rule data 15. Specifically, the movement condition calculation unit 12 first calculates the distance in the X-axis direction from the movement start position (first position) to the movement end position (second position) of the mounting head H with reference to the production data 14. For example, the movement condition calculation unit 12 calculates the distance from the component supply position of the part feeder 4 to the first component camera G1 or the second component camera G2, the distance from the first component camera G1 or the second component camera G2 to the first mounting position of the board 3, and the distance from the previous mounting position to the next mounting position.

[0052] Next, the movement condition calculation unit 12 refers to the maximum speed 21, maximum acceleration 22, maximum output duration 23, and maximum deceleration acceleration 24 corresponding to the distance from the first position to the second position (movement distance 20) from the X-axis direction movement rule data 15, and calculates the maximum speed Vx.max, the acceleration acceleration Aax in the acceleration movement command signal, the output duration Tcx of the constant speed movement command signal, and the deceleration acceleration Adx in the deceleration movement command signal.

[0053] Similarly, the movement condition calculation unit 12 calculates the distance in the Y-axis direction from the movement start position (first position) to the movement end position (second position) of the mounting head H, and calculates the maximum speed Vy.max, the acceleration acceleration Aay in the acceleration movement command signal, the output duration Tcy of the constant speed movement command signal, and the deceleration acceleration Ady in the deceleration movement command signal based on the Y-axis direction movement rule data 15 not shown.

[0054] In other words, the storage unit 13 pre-stores information (movement rule data 15) relating to accelerations (acceleration accelerations Aax, Aay, deceleration accelerations Adx, Ady) and output durations Tcx, Tcy that satisfy a predetermined component mounting accuracy according to the distance from a first position (movement start position) to a second position (movement end position) for each of the two axial directions (X-axis direction, Y-axis direction). The movement condition calculation unit 12 (control device 10) calculates maximum speeds Vx.max, Vy.max, acceleration accelerations Aax, Aay in the accelerating movement command signal, output durations Tcx, Tcy of the constant speed movement command signal, and deceleration accelerations Adx, Ady in the decelerating movement command signal for each of the two axial directions.

[0055] Next, a control method for the component mounting device 1 will be described along the flow of FIG. 6. Here, a control method for moving the mounting head H, which is stopped at a first position (movement start position) on the beam (Y-axis beam 6, X-axis beam B), to a second position (movement end position) on the beam and stopping it there will be described. The following description will focus on movement in the X-axis direction, but the same applies to movement in the Y-axis direction. Furthermore, movement in the X-axis direction and movement in the Y-axis direction are executed simultaneously. Furthermore, the control device 10 controls each of the first mounting head H1 and the second mounting head H2 independently based on the first mode or the second mode. The following description will focus on the first mounting head H1, but the same applies to the second mounting head H2.

[0056] First, the movement condition calculation unit 12 calculates the distance from the first position to the second position based on the production data 14 (ST1: distance calculation step). Next, the component mounting control unit 11 refers to the production data 14 and determines whether to control in a normal mode (first mode) in which components are mounted on the board 3, or in a high-precision mode (second mode) in which components are mounted on the board 3 with higher precision than in the normal mode (ST2: mode determination step).

[0057] For example, if the mounting board manufactured by the first robot U1 is set to the high accuracy mode in the production data 14, it is determined that the first robot U1 is to be controlled in the high accuracy mode. Also, even if the mounting board manufactured by the first robot U1 is set to the normal mode in the production data 14, if the mounting board manufactured by the second robot U2 is set to the high accuracy mode, it is determined that the first robot U1 is also to be controlled in the high accuracy mode. That is, when controlling the second placement head H2 based on the second mode (high accuracy mode), the control device 10 controls the first placement head H1 based on the second mode.

[0058] 6, when it is determined to control in the normal mode (first mode) (No in ST2), the movement condition calculation unit 12 calculates the acceleration acceleration Aax in the acceleration section (ST3) and calculates the deceleration acceleration Adx in the deceleration section (ST4) based on the distance from the first position to the second position and the normal mode movement rule data 15. Next, the component mounting control unit 11 outputs an acceleration movement command signal of the acceleration acceleration Aax in the acceleration section to the first robot U1 (ST5), and outputs a deceleration movement command signal of the deceleration acceleration Adx in the deceleration section to the first robot U1 (ST6).

[0059] When it is determined that the control is performed in the high-precision mode (second mode) (Yes in ST2), the movement condition calculation unit 12 calculates the acceleration acceleration Aax in the acceleration section based on the distance from the first position to the second position and the high-precision mode movement rule data 15 (ST7), calculates the output duration Tcx in the constant speed section (ST8), and calculates the deceleration acceleration Adx in the deceleration section (ST9). Next, the component mounting control unit 11 outputs an acceleration movement command signal of the acceleration acceleration Aax to the first robot U1 in the acceleration section (ST10), outputs a constant speed movement command signal of the output duration Tcx to the first robot U1 in the constant speed section (ST11), and outputs a deceleration movement command signal of the deceleration acceleration Adx to the robot U in the deceleration section (ST12).

[0060] In this way, in the high-precision mode (second mode), when the control device 10 (component mounting control unit 11) moves the first mounting head H1, which is stopped at a first position (start position of movement) on the beam (Y-axis beam 6, X-axis beam B), to a second position (end position of movement) on the beam and stops it, it outputs, in this order, an acceleration movement command signal (ST10) that starts the first mounting head H1 from the first position and accelerates it to a predetermined speed Vx, a constant speed movement command signal (ST11) that moves the first mounting head H1 at a constant speed at the predetermined speed Vx, and a deceleration movement command signal (ST12) that decelerates the first mounting head H1 from the predetermined speed Vx and stops it at the second position.

[0061] That is, in the high-precision mode (second mode) (ST7-ST12), the control device 10 (component mounting control unit 11) outputs a command signal including a constant-speed movement command signal (ST10-ST12). Also, in the normal mode (first mode) (ST3-ST6), the control device 10 (component mounting control unit 11) outputs a command signal not including a constant-speed movement command signal (ST5-ST6). Furthermore, the control device 10 (component mounting control unit 11) outputs a command signal to each of the mounting heads H (first mounting head H1, second mounting head H2).

[0062] As described above, the component mounting device 1 of this embodiment is equipped with a control device 10 (component mounting control unit 11) that, when moving the mounting head H stopped at a first position (start position of movement) on the beam (Y-axis beam 6, X-axis beam B) to a second position (end position of movement) on the beam and stopping it, outputs, in this order, an acceleration movement command signal to start the mounting head H from the first position and accelerate it to a predetermined speed Vx, Vy, a constant speed movement command signal to move the mounting head H at a constant speed at the predetermined speed Vx, Vy, and a deceleration movement command signal to decelerate the mounting head H from the predetermined speed Vx, Vy and stop it at the second position.

[0063] Here, the output durations Tcx, Tcy of the constant speed movement command signals are equal to or less than 50% of the natural period of the component mounting device 1. This makes it possible to suppress the decrease in mounting efficiency due to an increase in movement time, while suppressing vibrations that occur during the movement of the mounting head H.

[0064] Next, another example of the control method of the component mounting apparatus 1 of this embodiment will be described with reference to Fig. 6 and Fig. 7. The following description will focus on movement in the X-axis direction, but the Y-axis direction movement is similar, so detailed description will be omitted. The other example differs from the above-described example in that the movement rule data 15 shown in Fig. 7 stores pre-calculated acceleration 32 (Aax), output duration 33 (Tcx), and deceleration 34 (Adx) for each movement start position 30 (first position Xs) and movement end position 31 (second position Xe).

[0065] 7 (information relating to acceleration Ax and output duration Tcx stored in memory 13) are set in advance by movement condition calculator 12 or the like so as to satisfy a predetermined component mounting accuracy and shorten the movement time from movement start position 30 (first position Xs) to movement end position 31 (second position Xe). Moreover, output duration 33 (Tcx) is set to 50% or less of the natural period of component mounting device 1 including robot U.

[0066] 6, in another embodiment of the control method for the component mounting apparatus 1, in a distance calculation step (ST1), a movement start position 30 (first position Xs) and a movement end position 31 (second position Xe) are extracted based on the production data 14. Then, in the case of the normal mode (No in ST2), the calculations (ST3) to (ST4) by the movement condition calculation unit 12 are skipped. The component mounting control unit 11 refers to the movement rule data 15 in the normal mode, and outputs an acceleration movement command signal of the corresponding acceleration acceleration 32 (Aax) in the acceleration section to the robot U (ST5), and outputs a deceleration movement command signal of the corresponding deceleration acceleration 34 (Adx) in the deceleration section to the robot U (ST6).

[0067] Furthermore, in the case of the high accuracy mode (Yes in ST2), the calculations (ST7) to (ST9) by the movement condition calculation unit 12 are skipped. The component mounting control unit 11 references the movement rule data 15 in the high accuracy mode, and outputs an acceleration movement command signal of the corresponding acceleration acceleration 32 (Aax) in the acceleration section to the robot U (ST10), outputs a constant speed movement command signal of the corresponding output duration 33 (Tcx) in the constant speed section to the robot U (ST11), and outputs a deceleration movement command signal of the corresponding deceleration acceleration 34 (Adx) in the deceleration section to the robot U (ST12). This reduces the calculations by the movement condition calculation unit 12, and suppresses a decrease in mounting efficiency due to an increase in movement time, while suppressing vibrations generated during movement of the mounting head H. [Industrial Applicability]

[0068] The component mounting device control method and component mounting device of the present invention have the effect of suppressing a decrease in component mounting efficiency while suppressing vibrations that occur while the mounting head is moving, and are useful in the field of mounting components to a circuit board. [Explanation of symbols]

[0069] 1 Component placement device 3. Substrate 4 Parts feeder 6 Y-axis beam B1 1st X-axis beam B2 2nd X-axis beam H1 First placement head H2 Second placement head U1 First Robot U2 Second Robot

Claims

1. A control method for a component mounting device having a robot that moves a mounting head on a beam in a horizontal plane based on an output command signal, picks up components from a parts feeder, and mounts them on a board, comprising the steps of: when the control device moves the mounting head, which is stopped at a first position on the beam, to a second position on the beam and stops there, it outputs, in this order, an acceleration movement command signal for starting the mounting head from the first position and accelerating it to a predetermined speed, a constant speed movement command signal for moving the mounting head at a constant speed at the predetermined speed, and a deceleration movement command signal for decelerating the mounting head from the predetermined speed and stopping it at the second position; Here, a duration of output of the constant speed movement command signal is 50% or less of a natural period of the component mounting device.

2. 2. The component mounting device control method according to claim 1, wherein the component mounting device has a memory unit that pre-stores information regarding the acceleration and the output duration that satisfy a predetermined component mounting accuracy according to the distance from the first position to the second position.

3. 3. The control method for a component mounting device according to claim 2, wherein the information regarding the acceleration and the output duration stored in the memory unit is set so as to satisfy a predetermined component mounting accuracy and to shorten a movement time from the first position to the second position.

4. 4. The control method for a component mounting device according to claim 3, wherein the control device calculates the acceleration acceleration in the acceleration movement command signal, the output duration of the constant speed movement command signal, and the deceleration acceleration in the deceleration movement command signal based on a distance from the first position to the second position and information related to the acceleration and the output duration stored in the memory unit.

5. The component mounting device includes two beams aligned along two axial directions intersecting in a horizontal plane, the storage unit stores in advance information regarding the acceleration and the output duration that satisfy a predetermined component mounting accuracy corresponding to a distance from the first position to the second position for each of the two axial directions; 5. The control method for a component mounting device according to claim 4, wherein the control device calculates, for each of the two axial directions, an acceleration acceleration in the acceleration movement command signal, an output duration of the constant speed movement command signal, and a deceleration acceleration in the deceleration movement command signal.

6. 5. The method of claim 4, wherein the control device calculates the output duration of the constant speed movement command signal as 0 when a distance from the first position to the second position is equal to or less than a predetermined value.

7. the component mounting device has a first mode for mounting components on a board and a second mode for mounting components on a board with higher accuracy than in the first mode, 2. The method of claim 1, wherein the control device outputs the command signal including the constant speed movement command signal in the second mode.

8. 8. The method of claim 7, wherein the control device outputs the command signal not including the constant speed movement command signal in the first mode.

9. 9. The method of claim 8, wherein a movement time from the first position to the second position in the first mode is shorter than a movement time from the first position to the second position in the second mode.

10. 2. The control method for a component mounting device according to claim 1, wherein the output duration is set to a length at which a first vibration generated when the acceleration movement of the mounting head ends and a second vibration generated when the deceleration movement of the mounting head starts interfere with each other, thereby reducing the amplitude of the second vibration.

11. The component mounting apparatus has a plurality of the mounting heads, 11. The method for controlling a component mounting apparatus according to claim 1, wherein the control device outputs the command signal to each of the mounting heads.

12. A component mounting device having a robot that moves a mounting head on a beam in a horizontal plane based on an output command signal, picks up components from a parts feeder, and mounts them on a board, a control device that, when moving the mounting head, which is stopped at a first position on the beam, to a second position on the beam and stopping it there, outputs, in this order, an acceleration movement command signal for starting the mounting head from the first position and accelerating it to a predetermined speed, a constant speed movement command signal for moving the mounting head at a constant speed at the predetermined speed, and a deceleration movement command signal for decelerating the mounting head from the predetermined speed and stopping it at the second position; Here, the output duration of the constant speed movement command signal is 50% or less of the natural period of the component mounting device.

13. the component mounting device has a first mounting head and a second mounting head as the mounting head, a first mode for mounting components on a board, and a second mode for mounting components on the board with higher accuracy than in the first mode, The control device includes: In the first mode, the command signal is output that does not include the constant speed movement command signal; In the second mode, the command signal including the constant speed movement command signal is output, 13. The component mounting apparatus according to claim 12, wherein the first mounting head and the second mounting head are independently controlled based on the first mode or the second mode.

14. The component mounting device according to claim 13 , wherein the control device controls the first mounting head based on the second mode when the control device controls the second mounting head based on the second mode.

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