Component mounting device and maintenance support device, and maintenance support method

Abstract

To provide a component mounting device capable of predicting when mounting head maintenance is required without additional measurement equipment, a maintenance support device, and a maintenance support method.SOLUTION: The maintenance support method includes the steps: setting a thrust limit value for limiting the thrust of the servo motor (ST1); lowering a component holder by a controlled servo motor based on a preset operation pattern (ST2); and predicting when mounting head maintenance is required based on historical data of the thrust limit value at which the descending component holder does not reach the target height (ST6) (ST10).SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a component mounting apparatus, a maintenance support apparatus, and a maintenance support method for supporting maintenance of a mounting head that mounts components on a board. [Background technology]

[0002] The mounting head of the component mounting device lowers a shaft by a servo motor, and mounts a component held by a component holder attached to the lower end of the shaft onto a board. As components have become smaller and thinner in recent years, the appropriate mounting load when mounting a component onto a board has been significantly reduced (see, for example, Patent Document 1). The component mounting device of Patent Document 1 presses the tip of the component holder against a load detection unit installed below, and obtains correlation data that indicates the relationship between the thrust of the servo motor and the load generated at the tip of the component holder. Then, when mounting a component, the servo motor is controlled based on the obtained correlation data, so that the mounting load applied to the component does not exceed a predetermined value. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7223928 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, in conventional technologies including Patent Document 1, correlation data between the thrust of the servo motor and the load generated at the tip of the component holding part can be obtained and compared with previously obtained reference correlation data to determine the need for maintenance of the mounting head, such as an increase in the sliding resistance of the shaft. However, there was a problem in that an additional measuring device such as a load detection part had to be used to obtain the correlation data.

[0005] SUMMARY OF THE PRESENT DISCLOSURE An object of the present invention is to provide a component mounting apparatus, a maintenance support apparatus, and a maintenance support method that are capable of estimating the time when maintenance of a mounting head will be required without adding a measuring device. [Means for solving the problem]

[0006] The component mounting device of the present invention is a component mounting device for mounting components on a board, and comprises a mounting head having a component holding section for holding components, a shaft mounted in a state where the component holding section can be displaced in the vertical direction, and a servo motor for raising and lowering the shaft, a control section that sets a thrust limit value that limits the thrust of the servo motor and controls the servo motor based on a predetermined operating pattern, and an estimation section that estimates a maintenance time when maintenance of the mounting head is necessary based on historical data of a limit thrust limit value, which is the thrust limit value at which the component holding section does not reach a target lowering height.

[0007] The maintenance support device of the present invention is a maintenance support device that supports the maintenance of a mounting head having a component holding part that holds components, a shaft to which the component holding part is attached in a state in which it can be displaced in the vertical direction, and a servo motor that raises and lowers the shaft, and is equipped with an estimation unit that sets a thrust limit value that limits the thrust of the servo motor, and then lowers the component holding part by using the servo motor controlled based on a predetermined operating pattern, and estimates the maintenance time when maintenance of the mounting head will be necessary based on historical data of the limit thrust limit value, which is the thrust limit value at which the descending component holding part does not reach a target lowering height.

[0008] The maintenance support method of the present invention is a maintenance support method that supports the maintenance of a mounting head having a component holding part that holds components, a shaft to which the component holding part is attached in a state in which it can be displaced in the vertical direction, and a servo motor that raises and lowers the shaft, wherein a thrust limit value that limits the thrust of the servo motor is set, and the component holding part is lowered by the servo motor controlled based on a predetermined operating pattern, and the maintenance time when maintenance of the mounting head is required is estimated based on historical data of the limit thrust limit value, which is the thrust limit value at which the descending component holding part does not reach a target lowering height. Effect of the Invention

[0009] According to the present invention, it is possible to estimate the time when maintenance of the mounting head will be required without adding a measuring device. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a plan view of a component mounting system including a configuration of a main part of a component mounting device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a cross-sectional view showing a configuration of a main part of a mounting head provided in a component mounting device according to an embodiment of the present invention; [Diagram 3] FIG. 1 is an explanatory diagram showing the relationship of forces acting on a mounting unit of a mounting head provided in a component mounting device according to an embodiment of the present invention; [Figure 4] 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 5] FIG. 2 is a diagram for explaining acquisition of a limit thrust limit value by a component mounting device according to an embodiment of the present invention. [Figure 6] FIG. 1 is an explanatory diagram of an example of history data acquired by a component mounting device according to an embodiment of the present invention; [Figure 7] FIG. 1 is a flow diagram of a maintenance support method according to an embodiment of 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 configurations, shapes, etc. described below are examples for explanation and can be changed as appropriate depending on the specifications of the component mounting device, the mounting head, and the management computer (maintenance support device). In the following, the same reference numerals are used for corresponding elements in all the drawings, and duplicated explanations will be omitted. In FIG. 1 and in some parts described later, the X-axis (left and right direction in FIG. 1) in the board transport direction and the Y-axis (up and 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. 2 and in some parts described later, the Z-axis (up and down direction in FIG. 2) is shown as the height direction perpendicular to the horizontal plane.

[0012] First, the configuration of the component mounting system 1 will be described with reference to Fig. 1. The component mounting system 1 is configured with a component mounting device M and a management computer CP, which are connected via a communication network NT. The component mounting device M has a function of executing a component mounting operation in which components supplied from a component supply unit are mounted on a board. The management computer CP has a function of creating programs and control data used by the component mounting device M for the component mounting operation in which the component mounting device M mounts components on a board, as well as a function of acquiring various data from the component mounting device M and estimating the maintenance timing, etc., to support the maintenance of the component mounting device M.

[0013] Next, the configuration of the component mounting device M will be described with reference to Fig. 1. The component mounting device M has a function of performing a component mounting operation in which components supplied from a component supply unit are mounted on a board to manufacture a mounted board. A board transport mechanism 3 is arranged along the X-axis in the center of the base 2. The board transport mechanism 3 transports the board P transported from upstream to the mounting operation position, positions it, and holds it. In addition, the board transport mechanism 3 transports the board P downstream after the component mounting operation has been completed.

[0014] Component supply units 4 are arranged on both sides (front and back directions along the Y axis) of the board transport mechanism 3. Each component supply unit 4 has multiple tape feeders 5 arranged along the X axis. Each tape feeder 5 of the component supply unit 4 pitch-feeds a component tape, on which pockets for storing components are formed, in a direction (tape feed direction) from the outside of the component supply unit 4 toward the board transport mechanism 3, to supply components to a component supply position from which the components are picked up by a mounting head, which will be described below.

[0015] In FIG. 1, a Y-axis table 6 equipped with a linear drive mechanism is arranged along the Y-axis at both ends of the X-axis on the upper surface of the base 2. A beam 7 similarly equipped with a linear drive mechanism is connected to the Y-axis table 6 so as to be freely movable along the Y-axis. The beam 7 is arranged along the X-axis. A mounting head 8 is attached to the beam 7 via a plate 7a so as to be freely movable along the X-axis. The mounting head 8 is detachable from the plate 7a. The mounting head 8 is equipped with a plurality of mounting units 20 (see FIG. 2). A component holder 29 (see FIG. 2) that sucks and holds components is attached to the lower ends of the mounting units 20.

[0016] The Y-axis table 6 and the beam 7 constitute a head moving mechanism 9 that moves the mounting head 8 along the X-axis and Y-axis. The head moving mechanism 9 and the mounting head 8 perform a mounting turn in which a component holder 29 attached to the mounting unit 20 sucks and removes a component from the tape feeder 5 arranged in the component supply section 4, and mounts the component at a mounting position on the board P positioned by the board transport mechanism 3. In this way, a plurality of component holders 29 are attached to the mounting head 8, and each component holder 29 picks up a component supplied from the component supply section 4 and mounts it on the board P.

[0017] In Fig. 1, a component recognition camera 10 is disposed between the component supply unit 4 and the board transport mechanism 3. When the mounting head 8 which has picked up a component from the component supply unit 4 moves above the component recognition camera 10, the component recognition camera 10 captures an image of the component held by the mounting head 8 to recognize the holding posture of the component. A head camera 11 is attached to the plate 7a to which the mounting head 8 is attached. The head camera 11 moves integrally with the mounting head 8.

[0018] As the mounting head 8 moves, the head camera 11 moves above the board P positioned by the board transport mechanism 3, and captures an image of a board mark (not shown) provided on the board P to recognize the position of the board P. When the mounting head 8 mounts components on the board P, the mounting position is corrected taking into account the component recognition results by the component recognition camera 10 and the board position recognition results by the head camera 11.

[0019] 1, a touch panel 12 operated by an operator is provided at a position where an operator works in front of component mounting device M. Touch panel 12 displays various information on its display unit, and the operator inputs data and operates component mounting device M using operation buttons and the like displayed on the display unit.

[0020] Next, the configuration of the mounting head 8 will be described with reference to Fig. 2. The mounting head 8 has multiple mounting units 20 (four in the X direction in this case) arranged inside the mounting head base 8a. The mounting units 20 are configured such that a shaft 21 extending in the vertical direction (Z-axis direction) is raised and lowered by a servo-controlled Z-axis motor 22, thereby raising and lowering a component holder 29.

[0021] The shaft 21 is connected to the lower side of the Z-axis motor 22 via the output unit 23. The lower end of the shaft 21 is inserted into a spline guide unit 24 that is rotatable through θ by bearings 24a arranged above and below, and protrudes outward from the lower surface of the mounting head base 8a. A component holder 29 is attached to the lower end of the shaft 21 that protrudes from the lower surface of the mounting head base 8a. That is, the mounting head 8 has the component holder 29 that holds a component, the shaft 21 on which the component holder 29 is attached so as to be displaceable in the vertical direction, and the Z-axis motor 22 (servo motor) that raises and lowers the shaft 21.

[0022] 2, return spring 25, which is a compression spring, is attached to shaft 21 between output portion 23 and spline guide portion 24. Return spring 25 exerts an upward repulsive force on output portion 23. That is, when component holder 29 is to be lowered, Z-axis motor 22 generates a downward thrust, which lowers shaft 21 against the repulsive force of return spring 25. When component holder 29 is to be raised, Z-axis motor 22 generates an upward thrust, which causes shaft 21 to be raised by the upward repulsive force of return spring 25 that pushes up output portion 23.

[0023] A scale 26 that moves up and down in accordance with the lifting and lowering operation of the output unit 23, i.e., the lifting and lowering movement of the shaft 21, is provided to protrude upward from the upper portion of the Z-axis motor 22. A position detection sensor 27 that detects the movement of the scale 26 is also disposed above the Z-axis motor 22. The position detection sensor 27 outputs encoder pulses that indicate the moving distance and direction of the scale 26 as position signals to the servo control unit 30 (see FIG. 4). The vertical position (height position) of the shaft 21 is detected from the position signal. That is, the scale 26 and the position detection sensor 27 constitute an encoder 28 that detects the height position of the shaft 21 (or the component holder 29).

[0024] Next, the relationship of forces acting on mounting unit 20 will be described with reference to Fig. 3. Thrust Ft is a thrust generated by Z-axis motor 22, and acts in a direction that presses down shaft 21 connected via output unit 23. Weight W is the sum of the weights of the hatched parts indicating the movable parts in the figure, i.e., scale 26, output unit 23, shaft 21, component holder 29, etc., and acts in a direction that presses down shaft 21 like thrust Ft.

[0025] The reaction force Fr is the reaction force of return spring 25, and acts in a direction pushing up shaft 21 via output portion 23. The sliding resistance Ff is an external resistive force of spline guide portion 24 that slidably holds the above-mentioned movable portion, and acts upward on shaft 21 that is driven in the downward direction. The load Fa represents the load when component D held by component holder 29 is pressed against board P.

[0026] 3 shows a state in which component holder 29 presses held component D against board P during component mounting work. In this state, load Fa is expressed as Fa=Ft+W-Fr-Ff. When thrust Ft of Z-axis motor 22 is increased with component D in contact with board P, reaction force Fr of return spring 25 remains constant, and load Fa increases in proportion to thrust Ft. Also, load Fa before component D held by component holder 29 comes into contact with board P is zero, and output unit 23 (shaft 21, component holder 29) descends in proportion to thrust Ft of Z-axis motor 22, increasing reaction force Fr of return spring 25 (Fr=Ft+W-Ff).

[0027] However, if the placing head 8 is used for a long time after the last maintenance, dust accumulates on the spline guide portion 24, the grease deteriorates, and the sliding resistance Ff gradually increases. If the sliding resistance Ff exceeds a predetermined value, the predetermined load Fa is no longer applied to the component D even if the thrust Ft of the Z-axis motor 22 is increased, or the component holder 29 (shaft 21) does not descend to a predetermined height. For this reason, maintenance of the placing head 8 is performed after a predetermined time or number of uses has elapsed. This keeps the sliding resistance Ff from exceeding a predetermined value.

[0028] Next, the configuration of the control system of the component mounting apparatus M will be described with reference to Fig. 4. The main body control device 40 of the component mounting apparatus M is connected to the board transport mechanism 3, tape feeder 5, mounting head 8, head moving mechanism 9, component recognition camera 10, head camera 11, and touch panel 12. Each of the four mounting units 20 of the mounting head 8 is equipped with a servo control unit 30. The servo control unit 30 is connected to a Z-axis motor 22 and an encoder 28.

[0029] The servo control unit 30 drives the Z-axis motor 22 based on the up-down position of the shaft 21 (component holder 29) detected by the encoder 28 in accordance with a command from the main body control device 40. Methods for controlling the Z-axis motor 22 by the servo control unit 30 include position control and torque control. In the case of position control, the servo control unit 30 controls the Z-axis motor 22 so that the height of the lifting / lowering unit 37 becomes the height commanded from the main body control device 40. In the case of torque control, the servo control unit 30 controls the thrust Ft of the Z-axis motor 22 based on a command from the main body control device 40.

[0030] 4, the main body control device 40 includes a main body storage unit 41, a mounting processing unit 42, a measurement processing unit 43, an acquisition unit 44, a determination unit 45, a notification processing unit 46, and an estimation unit 47. The main body storage unit 41 is a storage device, and stores mounting data 41a, history data 41b, threshold information 41c, and the like. The mounting data 41a stores various information such as information for identifying the board P (board type number, size, material, thickness, etc.) for each board type of the mounting board, the type of component D to be mounted on the board P, and the coordinates of the mounting position on the board P. The mounting processing unit 42 controls each unit of the component mounting device M to perform a component mounting operation based on the component name, mounting position, etc. of the component D to be mounted on the board P included in the mounting data 41a.

[0031] 4, the measurement processing unit 43 transmits a command to the servo control unit 30, which will be described later, to cause the Z-axis motor 22 (servo motor) of the mounting unit 20 to lower the shaft 21 and measure the thrust limit value Ftl at which the component holder 29 (shaft 21) does not reach the target lowering height H (target height Ht). Specifically, the measurement processing unit 43 sets the operation pattern to position control in which the target lowering height H of the component holder 29 is set to the target height Ht, and commands the servo control unit 30 to lower the shaft 21 by specifying a predetermined thrust limit value Ftl. The thrust limit value Ftl is measured when the board P is not present at the mounting work position. Alternatively, when the board P is present at the mounting work position, the target height Ht is set to a position higher than the board surface.

[0032] The servo control unit 30 that has received the command sets the thrust limit value Ftl to a specified value, controls the Z-axis motor 22 to lower the shaft 21 by position control, and determines whether the component holder 29 reaches the target height Ht. The measurement processing unit 43 then measures whether the component holder 29 reaches the target height Ht while gradually decreasing the thrust limit value Ftl. If the reaction force Fr of the return spring 25 when the component holder 29 reaches the target height Ht is the target height reaction force Frt, and the thrust Ft of the Z-axis motor 22 is the target height thrust Ftt, then the target height thrust Ftt can be expressed as Frt+Ff-W.

[0033] In FIG. 4, when the specified thrust limit value Ftl is smaller than the target height thrust Ftt (Ftl < Ftt), the component holding unit 29 fails to reach the target height Ht. Further, when the sliding resistance Ff of the shaft 21 increases due to deterioration of the grease or the like, the target height thrust Ftt increases, so that the thrust Ft required to cause the component holding unit 29 to reach the target height Ht, that is, the target height thrust Ftt also increases. Then, the servo control unit 30 lowers the shaft 21 while decreasing the thrust limit value Ftl, and sets the thrust limit value Ftl when the component holding unit 29 fails to reach the target height Ht as the limit thrust limit value Ftlt.

[0034] The acquisition unit 44 acquires the limit thrust limit value Ftlt measured by the servo control unit 30, and stores it in the main body storage unit 41 as history data 41b in association with information identifying the mounting unit 20 to be measured and the measurement date and time. The measurement of the limit thrust limit value Ftlt of the mounting unit 20 by the measurement processing unit 43 and the acquisition of the limit thrust limit value Ftlt by the acquisition unit 44 are executed for each predetermined number of substrate production sheets (for example, every 1000 sheets), for each predetermined number of component mountings (for example, every 10,000 pieces), at each predetermined time interval (for example, every 24 hours), or at the start of automatic operation of the component mounting device M.

[0035] As described above, the servo control unit 30 is a control unit that controls the servo motor (Z-axis motor 22) based on a preset operation pattern (position control of the target height Ht) after setting the thrust limit value Ftl that limits the thrust of the servo motor. The control unit (servo control unit 30) repeatedly changes the thrust limit value Ftl so that the thrust limit value Ftl gradually decreases, and causes the component holding unit 29 to perform a lowering operation each time the thrust limit value Ftl is changed.

[0036] Specifically, the control unit (servo control unit 30) repeatedly changes the thrust limit value Ftl at a predetermined timing until the component holding unit 29 does not reach the target lowering height (target height Ht), and causes the component holding unit 29 to perform a lowering operation every time the thrust limit value Ftl is changed. Then, the acquisition unit 44 acquires the thrust limit value Ftl when the component holding unit 29 does not reach the target lowering height as the limit thrust limit value Ftlt of the history data 41b. In this way, the history data 41b includes the limit thrust limit values ​​Ftlt acquired at multiple different timings.

[0037] 5, an example of acquiring the limit thrust limit value Ftlt of the mounting unit 20, which is executed in response to a command from the measurement processing unit 43, will be described. State 1 (shown by a solid line), state 2 (shown by a dotted line), and state 3 (shown by a dashed line) indicate the measurement results of the descent height H at the thrust limit value Ftl, which is executed in this order at a predetermined timing. That is, the mounting unit 20 has passed time (the cumulative number of ascents and descents has increased) from the previous maintenance in the order of state 3, state 2, and state 1. The sliding resistance Ff1 in state 1, the sliding resistance Ff2 in state 2, and the sliding resistance Ff3 in state 3 increase over time (Ff1 <Ff2<Ff3)。

[0038] First, the control by the servo control unit 30 (control unit) will be described using state 1 as an example. First, the servo control unit 30 causes the Z-axis motor 22 to lower the shaft 21 at the thrust limit value Ftl1, and determines whether or not the component holder 29 reaches the target height Ht. In this example, the target height Ht is reached at the thrust limit value Ftl1. Next, the servo control unit 30 causes the Z-axis motor 22 to lower the shaft 21 at the thrust limit value Ftl2 that is smaller than the thrust limit value Ftl1, and determines whether or not the component holder 29 reaches the target height Ht. In this example, the target height Ht is reached even at the thrust limit value Ftl2.

[0039] 5, the servo control unit 30 decreases the thrust limit value Ftl and judges whether the component holder 29 reaches the target height Ht. In this example, the component holder 29 does not reach the target height Ht at the thrust limit value Ftl8. Therefore, the acquisition unit 44 records the limit thrust limit value Ftlt as the thrust limit value Ftl8 in the history data 41b. Similar measurements are performed in state 2 and state 3, and the thrust limit value Ftl5 in state 2 and the thrust limit value Ftl4 in state 3 are recorded as the limit thrust limit value Ftlt in the history data 41b. In this way, as the sliding resistance Ff increases with the passage of time since the previous maintenance, the acquired limit thrust limit value Ftlt also increases.

[0040] 6 shows an example of acquired history data 41b. In the history data 41b, the limit thrust limit value Ftlt acquired in the order of measurement timing Tm1, measurement timing Tm2, ​​etc. are recorded. In this example, the limit thrust limit value Ftlt acquired is a constant value up to measurement timing Tm4, and the limit thrust limit value Ftlt acquired gradually increases from measurement timing Tm5. That is, after measurement timing Tm4, the sliding resistance Ff of the mounting unit 20 gradually increases.

[0041] 4, the threshold information 41c stores a warning value Ftlw (first threshold), which is a limit thrust limit value Ftlt for determining whether or not it is time for maintenance when the sliding resistance Ff of the mounting unit 20 has increased and maintenance of the mounting head 8 is required. The threshold information 41c also stores a caution value Ftla (second threshold) at which the limit thrust limit value Ftlt is smaller than the warning value Ftlw.

[0042] The determination unit 45 determines whether the limit thrust limit value Ftlt acquired by the acquisition unit 44 is equal to or greater than the warning value Ftlw (first threshold value), or is smaller than the warning value Ftlw and equal to or greater than the caution value Ftla (second threshold value), based on the threshold value information 41c. In the example of Fig. 5, when the warning value Ftlw is the thrust limit value Ftl4 and the caution value Ftla is the thrust limit value Ftl5, the state 2 is determined as the limit thrust limit value Ftlt being smaller than the warning value Ftlw and equal to or greater than the caution value Ftla (caution state). Also, the state 3 is determined as the limit thrust limit value Ftlt being equal to or greater than the warning value Ftlw (warning state).

[0043] 4, the estimation unit 47 estimates the maintenance timing when maintenance of the mounting head 8 is required based on the history data 41b. Specifically, the estimation unit 47 estimates the time when the limit thrust limit value Ftlt exceeds a warning value Ftlw (first threshold value) as the maintenance timing based on the limit thrust limit value Ftlt acquired at multiple measurement timings Tm1 to Tm7 recorded in the history data 41b.

[0044] For example, the estimation unit 47 estimates the maintenance time using a linear function based on the limit thrust limit value Ftlt acquired at the two most recent time points. In the example of FIG. 6, the estimation unit 47 linearly approximates the limit thrust limit value Ftlt acquired at the measurement timing Tm6 and the measurement timing Tm7 to estimate the estimated maintenance time Te. Alternatively, the estimation unit 47 estimates the maintenance time using an approximation function based on the history data 41b. In the example of FIG. 6, the estimation unit 47 may estimate the estimated maintenance time Te by polynomial approximation of the limit thrust limit value Ftlt acquired at the measurement timing Tm1 to the measurement timing Tm7. Note that the estimation unit 47 may estimate the maintenance time using an approximation function other than a linear function or a polynomial approximation.

[0045] 4, when the determination unit 45 determines that the limit thrust limit value Ftlt is equal to or greater than the warning value Ftlw (first threshold value), the notification processing unit 46 causes the touch panel 12 to display "the mounting unit 20 has a problem with the sliding properties of the shaft 21" and "the mounting head 8 should be maintained immediately." That is, the notification processing unit 46 and the touch panel 12 constitute a notification unit 48 that notifies an error when the acquired limit thrust limit value Ftlt is determined to be equal to or greater than the first threshold value (warning value Ftlw). Furthermore, when the acquired limit thrust limit value Ftlt is determined to be equal to or greater than the first threshold value, the touch panel 12 (display unit) displays a message prompting maintenance. The notification unit 48 that notifies an error may be a rotating light or a buzzer.

[0046] When the determination unit 45 determines that the limit thrust limit value Ftlt is smaller than the warning value Ftlw (first threshold value) and is equal to or larger than the caution value Ftla (second threshold value), the notification processing unit 46 causes the touch panel 12 to display "Maintenance of the mounting head 8 should be performed by the maintenance time (for example, September 1st)." In other words, when the acquired limit thrust limit value Ftlt is determined to be smaller than the first threshold value (warning value Ftlw) and equal to or larger than the second threshold value (caution value Ftla), the notification processing unit 46 displays a message encouraging maintenance and an estimated maintenance time (estimated maintenance time Te).

[0047] Next, a maintenance support method for supporting maintenance of the mounting head 8 will be described with reference to Fig. 5 and Fig. 6 along the flow of Fig. 7. The following acquisition of the limit thrust limit value Ftlt is performed at predetermined timings (measurement timings Tm1 to Tm7) such as when the component mounting device M starts automatic operation.

[0048] 7, first, the measurement processing unit 43 transmits the thrust limit value Ftl1 (see FIG. 5) to the servo control unit 30 (control unit), and the thrust limit value Ftl1 is set in the Z-axis motor 22 (ST1: thrust limit value setting step). Next, the servo control unit 30 operates the Z-axis motor 22 to lower the shaft 21 (component holder 29) to the target height Ht (ST2: lowering step). Next, the servo control unit 30 measures the lowered height H reached by the component holder 29 (ST3: height measurement step). The measured lowered height H is transmitted to the measurement processing unit 43.

[0049] Next, the measurement processing unit 43 judges whether the lowering height H has reached the target height Ht (ST4: reached height judging process). If the component holder 29 has reached the target height Ht (Yes in ST4), the measurement processing unit 43 transmits a thrust limit value Ftl2 (see FIG. 5) that is smaller than the thrust limit value Ftl1, and the thrust limit value Ftl2 is set in the Z-axis motor 22 (ST5: thrust limit value decreasing process). Next, the lowering process (ST2), the height measurement process (ST3), and the reached height judging process (ST4) are executed.

[0050] Thereafter, the thrust limit value decreasing step (ST5), the lowering step (ST2), the height measuring step (ST3), and the reached height determining step (ST4) are repeatedly executed until the component holding unit 29 does not reach the target height Ht (until ST4 becomes No), or until the thrust limit value Ftl reaches a preset minimum thrust limit value Ftl.

[0051] 7, when the component holder 29 does not reach the target height Ht (No in ST4), the acquiring unit 44 records the thrust limit value Ftl at which the component holder 29 does not reach the target height Ht as the limit thrust limit value Ftlt in the history data 41b (ST6: limit thrust limit value acquiring step). Next, the determining unit 45 determines whether the limit thrust limit value Ftlt is equal to or greater than the warning value Ftlw (first threshold value) (ST7: warning determining step).

[0052] When it is determined that the limit thrust limit value Ftlt is equal to or greater than the warning value Ftlw (Yes in ST7), an error is notified by the notification unit 48 (ST8: warning step). Also, a message urging maintenance is displayed on the touch panel 12 (display unit) (ST8). In the case of state 3 in FIG. 5, it is determined that the limit thrust limit value Ftlt is equal to or greater than the warning value Ftlw (Yes in ST7), and the warning step (ST8) is executed.

[0053] 7, when the limit thrust limit value Ftlt is smaller than the warning value Ftlw (No in ST7), the determination unit 45 determines whether the limit thrust limit value Ftlt is equal to or greater than a caution value Ftla (second threshold value) (ST9: caution determination step). When it is determined that the limit thrust limit value Ftlt is equal to or greater than the caution value Ftla (Yes in ST9), the estimation unit 47 estimates an estimated maintenance time Te based on the history data 41b (ST10: maintenance time estimation step) (see FIG. 6).

[0054] Next, the notification processor 46 displays the estimated maintenance time Te and a message urging maintenance on the touch panel 12 (ST11: warning step). In the case of state 2 in FIG. 5, it is determined that the limit thrust limit value Ftlt is equal to or greater than the warning value Ftla (Yes in ST9), and the warning step (ST11) is executed.

[0055] In FIG. 7, when it is determined that the limit thrust limit value Ftlt is smaller than the caution value Ftla (No in ST9), acquisition of the limit thrust limit value Ftlt at that measurement timing is completed, and at the next measurement timing, the thrust limit value setting process (ST1) to the limit thrust limit value acquisition process (ST6), etc. are executed.

[0056] In this manner, the maintenance support method of this embodiment sets a thrust limit value Ftl that limits the thrust of the servo motor (Z-axis motor 22) (ST1), then lowers the component holder 29 by using the servo motor controlled based on a preset operation pattern (ST2), and estimates the time when maintenance of the mounting head 8 will be required based on history data 41b (ST6) of the critical thrust limit value Ftlt, which is the thrust limit value Ftl at which the descending component holder 29 does not reach the target descending height H (target height Ht) (ST10). This makes it possible to estimate the time when maintenance of the mounting head 8 will be required without the need for any additional measuring equipment.

[0057] As described above, the component mounting device M of this embodiment includes a mounting head 8 having a component holder 29 that holds a component D, a shaft 21 on which the component holder 29 is mounted so as to be displaceable in the vertical direction, and a servo motor (Z-axis motor 22) that raises and lowers the shaft 21, a control unit (servo control unit 30) that sets a thrust limit value Ftl that limits the thrust of the servo motor and controls the servo motor based on a preset operation pattern, and an estimation unit 47 that estimates the time when maintenance of the mounting head 8 will be required based on history data 41b of the limit thrust limit value Ftlt. This makes it possible to estimate the time when maintenance of the mounting head 8 will be required without adding a measuring device.

[0058] In the above description, the component mounting device M is configured to include the estimation unit 47, but the management computer CP may also be configured to include the estimation unit 47 and estimate the estimated maintenance time Te. In other words, the management computer CP may be a maintenance support device that supports maintenance of the mounting head 8, and may be configured to include the estimation unit 47 that estimates the time when maintenance of the mounting head 8 will be required based on the history data 41b acquired by the component mounting device M. This makes it possible to estimate the time when maintenance of the mounting head 8 will be required without adding a measuring device. [Industrial Applicability]

[0059] The component mounting device, maintenance support device, and maintenance support method of the present invention have the advantage of being able to estimate when maintenance of the mounting head will be required without the need for an additional measuring device, and are useful in fields where components are mounted on circuit boards. [Explanation of symbols]

[0060] 8 Placement head 21 Shaft 22 Z-axis motor (servo motor) 29 Parts holder CP Management computer (maintenance support device) D parts Ftl, Ftl1~Ftl8 Thrust limit value M Component Mounting Device P board

Claims

1. A component mounting device that mounts components on a board, a mounting head including a component holder for holding a component, a shaft on which the component holder is mounted so as to be displaceable in the vertical direction, and a servo motor for raising and lowering the shaft; a control unit that sets a thrust limit value that limits the thrust of the servo motor and controls the servo motor based on a preset operation pattern; and an estimation unit that estimates a maintenance time when maintenance of the mounting head is required based on history data of a limit thrust limit value, which is the thrust limit value at which the component holding unit does not reach a target lowering height.

2. An acquisition unit is further provided, the control unit repeatedly changes the thrust limit value at a predetermined timing until the component holder does not reach a target lowering height, and causes the component holder to perform a lowering operation each time the thrust limit value is changed; The component mounting device according to claim 1 , wherein the acquisition unit acquires the thrust limit value when the component holder does not reach the target lowering height as the ultimate thrust limit value of the history data.

3. 3. The component mounting device according to claim 2, wherein the control unit repeatedly changes the thrust limit value so that the thrust limit value gradually decreases, and causes the component holder to perform a lowering operation every time the thrust limit value is changed.

4. 3. The component mounting device according to claim 2, wherein the critical thrust limit value is obtained every time a predetermined number of boards are produced, every time a predetermined number of components are mounted, every predetermined time interval, or when automatic operation of the component mounting device starts.

5. the history data includes a plurality of the critical thrust limit values ​​acquired at a plurality of different timings, The component mounting device according to claim 2 , wherein the estimation unit estimates, as the maintenance time, a time when the limit thrust limit value exceeds a first threshold value, based on the history data.

6. The component mounting device according to claim 5 , wherein the estimation unit estimates the maintenance time by using a linear function based on the limit thrust limit value acquired at the two most recent points in time and an approximation function based on the history data.

7. The component mounting device according to claim 5 , further comprising a determination unit that determines whether the acquired limit thrust limit value is equal to or greater than the first threshold value.

8. The component mounting device according to claim 7 , wherein the determination unit determines whether the acquired limit thrust limit value is smaller than the first threshold value and equal to or larger than a second threshold value.

9. 8. The component mounting device according to claim 7, further comprising a notification unit that notifies an error when it is determined that the acquired limit thrust limit value is equal to or greater than the first threshold value.

10. 9. The component mounting device according to claim 8, further comprising a display unit that displays the estimated maintenance time when the acquired limit thrust limit value is determined to be smaller than the first threshold value and equal to or greater than the second threshold value.

11. 11. The component mounting device according to claim 10, wherein the display unit displays a message prompting the user to perform maintenance when the acquired limit thrust limit value is determined to be equal to or greater than the first threshold value, or when the acquired limit thrust limit value is determined to be smaller than the first threshold value and equal to or greater than the second threshold value.

12. 1. A maintenance support device for supporting maintenance of a mounting head having a component holder for holding components, a shaft on which the component holder is mounted in a state in which the component holder can be displaced in an up-down direction, and a servo motor for raising and lowering the shaft, a thrust limit value that limits the thrust of the servo motor is set, and the servo motor is controlled based on a preset operation pattern to lower the component holding part, and an estimation unit is provided that estimates a maintenance time when maintenance of the mounting head is required based on historical data of a limit thrust limit value, which is the thrust limit value at which the descending component holding part does not reach a target lowering height.

13. 1. A maintenance support method for supporting maintenance of a mounting head having a component holder that holds components, a shaft on which the component holder is mounted in a state in which it can be displaced in an up-down direction, and a servo motor that raises and lowers the shaft, comprising: a thrust limit value for limiting the thrust of the servo motor is set, and the component holder is lowered by the servo motor controlled based on a preset operation pattern; A maintenance support method that estimates a time when maintenance of the mounting head is required based on historical data of a limit thrust limit value, which is the thrust limit value at which the descending component holding part does not reach a target descending height.

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