Feeder control device

Abstract

To provide a feeder control device capable of improving efficiency of a component supply operation.SOLUTION: A feeder control device is applied to a bulk feeder that is set in a component mounting machine and supplies components. The bulk feeder includes: a constituent member that supports a plurality of components; a vibration device in which a vibrator applies vibration to the constituent member in accordance with supplied electric power; and a vibration sensor that detects an amplitude of the constituent member that vibrates by vibration of the vibration device. The feeder control device includes: an acquisition part configured to acquire, as a resonance frequency for each of a plurality of types of drive voltages, a frequency at which a power is supplied to the vibrator at a predetermined drive voltage to maximize the amplitude of vibration of the constituent member; and a management part configured to generate a first vibration model indicating a relationship between the drive voltage and the resonance frequency based on the plurality of types of drive voltages and the acquired plurality of resonance frequencies.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a feeder control device. [Background technology]

[0002] The feeder control device is applied to a bulk feeder that is set in a component mounting machine and supplies components. As shown in Patent Document 1, the bulk feeder is set with a component case that stores a large number of components in bulk, and supplies the components to the component mounting machine so that they can be picked up by transporting the components ejected from the component case to a predetermined supply area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2021 / 095219 Summary of the Invention [Problem to be solved by the invention]

[0004] A vibration device that applies a predetermined vibration to the component supporting the parts is sometimes used in the parts supply operation of a bulk feeder. Such bulk feeders require control of the vibration device to improve the efficiency of the parts supply operation.

[0005] An object of the present specification is to provide a feeder control device that can improve the efficiency of component supply operations. [Means for solving the problem]

[0006] This specification discloses a feeder control device that is applied to a bulk feeder that is set in a component mounting machine and supplies components, the bulk feeder comprising: a component member that supports a plurality of the components; a vibration device that has a vibrator that applies vibration to the component member in accordance with supplied power; and a vibration sensor that detects the amplitude of the component member that vibrates due to the vibration of the vibration device; an acquisition unit that supplies power to the vibrator at a predetermined drive voltage and acquires the frequency at which the amplitude of vibration of the component member is maximum as a resonant frequency for each of a plurality of types of drive voltage; and a management unit that generates a vibration model that shows the relationship between the drive voltage and the resonant frequency based on the plurality of types of drive voltage and the acquired plurality of resonant frequencies.

[0007] This specification also discloses the technical idea of ​​changing "a feeder control device according to any one of claims 1-7" in claim 13, as originally filed, to "a feeder control device according to any one of claims 1-12", and the technical idea of ​​changing "a feeder control device according to any one of claims 1-7" in claim 14, as originally filed, to "a feeder control device according to any one of claims 1-13". [Effects of the Invention]

[0008] This configuration allows a vibration model of the bulk feeder installed in the component mounting machine to be acquired. This vibration model indicates characteristics that may vary depending on the current environment of the bulk feeder. For example, by controlling the vibrator based on the vibration model, it is possible to apply vibrations at a frequency appropriate to the current situation. This improves the efficiency of the component supply operation. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 2 is a perspective view showing the appearance of the bulk feeder. [Figure 2] FIG. 2 is a side view schematically showing the main part and parts case of the bulk feeder. [Figure 3] FIG. 3 is a plan view seen from the direction III in FIG. 2. [Figure 4]FIG. 1 is a block diagram showing a bulk feeder to which a feeder control device is applied. [Figure 5] 10 is a flowchart showing a part supply process. [Figure 6] 10 is a flowchart showing a preparation process. [Figure 7] 10 is a graph showing the relationship between the drive frequency and the amplitude of vibration of a component at a predetermined drive voltage. [Figure 8] 10 is a graph showing the relationship between the drive frequency and the amplitude of vibration of the component members for a plurality of types of drive voltages. [Figure 9] 1 is a first vibration model showing the relationship between a predetermined drive voltage and a resonance frequency. [Figure 10] 10 is a second vibration model showing the relationship between the maximum amplitude and a predetermined driving voltage. [Figure 11] 10 is a flowchart showing an adjustment process. [Figure 12A] 10 is a graph showing a first embodiment of correction for a second vibration model. [Figure 12B] 10 is a graph showing a second embodiment of correction for a second vibration model. [Figure 12C] 10 is a graph showing a third embodiment of correction for a second vibration model. DETAILED DESCRIPTION OF THE INVENTION

[0010] 1. Overview of the feeder control device 60 The feeder control device 60 is applied to a bulk feeder 10 that is set in a component mounting machine 3 and supplies components. In this embodiment, the feeder control device 60 is incorporated into the bulk feeder 10 as shown in FIG. 1 and controls various operations performed by the bulk feeder 10. The component mounting machine 3 performs a mounting process for mounting components onto a board as a predetermined substrate-related operation. A plurality of substrate-related operation machines are installed, for example, in the board transport direction to form a production line.

[0011] As shown in Fig. 4, the production system 1 is composed of the above-mentioned production line, a host computer 2, a parts warehouse (not shown), etc. The host computer 2 controls the entire production line. Each of the multiple substrate-related operation machines is communicably connected to the host computer 2. The production line includes multiple substrate-related operation machines, such as a solder printing machine, multiple component placement machines 3, a reflow oven, and an inspection machine.

[0012] In this embodiment, a factory for producing substrate products may be configured with multiple production lines. The configuration of each of the multiple production lines may be appropriately added or modified depending on, for example, the type of substrate products to be produced. Specifically, the multiple production lines may be appropriately equipped with substrate-related operating machines such as a buffer device for temporarily holding transported substrates, a substrate supply device, a substrate inverting device, various inspection devices, a shield mounting device, an adhesive application device, and an ultraviolet irradiation device.

[0013] 2. Configuration of Bulk Feeder 10 As shown in Figure 1, bulk feeder 10 is installed in component mounting machine 3 and functions as part of the component supply device. Bulk feeder 10 supplies components stored in a bulk state (in an irregular, loose state with each component in an irregular position) that is not aligned like on a carrier tape. Therefore, unlike tape feeders, bulk feeder 10 does not use carrier tape, which has the advantage of eliminating the need to load carrier tape and collect used tape.

[0014] Some bulk feeders 10 supply components in irregular positions to a planar supply area, for example. However, if the components are so close together in the supply area that they touch each other, or if they are piled up (overlapping vertically), or if the components are positioned horizontally so that their width direction is vertical, the component mounting machine 3 cannot pick these components. Therefore, to increase the percentage of components that can be picked, some bulk feeders 10 supply components in an aligned state in the supply area. In this embodiment, a bulk feeder 10 of the aligned type will be described as an example.

[0015] 2-1. Feeder body 11, bracket 12, support base 13 As shown in FIG. 2, bulk feeder 10 includes feeder body 11. Feeder body 11 is formed in a flat box shape. A connector 111 and two pins 112 are provided at the front of feeder body 11 (the right end in FIG. 2). When feeder body 11 is set in a slot of a component supplying device, power is supplied via connector 111 and the feeder body 11 is able to communicate with the control device of component mounting machine 3. The two pins 112 are inserted into guide holes provided in the slot and are used to position feeder body 11 when set in the slot.

[0016] As shown in Fig. 2, the bulk feeder 10 includes a bracket 12. The bracket 12 is provided so as to be vibrable relative to the feeder body 11. The bracket 12 is formed in a block shape extending in the front-to-rear direction of the feeder body 11, and supports a track member 31 of the transport unit 20 attached to the upper surface. A predetermined vibration is applied to the bracket 12 by a transport vibration device 50. The track member 31 supported by the bracket 12 is fixed by a locking member (not shown).

[0017] As shown in FIG. 2, bulk feeder 10 includes support base 13. Support base 13 is provided so as to be vibrable relative to feeder body 11, and supports component cases 25 via case holders 21 of transport units 20. Support base 13 is formed in a block shape extending in the front-to-rear direction of feeder body 11, and supports case holders 21 attached to the top surface. A predetermined vibration is applied to support base 13 by discharge vibrator 40. In this embodiment, case holders 21 supported by support base 13 are fixed in place by a locking member (not shown).

[0018] 2-2.Transport unit 20 As shown in FIG. 2, the bulk feeder 10 includes a transport unit 20. The transport unit 20 is detachably attached to the feeder body 11. In this embodiment, the transport unit 20 supports a set component case 25. The transport unit 20 is a unit for transporting components from an area (receiving section 211) that receives components discharged from the component case 25 to the supply area As.

[0019] After being used for a predetermined mounting process, bulk feeder 10 undergoes a type of maintenance, in which all parts inside the feeder are removed in preparation for the next use. In anticipation of such a removal process, transport unit 20 is unitized so that the portion that functions as a part flow path can be removed from feeder body 11 to improve workability. In this embodiment, transport unit 20 includes case holder 21, track unit 22, and connecting member 23.

[0020] 2-2-1.Case holder 21 Case holder 21 is provided so as to be vibrable relative to feeder body 11. Case holder 21 is attached to feeder body 11 via support base 13. As a result, vibration is applied to case holder 21 by discharge vibration device 40 via support base 13. Case holder 21 supports component cases 25 that have been set therein. Case holder 21 has a receiving portion 211 that receives components discharged from component cases 25. In this embodiment, the portion of case holder 21 that receives components has an inclined surface that is inclined forward with respect to the horizontal plane. Case holder 21 has a component flow path that extends upward from the lower end of the inclined surface.

[0021] Component case 25 is an external device that stores multiple components in bulk. Component case 25 is set in a detachable (replaceable) manner in case holder 21 of transport unit 20 of bulk feeder 10. Component case 25 has an overall shape similar to that of feeder body 11, a flat box. Component case 25 is set in case holder 21 and is ready to discharge components from discharge port 251 formed at the bottom.

[0022] 2-2-2. Orbital Unit 22 Track unit 22 includes track member 31 that is detachably attached to feeder body 11. Track member 31 is attached to feeder body 11 via bracket 12. As a result, track member 31 is vibrated by conveyance vibration device 50 via bracket 12. Track member 31 forms a conveyance path R along which a plurality of parts are conveyed, and a supply area As that communicates with conveyance path R and opens upward so that a plurality of parts can be picked up.

[0023] Here, the "supply area As" is an area where components are supplied in bulk and where the components can be picked up by the component mounting machine 3. The "conveyance path R" is a path along which components circulated from the case holder 21 side along the track member 31 are transported to the supply area As.

[0024] The track member 31 is formed so as to extend in the front-rear direction (left-right direction in FIG. 2 ) of the feeder body 11 as a whole. In this embodiment, an alignment member 32 is replaceably attached to the track member 31. The alignment member 32 is, for example, one or more plate-shaped members. In this way, the track unit 22 is unitized by attaching one selected from a plurality of types of alignment members 32 corresponding to the shapes of a plurality of types of parts to the common track member 31.

[0025] As shown in FIG. 3, the alignment member 32 defines a plurality of cavities 35 arranged in a predetermined pattern (a staggered pattern in this embodiment). Each of the plurality of cavities 35 is rectangular and slightly larger than the outer shape of the components supplied by the bulk feeder 10. Thus, the bulk feeder 10 has a plurality of cavities 35 that store components in a supply area As that supplies the components so that they can be picked up, with the cavities 35 oriented so that the thickness direction of the components is vertical. A pair of side walls 36 that protrude upward is formed on both edges of the width direction (vertical direction in FIG. 3) of the track unit 22. The pair of side walls 36, together with the tip 37 of the track unit 22, surround the periphery of the conveying path R, preventing leakage of components conveyed along the conveying path R.

[0026] The track unit 22 has a shutter 38 provided on the front end side of the track member 31. The shutter 38 is provided on the track member 31 so as to be able to open and close, and in the closed state, closes the opening of the supply area As. When the track unit 22 is attached to the feeder body 11, the shutter 38 is connected to a shutter drive device (not shown). The opening and closing operation of the shutter 38 is controlled by the shutter drive device. By opening and closing the shutter 38, the bulk feeder 10 can prevent parts from flying out and foreign objects from entering the supply area As.

[0027] 2-2-3.Connecting member 23 The connecting member 23 connects the case holder 21 and the track unit 22 so that multiple parts can flow between them. The connecting member 23 is tubular and allows multiple parts to flow through it. The connecting member 23 is flexible and deforms in response to the vibrations of the case holder 21 and the track unit 22, thereby absorbing the respective vibrations. In this way, the connecting member 23 reduces or blocks vibrations transmitted between the case holder 21 and the track unit 22, which vibrate independently of each other.

[0028] 2-3.Air supply device 16 Bulk feeder 10 is equipped with an air supply device 16 that supplies positive pressure air to conveying unit 20. When conveying unit 20 is attached to feeder body 11, positive pressure air is supplied by air supply device 16, and multiple parts are circulated from case holder 21 to track unit 22 via connecting member 23. In this embodiment, air supply device 16 supplies or cuts off positive pressure air supplied from the outside from below case holder 21 based on commands from feeder control device 60, which will be described later.

[0029] 2-4. Vibration device Vb, vibration sensor Vs As shown in FIG. 2, the bulk feeder 10 includes a component Ns, a vibration device Vb, and a vibration sensor Vs used in the component supply operation. The component Ns is a member that supports a plurality of components. In this embodiment, the component Ns includes a case holder 21 of the transport unit 20 and a track member 31 of the track unit 22. In the vibration device Vb, an oscillator Vb1 applies vibration to the component Ns (case holder 21, track member 31) in response to supplied power. In this embodiment, the vibration device Vb includes a discharge vibration device 40 and a transport vibration device 50.

[0030] The vibration sensor Vs detects the amplitude of the components Ns (case holder 21, track member 31) vibrating due to the vibration of the vibration exciter Vb (discharge vibration exciter 40, transport vibration exciter 50). In this embodiment, the vibration sensor Vs includes a discharge vibration sensor 45 and a transport vibration sensor 55.

[0031] 2-4-1. Discharge vibration device 40 Bulk feeder 10 includes a discharge vibration device 40 provided in feeder body 11. Discharge vibration device 40 is a vibration device that applies vibration to case holder 21 that supports component cases 25, thereby discharging components from component cases 25. In this embodiment, discharge vibration device 40 applies vibration to support base 13 to which case holder 21 is integrally fixed, thereby applying vibration to component cases 25 via case holder 21.

[0032] The ejection vibration device 40 has a vibrator that applies vibration to the case holder 21 in response to the supplied power. The ejection vibration device 40 may employ, for example, a configuration in which a solenoid 41 that is excited by power supply is used as the vibrator. The solenoid 41 is excited to generate a magnetic field only while power is being supplied from a power supply device 42. As a result, a vibrated part (not shown) provided on the support base 13 is attracted to the solenoid 41 and moves from its initial position.

[0033] Furthermore, when the power supply to the solenoid 41 by the power supply device 42 is cut off, the magnetic force disappears and the support base 13 moves back to its initial position. In this configuration, by supplying pulsed power to the solenoid 41 by the power supply device 42, the ejection vibration device 40 vibrates the support base 13, the case holder 21, and the component case 25 so that they move back and forth in the horizontal direction.

[0034] The discharge vibration sensor 45 is provided on the case holder 21 and detects a vibration value indicating the vibration state of the case holder 21 vibrating due to the vibration of the discharge vibration device 40. The vibration value indicating the vibration state may be amplitude, frequency, damping time, vibration trajectory (the movement trajectory of a specific part due to vibration), etc. In this embodiment, the discharge vibration sensor 45 detects the actual vibration amplitude of the case holder 21 when the solenoid 41 is supplied with pulsed power to vibrate the case holder 21. Note that if the discharge vibration sensor 45 is not used in the component supply process described below, its installation on the bulk feeder 10 may be omitted.

[0035] 2-4-2.Transportation vibration device 50 Bulk feeder 10 includes conveyance vibration device 50 provided in feeder body 11. Conveyance vibration device 50 is a vibration device that conveys parts on conveyance path R by applying vibration to track member 31. In this embodiment, conveyance vibration device 50 applies vibration to bracket 12 to which track member 31 is integrally fixed, thereby applying vibration to track member 31 that forms conveyance path R.

[0036] In detail, the conveying vibration device 50 has a plurality of support members 51, a plurality of piezoelectric elements 52, and a power supply device 53. The plurality of support members 51 directly or indirectly connect the feeder body 11 and the bracket 12 to support the bracket 12. In this embodiment, the plurality of support members 51 include forward support members 51A used for conveying components forward, and backward support members 51B used for conveying components backward. The forward support members 51A and backward support members 51B are inclined in different directions relative to the vertical direction.

[0037] The plurality of piezoelectric elements 52 are vibrators that vibrate at a frequency corresponding to the power supplied by the power supply device 53. The plurality of piezoelectric elements 52 are attached to the plurality of support members 51, respectively. When at least some of the plurality of piezoelectric elements 52 vibrate, vibration is imparted to the track member 31 via the bracket 12. Furthermore, the amplitude of the track member 31 varies according to the voltage applied to the piezoelectric elements 52.

[0038] The transportation vibration sensor 55 is provided in the transportation vibration device 50 and detects vibration values ​​that indicate the vibration state of the vibrating track member 31. The vibration values ​​that indicate the vibration state may include amplitude, frequency, attenuation time, and vibration trajectory (the movement trajectory of a specific part due to vibration). In this embodiment, the transportation vibration sensor 55 detects the actual vibration amplitude of the track member 31 when the piezoelectric element 52 is supplied with power and vibrates.

[0039] Furthermore, a transport vibration sensor 55 is provided on each of the multiple support members 51 that support the brackets 12 that vibrate integrally with the track member 31. More specifically, a piezoelectric element 52 and a transport vibration sensor 55 are provided on each of the forward movement support member 51A and the backward movement support member 51B. The forward movement vibration sensor 55A provided on the forward movement support member 51A detects the actual amplitude as a vibration value when the piezoelectric element 52 provided on this forward movement support member 51A is powered and applies vibration to the track member 31 via the bracket 12.

[0040] Furthermore, the reverse vibration sensor 55B provided on the reverse support member 51B detects the actual amplitude as a vibration value when the piezoelectric element 52 provided on this reverse support member 51B is powered and applies vibration to the track member 31 via the bracket 12. Here, when the conveyance vibration device 50 applies vibration to the track member 31, the track member 31 moves in an elliptical motion when viewed from the side. As a result, a forward and upward external force or a backward and upward external force is applied to multiple parts on the conveyance path R, depending on the rotation direction of the elliptical motion of the track member 31. As a result, the multiple parts are conveyed to the front or rear of the track member 31.

[0041] Power supply device 53 varies the frequency and voltage of the power supplied to piezoelectric element 52 based on commands from feeder control device 60 (described later). This adjusts the frequency and amplitude of the vibration imparted to track member 31 and determines the rotation direction of the elliptical motion of track member 31. Fluctuations in the frequency and amplitude of the vibration of track member 31 and the rotation direction of the elliptical motion caused by the vibration result in fluctuations in the conveying speed, degree of dispersion of the parts, conveying direction, etc.

[0042] Therefore, in order to improve conveyance efficiency, the conveyance vibration device 50 presets the power supply (drive voltage, drive frequency) corresponding to the vibration characteristics that vary among individual devices. For example, the bulk feeder 10 executes a preparatory process to set an initial drive voltage and drive frequency in a state in which the track member 31 to be used in the planned supply operation is attached, i.e., in a state in which the track member 31 is locked to the bracket 12 by the locking device. The above preparatory process will be described in detail later.

[0043] 2-5. Feeder control device 60 The bulk feeder 10 includes a feeder control device 60. The feeder control device 60 is mainly composed of a CPU, various memories, and control circuits. When the bulk feeder 10 is set in a slot of the component mounting machine 3, the feeder control device 60 is supplied with power via a connector 111 and is able to communicate with the control device of the component mounting machine 3. As shown in FIG. 4, the feeder control device 60 includes a memory unit 61 and a transport control unit 62.

[0044] The storage unit 61 of the feeder control device 60 stores various data such as programs used to control the component supply process and transport parameters. The transport control unit 62 controls the operation of the air supply device 16, the discharge vibration device 40, the transport vibration device 50, etc. The above-mentioned "transport parameters" are parameters for controlling the operation of the transport vibration device 50 so that the vibration applied to the track unit 22 is appropriate when components are transported in the component supply process, and are set in advance in association with each type of component, for example.

[0045] 3. Parts supply processing by bulk feeder 10 The component supply process by the bulk feeder 10 configured as described above will be described with reference to FIG. 5. The feeder control device 60 first executes a preparation process (S10). The preparation process includes an initialization process that is performed first after the bulk feeder 10 is powered on, a calibration process for the vibration device Vb, and a process for setting the initial drive voltage and drive frequency. The preparation process will be described in detail later.

[0046] Next, the transport control unit 62 executes a process of replenishing parts to the transport path R formed on the track member 31 based on, for example, an external replenishment command (S20). This "replenishment process" is a process of replenishing parts discharged from the parts case 25 to the component Ns that supports the parts. More specifically, the transport control unit 62 executes an operation of discharging parts from the parts case 25 (S21). Note that this discharge operation may be executed after inputting a replenishment command, or may be executed in advance for the next supply process after the previous supply process has been executed.

[0047] The transfer control unit 62 controls the operation of the ejection vibration device 40 so that vibrations are applied to the component cases 25 via the case holder 21 and the support base 13. When the component cases 25 vibrate, the components are ejected from the ejection port 251. The ejected components fall onto the inclined portion of the case holder 21 located below the ejection port 251 and slide forward along the inclined surface of the inclined portion. As a result, the components are retained in the receiving portion 211 in front of the inclined portion.

[0048] In this state, the transfer control unit 62 performs a component blowing operation (S22). Specifically, the transfer control unit 62 commands the air supply device 16 to supply positive pressure air. The positive pressure air supplied by the air supply device 16 blows up the multiple components that have been stagnating, and flows through the flow path formed in the case holder 21 together with the components. As a result, the positive pressure air and the multiple components flow from the case holder 21 to the track unit 22 via the connecting member 23, and reach the transfer path R of the track unit 22. Here, the positive pressure air is exhausted to the outside from an exhaust port formed in the cover of the track unit 22.

[0049] After the above-described process of replenishing components to the conveying path R, the feeder control device 60 determines whether or not there is an external supply command (S31). If there is no supply command (S31: No), the conveying control unit 62 suspends the execution of the component conveying process. This maintains the current component supply state in the supply area As and waits for a supply command.

[0050] If a supply command is received (S31: Yes), the conveyance control unit 62 executes the part conveyance process (S32). In the part conveyance process, the conveyance vibration device 50 executes a conveyance operation (an operation to move the parts forward and backward) to convey the parts on the conveyance path R. Specifically, the conveyance control unit 62 causes the conveyance vibration device 50 to apply vibration to the track member 31 via the bracket 12. As a result, multiple parts are conveyed forward toward the supply area As. The conveyance control unit 62 also applies vibration to the track member 31 to move the parts forward or backward, depending on the amount of parts supplied in the supply area As, etc.

[0051] Some of the multiple components transported to the supply area As are accommodated in the cavities 35. Components that are not accommodated in the cavities 35 are retracted to the transport path R by the vibrations applied by the transport vibration device 50 and are removed from the supply area As. When the shutter 38 is opened, the components accommodated in the multiple cavities 35 are supplied so that they can be picked up by the component mounting machine 3. The opening and closing operation of the shutter 38 is performed based on an external command.

[0052] Next, the feeder control device 60 executes an adjustment process (S33) to set and adjust the frequency of the vibration to be applied to the track member 31 in the next and subsequent part conveyance processes. This adjustment process (S33) adjusts the drive frequency as needed based on the amplitude of the track member 31 detected by the conveyance vibration sensor 55 as a result of executing the part conveyance process (S32). The details of the adjustment process will be described later.

[0053] After the component conveying process (S32) and the adjusting process (S33), the feeder control device 60 determines whether or not a component replenishment process (S20) is required (S34). The necessity of the replenishment process is determined, for example, based on the presence or absence of an external command from the component mounting machine 3, or based on the remaining number of components (including an estimated value) supported by the component Ns. For example, if the component mounting machine 3 captures an image of the supply area As immediately after the component supply process and the image data shows that the number of components is small, the component mounting machine 3 sends a replenishment command to the bulk feeder 10, indicating that a replenishment process is required.

[0054] Furthermore, if the component supply process has been performed a specified number of times since the previous replenishment process, the component mounting machine 3 or the feeder control device 60 may determine that the remaining number of components supported by the component Ns has become low and that replenishment is required. If the component replenishment process is required (S34: Yes), the component replenishment process is performed again (S20), and components are replenished to the conveying path R. On the other hand, if the component replenishment process is not required (S34: No), the component replenishment process is omitted, and the system waits for a supply command (S31).

[0055] 4. Detailed configuration of the feeder control device 60 In the component supply process using the bulk feeder 10, it is necessary to stabilize the transport of components and improve the efficiency of the supply operation. To achieve this, appropriate control of the vibration device Vb is necessary. More specifically, in a configuration in which the vibrator Vb1 (solenoid 41, piezoelectric element 52) ​​applies vibration to the component Ns (case holder 21, track member 31) in response to the supplied power, as in this embodiment, it is preferable to appropriately set the voltage (drive voltage) and frequency (drive frequency) of the power supplied to the vibration device Vb.

[0056] The driving voltage contributes to the amplitude of vibration, and the higher the voltage is set, the greater the amplitude of vibration of the component Ns, in principle. Here, the vibrating body including the component Ns has a predetermined natural frequency. The "vibrating body" mentioned above refers to an assembly of members that vibrate integrally with the component Ns when excited by the vibration exciter Vb. In this embodiment, the vibrating body excited by the conveying vibration exciter 50 includes the track member 31, the bracket 12, a locking device that connects them, and a cover attached to the track member 31. The vibrating body excited by the ejection vibration exciter 40 includes the case holder 21, the support base 13, a locking device that connects them, and a component case 25 set in the case holder 21.

[0057] The vibrating body including the component Ns is assembled in contact with other members such as the connecting member 23 within the bulk feeder 10, and supports multiple parts to be conveyed. Therefore, the vibrating body is subjected to reaction forces from other members and multiple parts during vibration, and is in a vibration environment in which the reaction forces vary depending on the number of parts it supports. In such a vibration environment, the vibrating body resonates when vibrations of a frequency based on its own natural frequency are applied. The frequency at which the vibrating body resonates in accordance with this vibration environment is hereinafter referred to as the "resonant frequency."

[0058] When the vibrator including the component Ns is vibrated by the vibrator Vb, which is supplied with power whose drive frequency is the resonant frequency, the vibrator resonates and stably vibrates at the expected amplitude corresponding to the drive voltage. In other words, if the drive frequency deviates from the resonant frequency, the expected amplitude for the drive voltage may not be obtained, or the vibration may become unstable, such as by periodically increasing or decreasing the amplitude. If the vibration becomes unstable, the moving distance of the component per unit time may become shorter, or the component may be subjected to impact due to a sudden increase in amplitude.

[0059] Therefore, in the preparation process (S10), an initial drive voltage and drive frequency are set so that the power supplied to the vibration device Vb during the component supply process is appropriate. However, because the resonance frequency can fluctuate with changes in the vibration environment, an adjustment process (S33) of the drive frequency during production is required to maintain a good component supply process. Therefore, the feeder control device 60 of this embodiment employs a configuration that can improve the efficiency of the component supply operation.

[0060] The feeder control device 60 includes an acquisition unit 63 and a management unit 66. The acquisition unit 63 acquires the resonance frequency of the vibrating body including the component Ns in the preparation process (S10) and the adjustment process (S33). The management unit 66 generates and corrects a vibration model that indicates the vibration characteristics of the vibrating body including the component Ns. The feeder control device 60 may further include a setting unit 64. The setting unit 64 sets the frequency (drive frequency) of the vibration that the vibration exciter Vb will apply to the component Ns from the next time onwards in the preparation process (S10) and the adjustment process (S33). The preparation process and adjustment process related to the control of the conveyance vibration exciter 50 will be described below.

[0061] 4-1. Preparation In the preparation process (S10), the acquisition unit 63 identifies the resonance frequency of the vibrator including the track member 31 based on the detection result of the conveyance vibration sensor 55. Specifically, the feeder control device 60 searches for the resonance frequency of the vibrator when a predetermined drive voltage is applied, as shown in Fig. 6 (S11).

[0062] 7 shows the relationship between the drive frequency and the actual vibration amplitude of the track member 31 when the power supply device 53 applies a predetermined drive voltage to the forward piezoelectric element 52, using a vibrating body in a reference state as the excitation target. As shown by the curve LSF, the vibration of the track member 31 reaches a maximum amplitude Tm (TmSF) at a predetermined resonance frequency Fr (FrSF). In this embodiment, the "reference state" when the vibrating body to be excited includes the track member 31 is a state in which parts are removed from the track member 31.

[0063] In this embodiment, the acquisition unit 63 first applies vibrations of multiple different frequencies to the track member 31 (vibrator). The drive voltage at this time is set as an initial value to, for example, the maximum voltage that the power supply device 53 can apply. The multiple frequencies may be frequencies obtained by equally dividing a predetermined frequency band by a specified number, or may be frequencies obtained by adding or subtracting a specified number from a design frequency. In this embodiment, the frequency is set based on the amplitude detected by the transportation vibration sensor 55 so that many samples (points on the LSF curve) are taken near the amplitude peak.

[0064] The acquisition unit 63 acquires the amplitude of the track member 31 to which vibrations of each frequency have been applied, and acquires the frequency at which vibration occurs at the maximum amplitude Tm (TmSF) as the resonant frequency Fr (FrSF) (S12). Next, the acquisition unit 63 determines whether the resonant frequency Fr for each of the multiple types of planned drive voltages Ed has been acquired (S13). Here, the "multiple types of drive voltages Ed" preferably include, for example, the maximum voltage (initial value) that the power supply device 53 can apply, and are set to voltages that are reduced from that maximum voltage by a predetermined percentage (for example, 5%), and there are preferably three or more types (100%, 95%, 90%, etc.).

[0065] If the acquisition of the resonance frequency Fr for the various set drive voltages Ed has not been completed (S13: No), the acquisition unit 63 executes a process of searching for the resonance frequency of the vibrator when another drive voltage Ed is applied (S11) and a process of acquiring the resonance frequency (S12). The acquisition unit 63 executes the above processes (S11, S12) while varying the drive voltage Ed until the acquisition of the resonance frequency Fr for the various set drive voltages Ed is completed (S13: Yes).

[0066] In this way, the acquisition unit 63 acquires the frequency at which the amplitude of vibration of the component Ns is maximum when power is supplied to the vibrator Vb1 at a predetermined forward drive voltage Ed (EdS, Ed1, Ed2,...), as the resonance frequency Fr (FrSF, FrSF1, FrSF2,...) for each of a plurality of types of drive voltages Ed (EdS, Ed1, Ed2,...), as shown in Fig. 8. Note that as the drive voltage Ed decreases, the resonance frequency Fr increases and the maximum amplitude Tm (TmSF, TmSF1, TmSF2,...) at the resonance frequency Fr decreases, as shown by the characteristic curve LCf in Fig. 8.

[0067] If the resonant frequencies Fr for forward and reverse have not been acquired (S14: No), the acquisition unit 63 switches the forward and reverse operations and executes the acquisition process (S11-S13). As a result, the resonant frequency FrSR for reverse is acquired, as shown by the curve LSR in FIG. 7. Note that the curves LSR and L1R relating to the vibration control for reverse in FIG. 7 correspond to the curves LSF and L1F relating to the vibration control for forward, respectively. Furthermore, the acquisition unit 63 acquires the resonant frequency Fr for each of the multiple types of drive voltages Ed for reverse, as with the forward operation (see the characteristic curve LCr in FIG. 8).

[0068] The forward resonance frequency FrSF and reverse resonance frequency FrSR obtained as described above are frequencies that cause resonance in the vibrating body including the track member 31 when predetermined drive voltages are applied to the forward and reverse piezoelectric elements 52, which are the vibrator Vb1, respectively, in the current vibration environment in which the track member 31 is in the reference state. Furthermore, the maximum amplitudes TmSF and TmSR at this time correspond to the expected amplitudes according to the drive voltage Ed (EdS).

[0069] In the component supply process, a target amplitude (e.g., 80% of the maximum amplitude) may be specified so that the amplitude is somewhat suppressed relative to the maximum amplitude that the vibration generator Vb can output, depending on the dimensions and mass of the component to be supplied. In such a case, if the drive voltage Ed is simply set to a value lower than the maximum voltage that can be applied (e.g., 80% of the maximum voltage) and vibration is applied with the obtained resonance frequency FrSF as the drive frequency Fd, the expected amplitude (target amplitude) may not be obtained. This is thought to be partly because, as described above, lowering the drive voltage Ed increases the actual resonance frequency Fr (see FIG. 8), and the deviation between the actual resonance frequency Fr and the drive frequency Fd reduces the vibration efficiency.

[0070] Therefore, the feeder control device 60 of this embodiment is configured to generate vibration models (first vibration model 71, second vibration model 72) in advance that represent the vibration characteristics of the vibrating body including the component Ns, and to set the drive voltage Ed and drive frequency Fd of the power supplied to the vibrator Vb that imparts vibration to the vibrating body based on the vibration model. Specifically, the management unit 66 generates a first vibration model 71 that represents the relationship between the drive voltage Ed (EdS, Ed1, Ed2,...) and the resonant frequency Fr (FrSF, FrSF1, FrSF2,...) based on multiple types of drive voltage Ed and multiple acquired resonant frequencies Fr (see FIG. 8) (S15). As shown in FIG. 9, the first vibration model 71 describes a curve in which the resonant frequency Fr gradually decreases as the drive voltage Ed increases, and the resonant frequency Fr reaches its minimum value (FrSF) when the drive voltage Ed is at its maximum voltage Emax (EdS).

[0071] Next, the management unit 66 generates a second vibration model 72 that indicates the relationship between the maximum amplitude Tm and the drive voltage Ed based on the maximum amplitude Tm (TmSF, TmSF1, TmSF2, ...) detected by the vibration sensor Vs for each of a plurality of resonance frequencies Fr (FrSF, FrSF1, FrSF2, ...) corresponding to each of a plurality of types of drive voltages Ed (EdS, Ed1, Ed2, ...) (S16). In the second vibration model 72, as shown in Fig. 10, the maximum voltage Tm increases proportionally as the drive voltage Ed increases, and the maximum amplitude Tm reaches a maximum value (TmSF) at the maximum voltage Emax (EdS).

[0072] When acquiring the first vibration model 71 and the second vibration model 72 for the vibration excitation device 50 for transporting parts, the management unit 66 acquires the first vibration model and the second vibration model for reverse motion by the same processing as for forward motion described above. The vibration characteristics for reverse motion have the same tendency as those for forward motion, and the acquisition method is also substantially the same, so detailed explanation will be omitted.

[0073] Next, the setting unit 64 sets, as initial values, the drive voltage Ed used in the component supply process and the two types of resonance frequencies Fr (for forward movement and for backward movement) as drive frequencies Fd used in the component supply process (S17). If the target amplitude Tt in the component supply process is not specified or if the target amplitude Tt is the maximum amplitude (TmSF), the setting unit 64 sets, as initial values, the drive voltage Ed to the maximum voltage Emax and the drive frequency Fd to the resonance frequency Fr (FrSF, FrSR) at which the maximum amplitude Tm (TmSF, TmSR) is obtained.

[0074] Furthermore, when the amplitude of the vibration applied to the component Ns by the vibrator Vb in the component supply process is designated as a predetermined target amplitude Tt, the setting unit 64 sets the drive voltage Ed and the drive frequency Fd based on the first vibration model 71 and the second vibration model 72. Specifically, as shown in FIG. 10, the setting unit 64 sets the drive voltage Ed (EdT) corresponding to the target amplitude Tt based on the second vibration model 72. Furthermore, as shown in FIG. 9, the setting unit 64 sets the drive frequency Fd based on the set drive voltage Ed (EdT) and the first vibration model 71. In this way, when the target amplitude Tt is designated, the feeder control device 60 can set the drive voltage Ed and the drive frequency Fd according to the current vibration environment based on the vibration models (first vibration model 71, second vibration model 72) that indicate the vibration characteristics of the vibrating body including the component Ns.

[0075] 4-2. Adjustment process Here, the resonant frequency Fr of the vibrator can vary depending on whether the track member 31 or the alignment member 32 is replaced or the slot of the component mounting machine 3 in which the bulk feeder 10 is set. The resonant frequency Fr can also vary depending on whether the number of components supported by the constituent member Ns included in the vibrator increases or decreases. Specifically, the vibration characteristics shown by the curve LSF in Fig. 7 in the standard state decrease in both the resonant frequency Fr1F and the maximum amplitude Tm1F as shown by the curve L1F in the operational state in which the track member 31 supports a plurality of components.

[0076] When vibrations are applied to a vibrator having such vibration characteristics with the resonance frequency FrSF in the reference state set as the drive frequency Fd, the actual amplitude may be lower than the maximum amplitude Tm1F in the operating state (amplitude Tn in FIG. 7). This may result in a decrease in the component conveyance efficiency during the component supply process or instability of the actual vibration. Therefore, the feeder control device 60 executes an adjustment process (S33) for the drive frequency Fd as needed during the component supply process. The feeder control device 60 acquires the current amplitude Tc detected by the vibration sensors Vs (forward vibration sensor 55A, backward vibration sensor 55B) during the previously executed conveyance process (S32).

[0077] The drive frequency Fd and current amplitude Tc include two types of amplitude: forward transport and reverse transport. In the standard state, the vibration characteristics shown by the curve LSR in Figure 7 decrease in both the resonance frequency Fr1R and the maximum amplitude Tm1R when the track member 31 is in an operational state supporting multiple parts, as shown by the curve L1R. Here, we will explain how to adjust the drive frequency Fd for forward transport.

[0078] 4-2-1. Adjusting the drive frequency Fd As shown in Fig. 11, the setting unit 64 determines whether the current amplitude Tc is within the allowable range Rt (S41). Here, the allowable range Rt is set in advance as a range within which the difference DaT between the target amplitude Tt of the vibrator when vibration is applied and the current amplitude Tc is allowed. Note that Fig. 7 shows the allowable range Rt when the target amplitude Tt is designated as the maximum amplitude Tm (TmSF) in the reference state acquired in the preparation process (S10).

[0079] If the difference DaT between the target amplitude Tt and the current amplitude Tc is not within the allowable range Rt (S41: No), the setting unit 64 determines whether the currently used drive frequency Fd has already been sufficiently adjusted (S42). In this embodiment, if the number of adjustments to the drive frequency Fd is less than the specified number (S42: Yes), it is determined that there is room for adjustment of the drive frequency Fd, and a predetermined adjustment amount Mf is set (S43). This "adjustment amount Mf" is the difference between the frequency of the vibration applied to the component Ns by the vibration applying device Vb and the frequency of the vibration to be applied thereafter. In other words, it corresponds to the difference between the drive frequency Fd of the previous transfer process and the drive frequency Fd of the transfer process to be executed.

[0080] The positive or negative value of the adjustment amount Mf is determined based on the estimation result of whether the resonance frequency Fr in the current operating state is higher or lower than the drive frequency Fd in the previous transfer process. The estimation is made, for example, based on an increase or decrease in the number of parts supported by the component Ns and an increase or decrease in the difference DaT due to the previous adjustment process. If the number of parts increases, the resonance frequency Fr is estimated to be lower than the drive frequency Fd, and the adjustment amount Mf is determined to be a negative number. If the difference DaT decreases, it is estimated that the drive frequency Fd is approaching the resonance frequency Fr, and the adjustment amount Mf is determined to be a positive number.

[0081] Various modes can be employed for setting the adjustment amount Mf (absolute value). In this embodiment, the setting unit 64 sets the adjustment amount Mf so that it increases as the difference DaT between the current amplitude Tc and the target amplitude Tt increases. The setting unit 64 may set the adjustment amount Mf to a constant value regardless of the magnitude of the difference DaT, or may set a value that is increased or decreased by a predetermined amount from the previous adjustment amount Mf. If the difference DaT between the target amplitude Tt and the current amplitude Tc is within the allowable range Rt (S41: Yes), the setting unit 64 sets the predetermined adjustment amount Mf to 0 (S44).

[0082] The setting unit 64 adds the adjustment amount Mf set by the above process to the drive frequency Fd of the previous transport process (S32) to set the drive frequency Fd for the next transport process (S32) (S45). In this way, the setting unit 64 sets the drive frequency Fd based on the difference DaT. At this time, the drive voltage Ed is maintained at the value used in the previous transport process (S32) (previous value). Note that if the adjustment amount Mf is 0, the result is essentially the same as if the adjustment process had not been performed, and the same drive frequency Fd as the previous one will be used in the next transport process (S32).

[0083] 4-2-2. Adjusting the drive voltage Ed In the determination regarding the adjustment of the drive frequency Fd (S42), if the number of adjustments has reached a predetermined number (S42: No), the setting unit 64 determines that the target amplitude Tt cannot be obtained by adjusting only the drive frequency Fd, and adjusts the drive voltage Ed in the following process. Specifically, the management unit 66 determines whether or not a correction process for the vibration model needs to be performed based on whether the drive voltage Ed has been adjusted (S51). If the drive voltage Ed has not been adjusted (S51: No), the setting unit 64 determines that there is room for adjustment of the drive voltage Ed based on the current vibration model, and sets the drive voltage Ed and drive frequency Fd for the next transport process (S32) (S53).

[0084] In detail, the setting unit 64 derives, based on the second vibration model 72, how much the drive voltage Ed should be changed in order to increase (or decrease) the amplitude by, for example, the difference DaT between the current amplitude Tc and the target amplitude Tt. The setting unit 64 sets the next drive voltage Ed by adding the derived amount of change to the current drive voltage Ed. Furthermore, the setting unit 64 derives, based on the first vibration model 71, a resonance frequency Fr corresponding to the set next drive voltage Ed. The setting unit 64 sets the derived resonance frequency Fr as the next drive frequency Fd. At this time, the setting unit 64 resets the number of adjustments of the drive frequency Fd and sets the drive voltage Ed as having been adjusted.

[0085] 4-2-3. Vibration model correction processing On the other hand, if the drive voltage Ed has already been adjusted (S51: Yes), the management unit 66 determines that the current vibration model needs to be corrected, and executes a vibration model correction process (S52). Here, it may be necessary to correct the vibration model in response to changes in the vibration environment, such as the resonance frequency Fr fluctuating due to changes in the vibration environment in which the vibrator Nb of the bulk feeder 10 applies vibration to the component Ns. The above-mentioned changes in the vibration environment may include, for example, changes in the positional relationship with the slots of the component mounting machine 3, changes in the feeders installed in other slots, and thermal displacement of each component due to changes in the temperature inside the machine, when the bulk feeder 10 is used for a long period of time.

[0086] Therefore, in this embodiment, the management unit 66 determines that correction processing is required when the difference DaT between the current amplitude Tc and the target amplitude Tt does not fall within the allowable range Rt even after performing the adjustment processing multiple times (S41: No, S42: No), and further when the drive voltage Ed has already been adjusted (S51: Yes). Note that instead of or in addition to determining whether correction processing is required as described above, the management unit 66 may determine whether correction processing is required by taking into account the following determination modes (A) and (B).

[0087] In the determination mode (A), the management unit 66 may determine that a correction process needs to be performed when the difference DaT between the current amplitude Tc and the target amplitude Tt exceeds a preset threshold value Th. That is, the management unit 66 adjusts the drive frequency Fd when the difference DaT is small, adjusts the drive voltage Ed when the difference DaT is medium, and corrects the vibration model when the difference DaT exceeds the threshold value Th.

[0088] In the determination mode (B), the management unit 66 may determine that a correction process is required if a predetermined operation of the bulk feeder 10 that changes the amount of components supported by the component Ns has not been performed before and after a change in the difference DaT between the current amplitude Tc and the target amplitude Tt. In other words, if the difference DaT changes even though there is no change in the amount of components (for example, a decrease due to component picking by a component mounting machine or an increase in components due to the execution of a component replenishment process), which is one of the factors that causes a change in the resonant frequency Fr, the management unit 66 assumes that the vibration environment has changed due to an influence from outside the bulk feeder 10. Therefore, the management unit 66 determines that a correction of the vibration model is required in such a case.

[0089] Furthermore, various correction modes (A) to (D) may be employed in the vibration model correction process (S52). In correction mode (A), as shown in FIG. 12A , the management unit 66 performs correction by adding a correction amount Cr calculated based on the difference DaT between the current amplitude Tc and the target amplitude Tt to the value of the drive voltage Ed in the second vibration model 72, with the second vibration model 72 being the target in the correction process. The correction amount Cr is set to, for example, an amount of change ΔEd in the drive voltage Ed estimated to be required to increase (or decrease) the amplitude in the second vibration model 72 by the difference DaT (Cr = ΔEd). According to such correction mode (A), the second vibration model 72A after correction is shifted so that the drive voltage Ed increases (or decreases) overall.

[0090] In correction mode (B), as shown in FIG. 12B , the management unit 66 performs correction processing on the second vibration model 72 by adding a correction amount Cr obtained by multiplying the difference DaT between the current amplitude Tc and the target amplitude Tt by a correction factor Kf that varies depending on the current amplitude Tc to the value of the drive voltage Ed of the second vibration model 72. For example, the correction factor Kf is set to a value that increases as the current amplitude Tc increases (Kf = 0.5 → 1.5). As a result, the correction amount Cr is set to a value obtained by multiplying the change amount ΔEd by the correction factor Kf (Cr = Kf * ΔEd). According to correction mode (B), the second vibration model 72B after correction shifts so that the drive voltage Ed increases (or decreases) overall, while the slope (rate of change) of the drive voltage Ed increases (or decreases).

[0091] 12C, in the correction mode (C), the management unit 66 performs correction on the second vibration model 72 in the correction process by adding a correction amount Cr obtained by multiplying the difference DaT between the current amplitude Tc and the target amplitude Tt by a correction factor Kd that varies according to changes in the difference DaT over a predetermined period to the value of the drive voltage Ed in the second vibration model 72. The correction factor Kd is not a constant like the correction factor Kf in the correction mode (B), but is set when the correction process is executed, taking into account changes over time in the difference DaT.

[0092] For example, if the change over time in the difference DaT is relatively large, it is possible that the change in the vibration environment has occurred due to multiple factors, such as the attachment / detachment of multiple components or thermal displacement, and the correction factor Kd is set relatively large so that the current amplitude Tc quickly approaches the target amplitude Tt. Furthermore, as with the correction target (B), the correction factor Kd is varied according to the current amplitude Tc. The management unit 66 sets the value obtained by multiplying the difference DaT by the correction factor Kd set in this way as the correction amount Cr. As a result, the corrected second vibration model 72C1 shifts significantly overall, while its slope (rate of change) increases (or decreases).

[0093] On the other hand, for example, if the change in the difference DaT over time is relatively small, it can be said that although it was determined that the vibration model needed to be corrected, the adjustment process (S33) stably approached the target amplitude Tt through adjustment of the drive frequency Fd and drive voltage Ed. In such a situation, if the vibration model were corrected, for example, according to the difference DaT, the amount of correction would be excessive, and even if the correction process was repeatedly performed, the vibration model might not converge to an ideal one. Therefore, the management unit 66 takes this situation into consideration and sets the correction factor Kd to a relatively small value. The management unit 66 sets the correction amount Cr to the value obtained by multiplying the difference DaT by the correction factor Kd thus set. As a result, the second vibration model 72C2 after correction is shifted slightly overall.

[0094] In correction mode (D), management unit 66 targets first vibration model 71 in the correction process, causes acquisition unit 63 to acquire resonance frequencies Fr for each of multiple types of drive voltages Ed, and generates first vibration model 71 based on the multiple types of drive voltages Ed and the acquired multiple resonance frequencies Fr. In other words, correction mode (D) is a mode in which first vibration model 71 is regenerated based on the current amplitude Tc. In correction mode (D), management unit 66 regenerates both first vibration model 71 and second vibration model 72.

[0095] If the correction mode (D) described above is executed during the component supply process, it may affect other production processes. Therefore, the management unit 66 may calculate a period during which the bulk feeder 10 can suspend component supply based on the progress of the component placement process by the component placement machine 3, and execute the correction process if that period is longer than the time required for the correction process. This prevents the execution of the vibration model correction process from affecting the placement process.

[0096] After the correction process (S52) is performed, the setting unit 64 sets the drive voltage Ed and drive frequency Fd for the next transport process (S32) based on the corrected vibration model (S53). The method for setting the drive voltage Ed and drive frequency Fd based on the vibration model is essentially the same as the process when the vibration model is not corrected, so a detailed description will be omitted. The setting unit 64 also resets the number of adjustments of the drive frequency Fd and resets the adjustment of the drive voltage Ed (to a new initial value, not an adjusted value).

[0097] In the adjustment process (S33), the forward drive frequency Fd is set as described above, and the reverse drive frequency Fd is similarly set. Then, in the component supply process, after an external supply command is input (S31: Yes), a transport process (S32) is executed using the adjusted forward and reverse drive frequencies Fd. With this configuration, the drive frequency Fd is set so as to approach the resonance frequency Fr corresponding to the current vibration characteristics of the vibrating body including the component Ns (track member 31), so transport efficiency can be maintained and vibration can be stabilized.

[0098] 5. Modifications of the embodiment 5-1. Application to parts ejection operation In the embodiment, the acquisition unit 63 acquires the resonance frequencies Fr for each of multiple types of drive voltages Ed for a vibrating body including a track member 31, which is a component Ns. The management unit 66 generates the first vibration model 71 and the second vibration model 72 based on the multiple resonance frequencies Fr. Alternatively, the acquisition unit 63 may acquire the resonance frequencies Fr for each of multiple types of drive voltages Ed when a component case 25 containing a predetermined number of components is set in the case holder 21. The management unit 66 may then generate a vibration model for the vibrating body including the case holder 21, which is a component Ns.

[0099] In this configuration, the setting unit 64 may set the frequency of vibration (drive frequency Fd) that the discharge vibration device 40 applies to the case holder 21 in the next discharge operation executed in the supply process (S20). Specifically, when the bulk feeder 10 repeatedly executes the component supply process, the process (S20) of replenishing components from the component case 25 to the transport unit 20 is executed as appropriate. This reduces the number of components accommodated in the component case 25, and as a result, reduces the number of components supported by the case holder 21. This changes the resonant frequency Fr of the vibrator including the case holder 21, increasing the difference from the initially set drive frequency Fd. This may result in a decrease in the component discharge efficiency.

[0100] Therefore, in the preparation process (S10), the acquisition unit 63 supplies power to the vibrator Vb1 (solenoid 41) with a drive voltage Ed of a predetermined effective value, and acquires, as a reference frequency Fs for each of the drive voltages Ed, the frequency at which the amplitude of vibration of the case holder 21 in the reference state is greater than or equal to a predetermined value. The acquisition unit 63 also acquires the amplitude at the reference frequency Fs as the maximum amplitude Tm. The reference state of the case holder 21 is a state in which component cases 25 containing a predetermined amount of components are set in the case holder 21. The "predetermined amount" is the initial amount when the component cases 25 are set in the case holder 21.

[0101] The current amplitude Tc, which is the amplitude of the actual vibration of the case holder 21 to which vibration is applied, is the amplitude detected by the vibration sensor Vs (discharge vibration sensor 45) when the discharge vibration applying device 40 applies vibration during the discharge operation (S21) in which the components are discharged from the component case 25. The management unit 66 generates a vibration model for the component supply operation based on the resonance frequency Fr for each of the multiple types of drive voltages Ed obtained as described above. The setting unit 64 sets the initial drive voltage Ed and drive frequency Fd based on the specified target amplitude Tt and vibration model.

[0102] Furthermore, after the replenishment process is performed, the setting unit 64 determines whether adjustment of the drive frequency Fd is necessary based on the difference DaT between the current amplitude Tc and the target amplitude Tt, and determines the adjustment amount Mf if adjustment is necessary.The setting unit 64 then sets the drive frequency Fd of the vibration that the discharge vibration device 40 will apply to the case holder 21 from the next time onwards based on the adjustment amount Mf.Furthermore, the setting unit 64 may adjust the drive voltage Ed and perform a vibration model correction process as necessary.The adjustment of the drive frequency Fd and drive voltage Ed and the vibration model correction process are substantially the same as those described using the transport operation as an example, so detailed description thereof will be omitted.

[0103] With this configuration, the drive frequency Fd and drive voltage Ed are set to approach the resonance frequency Fr corresponding to the current vibration characteristics of the vibrating body including the component Ns (case holder 21), thereby maintaining discharge efficiency and stabilizing vibration. Generating a vibration model that shows characteristics that can vary depending on the current vibration environment related to the transport and replenishment operations is useful from the perspective of efficiently controlling the vibration generator Vb. Control based on the vibration model makes it possible to apply vibration at a drive frequency Fd that is appropriate for the current situation. This improves the efficiency of the component supply operation.

[0104] 5-2. Application of the feeder control device 60 In the embodiment, the feeder control device 60 is configured to be incorporated into the bulk feeder 10. However, part or all of the feeder control device 60 may be incorporated into an external device of the bulk feeder 10, as long as it can detect the vibration value (e.g., the current amplitude Tc) of the component Ns and control the operation of the vibration device Vb. For example, part or all of the acquisition unit 63, setting unit 64, and management unit 66 of the feeder control device 60 may be configured to be incorporated into the control device of the component mounting machine 3 or the host computer 2. [Explanation of symbols]

[0105] 10: Bulk feeder, 20: Conveying unit, 21: Case holder (component), 22: Track unit, 31: Track member (component), 23: Connecting member, 25: Parts case, 251: Discharge port, 40: Discharge vibrating device, 41: Solenoid (vibrator), 50: Conveying vibrating device, 52: Piezoelectric element (vibrator), 55: Conveying vibration sensor, 60: Feeder control device, 61: Memory unit, 62: Conveying control unit, 63: Acquisition unit, 64: Setting unit, 66: Management unit, 71: First vibration model, 72: Second vibration model, As: Supply area, R: Conveying path, Tc: Current amplitude, Tm: Maximum amplitude, Tt: Target amplitude, DaT: Difference, Rt: Tolerance range, Ed: Driving voltage, Fd: Driving frequency, Fr: Resonance frequency, Fs: Reference frequency, Mf: adjustment amount, Cr: correction amount, Kf, Kd: correction factor, Ns: component, Vb: vibration device, Vb1: vibrator, Vs: vibration sensor

Claims

1. It is applied to bulk feeders that are set on component placement machines and supply components. the bulk feeder comprises a component supporting a plurality of the parts, a vibration device having a vibrator that applies vibration to the component in response to supplied power, and a vibration sensor that detects the amplitude of the component vibrated by the vibration of the vibration device; an acquisition unit that supplies power to the vibrator at a predetermined drive voltage and acquires a frequency at which the amplitude of vibration of the component is maximized as a resonance frequency for each of a plurality of types of the drive voltage; a management unit that generates a first vibration model that indicates a relationship between the drive voltage and the resonance frequency based on the plurality of types of drive voltage and the plurality of acquired resonance frequencies; A feeder control device comprising:

2. 2. The feeder control device according to claim 1, further comprising a setting unit that sets, based on the first vibration model, a drive frequency that is a frequency of vibration imparted to the component by the vibration excitation device during the part supply process by the bulk feeder.

3. the management unit generates a second vibration model indicating a relationship between the maximum amplitude and the drive voltage based on a maximum amplitude detected by the vibration sensor for each of a plurality of resonance frequencies corresponding to each of a plurality of types of the drive voltage; 3. The feeder control device according to claim 2, wherein when the amplitude of the vibration imparted to the component by the vibration excitation device during the supply process is specified as a predetermined target amplitude, the setting unit sets the drive voltage corresponding to the target amplitude based on the second vibration model, and sets the drive frequency based on the set drive voltage and the first vibration model.

4. The feeder control device according to claim 3, wherein the management unit determines whether or not a correction process for at least one of the first vibration model and the second vibration model needs to be performed based on the difference between the current amplitude detected by the vibration sensor during the supply process and the target amplitude.

5. The feeder control device according to claim 4 , wherein the management unit determines that the correction process needs to be performed when the difference between the current amplitude and the target amplitude exceeds a preset threshold value.

6. when the difference between the current amplitude and the target amplitude is not within a preset tolerance range, the setting unit executes an adjustment process to adjust at least one of the drive frequency and the drive voltage of the vibration to be applied to the component by the vibration excitation device from the next time onwards, based on the current amplitude and the maximum amplitude corresponding to the drive voltage; The feeder control device according to claim 4, wherein the management unit determines that the correction process needs to be performed when the difference between the current amplitude and the target amplitude does not fall within the allowable range even after performing the adjustment process multiple times.

7. 5. The feeder control device according to claim 4, wherein the management unit determines that the correction process needs to be performed when a predetermined operation of the bulk feeder that changes the amount of the parts supported by the component is not performed before and after the change in the difference between the current amplitude and the target amplitude.

8. The feeder control device according to any one of claims 4 to 7, wherein the management unit corrects the second vibration model in the correction process by adding a correction amount calculated based on the difference between the current amplitude and the target amplitude to the value of the drive voltage in the second vibration model.

9. The management unit corrects the second vibration model in the correction process by adding a correction amount obtained by multiplying the difference between the current amplitude and the target amplitude by a correction factor that varies depending on the current amplitude to the value of the drive voltage in the second vibration model. A feeder control device as described in any one of claims 4 to 7.

10. The management unit corrects the second vibration model in the correction process by adding a correction amount obtained by multiplying the difference between the current amplitude and the target amplitude by a correction factor that varies depending on the change in the difference over a predetermined period to the value of the drive voltage in the second vibration model. A feeder control device as described in any one of claims 4 to 7.

11. The management unit targets the first vibration model in the correction process, causes the acquisition unit to acquire the resonance frequencies for each of the multiple types of driving voltages, and generates the first vibration model based on the multiple types of driving voltages and the acquired multiple resonance frequencies. A feeder control device as described in any one of claims 4-7.

12. 12. The feeder control device according to claim 11, wherein the management unit determines a period during which the bulk feeder can suspend supply of the components based on a progress status of the component mounting process by the component mounting machine, and executes the correction process if the period is longer than a required time for the correction process.

13. the component includes a track member that forms a transport path for the components discharged from the component case; the vibration applying device includes a discharge vibration applying device that applies vibration to the track member to convey the parts on the conveying path, The feeder control device according to any one of claims 1 to 7, wherein the acquisition unit acquires the resonance frequency for each of a plurality of types of the drive voltages in a state where the component is removed from the track member.

14. The component includes a case holder for supporting a detachably set component case, the vibration device includes an ejection vibration device that applies vibration to the case holder to eject the component from the component case, The feeder control device according to any one of claims 1 to 7, wherein the acquisition unit acquires the resonant frequency for each of a plurality of types of drive voltages when the component case containing a predetermined amount of the components is set in the case holder.

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