Control method for work device and control system for work device

Abstract

To provide a control method for a work device, which can reduce vibrations associated with an operation of the work device by a simple method, and a control system for the work device.SOLUTION: A control method for a work device includes the steps of: operating the work device installed on a floor surface; calculating a vibration value associated with an operation of the work device, by using an acceleration sensor built into a smart phone; and selecting an operation mode regarding an upper limit of a speed or acceleration of the work device on the basis of the vibration value.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a control method and a control system for a work implement. [Background technology]

[0002] 2. Description of the Related Art Conventionally, known working devices include component mounting devices that mount components on a board and printing devices that print on a printing target.

[0003] For example, a component mounting device repeatedly performs a component mounting operation in which components are picked up from a component supply device and mounted on a board. During the component mounting operation, the mounting head moves at high speed, causing vibrations in the component mounting device, which are then transmitted to the floor on which the component mounting device is installed. As a means for suppressing vibrations accompanying the operation of the component mounting device, some component mounting devices are equipped with a vibration isolation mechanism / vibration damping unit (for example, Patent Document 1).

[0004] The component mounting device described in Patent Document 1 comprises an upper stand equipped with a moving mechanism for moving the mounting head, a lower stand supporting the upper stand, and a connecting section connecting the upper stand and the lower stand, and the connecting section is provided with a vibration damping section that reduces the transmission of vibration between the upper stand and the lower stand. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2019-160857 Summary of the Invention [Problem to be solved by the invention]

[0006] However, the component mounting device of Patent Document 1 requires a vibration suppression section to be provided at the joint, which imposes structural constraints, and therefore there is a demand for a simpler method for reducing vibration.

[0007] Therefore, the present disclosure provides a control method and a control system for a work implement that can reduce vibrations caused by the operation of the work implement in a simple manner. [Means for solving the problem]

[0008] A method for controlling a work device according to one aspect of the present disclosure includes the steps of operating a work device installed on a floor surface, calculating a vibration value associated with the operation of the work device using an acceleration sensor built into a smartphone, and selecting an operation mode related to an upper limit value of the speed or acceleration of the work device based on the vibration value.

[0009] A control system for a work device according to one aspect of the present disclosure performs the steps of operating a work device installed on a floor surface, calculating a vibration value associated with the operation of the work device using an acceleration sensor built into a smartphone, and selecting an operation mode related to an upper limit value of the speed or acceleration of the work device based on the vibration value. [Effects of the Invention]

[0010] According to the control method and control system for a work implement disclosed herein, vibrations caused by the operation of the work implement can be reduced in a simple manner. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a schematic side view showing a component mounting apparatus according to an embodiment of the present disclosure; [Figure 2] Block diagram of a control system including a component mounting device and a smartphone [Figure 3] A flowchart showing an example of a vibration evaluation method using the control system shown in FIG. 2. [Figure 4A] FIG. 4 is a side view schematically illustrating the execution state of the vibration evaluation method shown in FIG. 3. [Figure 4B] FIG. 4 is a side view schematically illustrating the execution state of the vibration evaluation method shown in FIG. 3. [Figure 5] Table showing examples of operation modes of component mounting equipment [Figure 6] Graph showing conditions and results when operating a component mounting device in multiple operation patterns [Figure 7] Graph showing conditions and results when operating a component mounting device in multiple operation patterns [Figure 8] An example of the operation screen of the vibration evaluation application displayed on a smartphone screen [Figure 9] An example of the operation screen of the vibration evaluation application displayed on a smartphone screen [Figure 10] An example of the operation screen of the vibration evaluation application displayed on a smartphone screen [Figure 11] An example of the operation screen of the vibration evaluation application displayed on a smartphone screen [Figure 12] An example of the operation screen of the vibration evaluation application displayed on a smartphone screen [Figure 13] Block diagram of a control system according to a modified example DETAILED DESCRIPTION OF THE INVENTION

[0012] According to a first aspect of the present disclosure, there is provided a method for controlling a work implement, comprising the steps of: operating a work implement placed on a floor surface; calculating a vibration value associated with the operation of the work implement using an acceleration sensor built into a smartphone; and selecting an operation mode related to an upper limit value of the speed or acceleration of the work implement based on the vibration value.

[0013] According to a second aspect of the present disclosure, there is provided a control method for a work implement as described in the first aspect, wherein in the step of calculating the vibration value, the vibration value is calculated based on the measurement value of the acceleration sensor by an application installed on the smartphone.

[0014] According to a third aspect of the present disclosure, there is provided a control method for a work device according to the second aspect, further comprising a step of determining, by the application of the smartphone, the recommended operating mode depending on the vibration value.

[0015] According to a fourth aspect of the present disclosure, there is provided a control method for a work device according to any one of the first to third aspects, wherein in the step of calculating the vibration value, the vibration value is calculated using the acceleration sensor of the smartphone placed on the floor surface.

[0016] According to a fifth aspect of the present disclosure, there is provided a control method for a work apparatus according to any one of the first to fourth aspects, wherein in the step of calculating the vibration value, the vibration value is calculated using the acceleration sensor of the smartphone placed on the work apparatus.

[0017] According to a sixth aspect of the present disclosure, there is provided a control method for a working device according to any one of the first to fifth aspects, wherein the step of calculating the vibration value includes a step of calculating a first vibration value using the acceleration sensor of the smartphone placed on the floor surface, and a step of calculating a second vibration value using the acceleration sensor of the smartphone placed on the working device, and the step of selecting the operation mode selects the operation mode based on the first vibration value and the second vibration value.

[0018] According to a seventh aspect of the present disclosure, there is provided the control method for a work implement according to the sixth aspect, further comprising the step of notifying a vibration abnormality based on a comparison result between the first vibration value and the second vibration value.

[0019] According to an eighth aspect of the present disclosure, there is provided a control system for a work implement, which performs the steps of operating a work implement placed on a floor surface, calculating a vibration value associated with the operation of the work implement using an acceleration sensor built into a smartphone, and selecting an operation mode related to an upper limit value of the speed or acceleration of the work implement based on the vibration value.

[0020] (Embodiment) Hereinafter, an embodiment will be described with reference to the drawings.

[0021] [Overall configuration] FIG. 1 is a schematic side view showing a component mounting apparatus 1 according to an embodiment of the present disclosure.

[0022] 1 is an apparatus for mounting components on a substrate 3, which is an example of a work object, using a mounting head 18, which is an example of a work head. The component mounting apparatus 1 is an example of a "working apparatus."

[0023] A component mounting apparatus 1 shown in FIG. 1 mounts components (electronic components), such as chip components or components with leads, on a substrate 3 on which the components are to be mounted.

[0024] The component mounting apparatus 1 is installed on a floor G, and includes a component supply device (not shown), a board transport unit 4, and a stand 6.

[0025] The board transport unit 4 transports the board 3 to a predetermined mounting work position and also transports the board 3 from the mounting work position. For example, the board transport unit 4 transports the board 3 in the Y direction from the upstream side of a component mounting system (not shown) including the component mounting device 1, and positions and holds it at the mounting work position. Once the component mounting work is completed, the board transport unit 4 transports the board 3 in the Y direction downstream of the component mounting system.

[0026] The mount 6 is a member that movably supports the mounting head 18. The mount 6 includes a base portion 8, a plurality of support columns 10, and an X-axis beam 12.

[0027] The base unit 8 is a part that constitutes the foundation of the component mounting apparatus 1, and the board transport unit 4 is provided on the upper surface of the base unit 8. The support pillar 10 is a columnar member that is erected on the base unit 8 and supports the X-axis beam 12 from below. The X-axis beam 12 is a member that extends in the X direction and moves the Y-axis beam 14, which will be described later, in the X direction (arrow X1). A pair of X-axis beams 12 are provided with a gap in the Y direction, and the Y-axis beam 14 is attached between the pair of X-axis beams 12. A movement mechanism for moving the Y-axis beam 14 in the X direction is built into the X-axis beam 12.

[0028] The Y-axis beam 14 is a member extending in the Y direction, and is movable in the X direction along the X-axis beam 12, and moves the mounting bracket 16 (described later) in the Y direction. A movement mechanism for moving the mounting bracket 16 in the Y direction is built into the Y-axis beam 14.

[0029] The mounting bracket 16 is a member for attaching the mounting head 18 to the Y-axis beam 14. The mounting bracket 16 supports the mounting head 18 so that it can move up and down in the Z direction (arrow Z1).

[0030] The mounting head 18 is a head for picking up components from a component supply device (not shown) and mounting the components on the board 3. The mounting head 18 shown in Fig. 1 has multiple component suction nozzles 20. The mounting head 18 having the above configuration is movable in the X, Y, and Z directions.

[0031] If the mounting head 18 is moved at high speed during component mounting, vibrations occur in the component mounting apparatus 1, and these vibrations are transmitted to the floor surface G. It is desirable to suppress the vibrations of the component mounting apparatus 1 in order to prevent a decrease in mounting accuracy, but performing component mounting operations by reducing the speed and acceleration of the mounting head 18 reduces productivity. For this reason, it is desirable to achieve both vibration suppression and improved productivity.

[0032] The component mounting apparatus 1 and its control system of this embodiment do not require a large-scale vibration isolation mechanism or vibration suppression unit, but calculate vibration values ​​using an acceleration sensor of a smartphone S (described later), and, based on the calculated vibration values, present the operator with recommended operating modes (e.g., vibration suppression modes) related to the upper limits of the acceleration and speed of the component mounting apparatus 1, allowing the operator to select one. This configuration allows vibration to be suppressed in a simpler manner, making it possible to achieve both vibration suppression and improved productivity.

[0033] As shown by the dotted lines in Fig. 1, the smartphone S can be installed on either (1) the stand 6 or (2) the floor G. With respect to the stand 6, the smartphone S can be installed on the base 8. However, this is not the only case, and the smartphone S may also be installed in a location other than the base 8 (for example, on the support 10 or the X-axis beam 12).

[0034] Although not shown in the figure, a fixing mechanism for fixing the smartphone S is provided at the installation location of the smartphone S. This prevents the smartphone S from falling off when the component mounting apparatus 1 is operated to measure vibrations.

[0035] The component mounting apparatus 1 further includes a control unit 22 and an operation display unit 24.

[0036] The control unit 22 is a member that controls each component of the component mounting apparatus 1. The control unit 22 is configured, for example, by a microcomputer that includes a processor and a memory that stores a computer program executed by the processor.

[0037] The operation display unit 24 is a member that serves both as an operation unit for an operator who handles the component mounting apparatus 1 to perform operations and as a display unit that displays information to the operator. The operation display unit 24 is configured, for example, with a touch panel. The operation display unit 24 may be provided not only as an operation unit and a display unit, but also as an independent unit.

[0038] FIG. 2 is a block diagram showing a control system 100 for controlling the component mounting apparatus 1, which includes the component mounting apparatus 1 and a smartphone S.

[0039] As shown in FIG. 2, the smartphone S includes an acceleration sensor S1, a display screen S2, and an application S3.

[0040] The acceleration sensor S1 is an acceleration sensor that is pre-installed in the smartphone S, and is capable of identifying the attitude of the smartphone S based on the measured acceleration.

[0041] The display screen S2 is a screen for displaying information to the user of the smartphone S.

[0042] The vibration evaluation application S3 is an application for evaluating vibrations that accompany the operation of the component mounting apparatus 1. The vibration evaluation application S3 is not pre-installed on the smartphone S, but is installed and installed on the smartphone S after the fact.

[0043] The vibration evaluation application S3 in this embodiment is implemented by a method that is not available to general users, such as by downloading a dedicated download file (for example, an apk file or an ipa file) by executing it on the smartphone S. This allows only limited people, such as managers and workers of the component mounting apparatus 1, to download the vibration evaluation application S3 to the smartphone S.

[0044] In the control system 100 shown in FIG. 2, the component mounting apparatus 1 and the smartphone S may or may not communicate with each other.

[0045] Using the control system 100 having the above configuration, a method for evaluating vibrations accompanying the operation of the component mounting apparatus 1, determining a recommended operating mode that is likely to achieve both vibration reduction and productivity improvement, and allowing the operator to select the mode will be described with reference to Figure 3 and subsequent drawings.

[0046] Fig. 3 is a flowchart showing an example of a vibration evaluation method using the control system 100. Each process shown in Fig. 3 is executed by a manager / operator of the component mounting apparatus 1, the control unit 22 of the component mounting apparatus 1, or the smartphone S. Figs. 4A and 4B are side views schematically showing the execution state of the vibration evaluation method shown in Fig. 3.

[0047] 3, first, a smartphone S is prepared (S11). Specifically, an administrator or operator of the component mounting apparatus 1 prepares the smartphone S and installs and implements the vibration evaluation application S3. As described above, the vibration evaluation application S3 is implemented, for example, by having the smartphone S execute a dedicated download file. The acceleration sensor S1 and the display screen S2 are those that are pre-installed in the smartphone S.

[0048] Next, the smartphone S is placed on the stand 6 (S12). Specifically, an operator of the component mounting apparatus 1 places and fixes the smartphone S on the stand 6 of the component mounting apparatus 1 (for example, on the upper surface of the base part 8).

[0049] Next, the component mounting apparatus 1 is operated in a predetermined pattern (S13). Specifically, the worker starts up the application S3 of the smartphone S, and operates the component mounting apparatus 1 in accordance with a predetermined operation pattern that the application S3 displays on the display screen S2. The operation pattern of the component mounting apparatus 1 displayed on the display screen S2 may include information such as the movement direction (X direction, Y direction, Z direction) of the mounting head 18, the movement speed, the movement acceleration, the movement distance (amplitude), and the movement time.

[0050] While referring to the operation pattern displayed on the display screen S2, the worker inputs information about the operation pattern via the operation display unit 24 of the component mounting device 1, and starts the operation of the component mounting device 1. This causes the component mounting device 1 to operate in a predetermined pattern for vibration evaluation.

[0051] Next, the first vibration value is calculated using the acceleration sensor S1 built into the smartphone (S14). Specifically, while the component mounting apparatus 1 operates in a predetermined pattern, the acceleration sensor S1 of the smartphone S placed on the stand 6 of the component mounting apparatus 1 measures the acceleration, and the measured acceleration is acquired by the vibration evaluation application S3. The vibration evaluation application S3 integrates the acquired acceleration to calculate a velocity based on the integral of the acceleration and an amplitude based on the integral of the velocity. The calculated amplitude value is defined as the "first vibration value." The first vibration value indicates the vibration value of the component mounting apparatus 1 including the stand 6.

[0052] Since the value of the amplitude changes over time, the first vibration value may be calculated by any method, such as the maximum value of the amplitude or the average value of the amplitude in a predetermined range.

[0053] Next, the smartphone SS is placed on the floor surface G (S15). Specifically, the operator of the component mounting apparatus 1 retrieves the smartphone S placed on the stand 6 of the component mounting apparatus 1, and places and fixes the retrieved smartphone S on the floor surface G. The component mounting apparatus 1 may be stopped before retrieving the smartphone S. In this case, the retrieved smartphone S may be placed on the floor surface G, and then the operation of the component mounting apparatus 1 may be resumed. The operation pattern of the component mounting apparatus 1 when resuming operation may be the same as the predetermined pattern adopted in step S13, or may be a different pattern.

[0054] Next, the second vibration value is calculated using the acceleration sensor S1 built into the smartphone S (S16). Specifically, while the component mounting apparatus 1 operates in a predetermined pattern, the acceleration sensor S1 of the smartphone S placed on the floor surface G measures the acceleration, and the measured acceleration is acquired by the vibration evaluation application S3. The vibration evaluation application S3 integrates the acquired acceleration to calculate a velocity based on the integral of the acceleration and an amplitude based on the integral of the velocity. The calculated amplitude value is set as the "second vibration value." The second vibration value indicates the vibration value of the floor surface G on which the component mounting apparatus 1 is placed.

[0055] Since the value of the amplitude changes over time, the second vibration value may be calculated by any method, such as the maximum value of the amplitude or the average value of the amplitude in a predetermined range.

[0056] Next, it is determined whether the first vibration value and the second vibration value have the same tendency (S17). Specifically, the vibration evaluation application S3 of the smartphone S compares the first vibration value calculated in step S14 with the second vibration value calculated in step S16, and determines whether the respective vibration values ​​have the same tendency based on the comparison result. More specifically, a numerical analysis is performed on the first vibration value and the second vibration value to determine whether their increase / decrease patterns are similar. If it is determined that the increase / decrease patterns are similar, it is determined that the trends are the same, and if it is determined that the increase / decrease patterns are not similar, it is determined that the trends are not the same.

[0057] If it is determined that the first vibration value and the second vibration value have the same tendency (YES in S17), a recommended operation mode is presented (S18). Specifically, the vibration evaluation application S3 of the smartphone S determines at least one operation mode to be recommended from among a plurality of operation modes of the component mounting device 1 that have been set in advance, based on the first vibration value and the second vibration value, and displays the information on the display screen S2 of the smartphone S.

[0058] FIG. 5 is a table showing an example of a plurality of operation modes that are set in advance for the component mounting apparatus 1. In FIG.

[0059] In the example shown in Figure 5, five operating modes are exemplified as operating modes of the component mounting apparatus 1, including "normal mode," "vibration suppression mode 1," "vibration suppression mode 2," "vibration suppression mode 3," "vibration suppression mode 4," and "vibration suppression mode 5."

[0060] The normal mode is an operation mode used when the vibrations caused by the operation of the component mounting apparatus 1 are small enough to not cause a problem, such as when the component mounting apparatus 1 is used on the first floor of a building, or when the first vibration value and the second vibration value calculated in steps S14 and S16 are smaller than predetermined threshold values. In the normal mode shown in Fig. 5, A is applied as the upper limit value of acceleration, and B is applied as the upper limit value of speed.

[0061] The vibration control modes 1 to 4 are used when vibrations accompanying the operation of the component mounting apparatus 1 need to be suppressed, such as when the component mounting apparatus 1 is installed on the second floor or higher of a building, or when the first vibration value and the second vibration value calculated in steps S14 and S16 are larger than predetermined threshold values. In the vibration control modes 1 to 4 shown in Fig. 5, the upper limit values ​​of acceleration and speed are set lower than in the normal mode.

[0062] In the example shown in Figure 5, the upper limit value of acceleration in vibration damping mode 1 is A x 0.9 and the upper limit value of speed is B x 0.9, the upper limit value of acceleration in vibration damping mode 2 is A x 0.7 and the upper limit value of speed is B x 0.8, the upper limit value of acceleration in vibration damping mode 3 is A x 0.5 and the upper limit value of speed is B x 0.7, and the upper limit value of acceleration in vibration damping mode 4 is A x 0.2 and the upper limit value of speed is B x 0.5.

[0063] In vibration control modes 1 to 4, the higher the upper limit values ​​of acceleration and speed, the greater the vibration but the higher the productivity, and the lower the upper limit values ​​of acceleration and speed, the smaller the vibration but the lower the productivity.

[0064] The vibration evaluation application S3 applies one of vibration control modes 1 to 4 when the first vibration value and the second vibration value calculated in steps S14 and S16 are greater than predetermined thresholds, thereby suppressing vibrations associated with the operation of the component mounting apparatus 1. By selectively using vibration control modes 1 to 4 depending on the first vibration value and the second vibration value, it is possible to both suppress vibrations of the component mounting apparatus 1 and ensure productivity. Specifically, the larger the first vibration value and the second vibration value, the more preferentially vibration control mode 1 and vibration control modes similar thereto are applied, and the smaller the first vibration value and the second vibration value, the more preferentially vibration control mode 4 and vibration control modes similar thereto are applied.

[0065] The operator can then refer to the operation modes presented on the display screen S2 by the vibration evaluation application S3, select a corresponding operation mode via the operation display unit 24, and operate the component mounting apparatus 1 in that operation mode. This allows the component mounting operation to be performed in a manner that achieves both reduced vibration of the component mounting apparatus 1 and improved productivity.

[0066] The worker is not limited to selecting the operation mode presented by the vibration evaluation application S3, but may also select an operation mode different from the operation mode presented by the vibration evaluation application S3 depending on the installation environment and conditions of the component mounting device 1.

[0067] Furthermore, instead of presenting only one recommended operation mode, the recommended operation modes may be presented in a manner that increases the range of choices available to the worker, such as by presenting the degree of recommendation for each operation mode or by presenting multiple operation modes.

[0068] Returning to FIG. 3, if it is determined that the first vibration value and the second vibration value do not have the same trend (NO in S17), a vibration abnormality is reported (S19). If the first vibration value and the second vibration value do not have the same trend, it is possible that the vibration of the component mounting apparatus 1 is not being transmitted directly to the floor surface G, and that a malfunction such as a loose screw has occurred in the mechanism that installs and fixes the component mounting apparatus 1 to the floor surface G or in the surrounding structure (for example, an adjustment bolt). For this reason, by reporting that there is a vibration abnormality on the display screen S2 of the smartphone S or the operation display unit 24 of the component mounting apparatus 1, it is possible to notify the operator of the abnormality and encourage them to resolve the malfunction.

[0069] According to the above-described method, the smartphone S with the built-in acceleration sensor S1 is used to evaluate vibrations caused by the operation of the component mounting device 1, and an appropriate operation mode is determined and presented based on the vibration evaluation results, allowing the operator to select it. This makes it possible to effectively suppress vibrations caused by the operation of the component mounting device 1, even if the component mounting device 1 is not equipped with a vibration isolation mechanism or vibration control unit, and to reduce vibrations in a simpler manner.

[0070] Furthermore, since the vibration value can be calculated using the acceleration sensor S1 built into the smartphone S, there is no need to use a dedicated measuring device for calculating the vibration value, and the vibration value can be calculated with an inexpensive and compact configuration.

[0071] Furthermore, the vibration evaluation application S3 of the smartphone S calculates vibration values ​​based on the measurement results of the acceleration sensor S1, and determines and selects an appropriate operating mode based on the calculated vibration values. Therefore, the worker only needs to operate the device according to the instructions and displays of the vibration evaluation application S3, thereby achieving high operability.

[0072] Furthermore, when the smartphone S communicates with the component mounting apparatus 1, the recommended operation mode determined by the vibration evaluation application S3 can be displayed on the operation display unit 24 of the component mounting apparatus 1, or the component mounting apparatus 1 can be started to operate in the recommended operation mode. In this way, it is possible to realize a more automated control system 100 with less operator intervention.

[0073] Here, in step S13, various patterns can be considered as the predetermined pattern for operating the component mounting apparatus 1, and it is possible to operate the component mounting apparatus 1 in a plurality of operation patterns, rather than being limited to one operation pattern.

[0074] 6 and 7 are graphs showing conditions and results when the component mounting apparatus 1 is operated in a plurality of operation patterns in step S13.

[0075] The graph shown in FIG. 6 shows an example of the results when the vibration amplitude V (vibration value) is measured while changing the movement period t by changing the movement distance over multiple types in an operation pattern in which the mounting head 18 is moved back and forth in a predetermined direction.

[0076] As shown in Fig. 6, the vibration amplitude V changes as the movement period t changes. In the example shown in Fig. 6, the vibration amplitude V1 is at its maximum when the movement period t1 is reached, and the vibration amplitude V becomes smaller as the movement period t becomes shorter or longer than the movement period t1.

[0077] By moving the mounting head 18 at multiple movement periods t and calculating the vibration amplitude V corresponding to each movement period t, it is possible to improve the vibration measurement accuracy, for example by calculating the vibration value based on the maximum vibration amplitude V.

[0078] When the movement period t is changed, the movement period t may be changed in each of the X direction and the Y direction.

[0079] The graph shown in FIG. 7 shows an example of the results when the vibration amplitude V (vibration value) is measured while changing the acceleration a of the mounting head 18 over multiple levels in an operation pattern in which the mounting head 18 is reciprocated in a predetermined direction.

[0080] As shown in Fig. 7, the vibration amplitude V changes as the acceleration a changes. In the example shown in Fig. 7, the vibration amplitude V is maximum at acceleration a1, and the vibration amplitude V decreases as the acceleration a becomes smaller than acceleration a1.

[0081] By moving the mounting head 18 at multiple accelerations a and calculating the vibration amplitude V corresponding to each acceleration a, it is possible to improve the vibration measurement accuracy, for example by calculating the vibration value based on the maximum vibration amplitude V.

[0082] When changing the acceleration a, the acceleration a may be changed in both the X direction and the Y direction.

[0083] Next, examples of operation screens of the vibration evaluation application S3 displayed on the display screen S2 of the smartphone S will be described with reference to FIGS.

[0084] FIG. 8 is a screen showing the "installation location" and "installation instructions" of the smartphone S to the worker. By displaying the information shown in FIG. 8, the worker can start the vibration evaluation method for the component mounting apparatus 1. As shown in FIG. 8, the floor G and the stand 6 can be selected as the "installation location" of the smartphone S. In the example shown in FIG. 8, the stand 6 is selected as the installation location. The "installation instructions" state that the smartphone S is placed on the stand 6 and operation of the component mounting apparatus 1 is started. The "installation instructions" may display information such as the movement direction and movement distance of the mounting head 18 as information regarding a specific operation pattern of the component mounting apparatus 1 (the "predetermined pattern" in step S13), allowing the worker to input that information via the operation display unit 24 of the component mounting apparatus 1.

[0085] Fig. 9 is a screen showing the vibration measurement status while the component mounting apparatus 1 is operating. By displaying the information shown in Fig. 9, the operator can understand the vibration measurement status. As shown in Fig. 9, "elapsed time," "executed process," and "vibration value" are displayed as the vibration measurement status. In the example shown in Fig. 9, the "elapsed time" is 15 seconds, the "executed process" is the vibration evaluation process, and the "vibration value" has a maximum value (MAX) of 3.0 mm, a minimum value (MIN) of 0.5 mm, and an average value (AVE) of 1.0 mm.

[0086] FIG. 10 is a screen showing vibration measurement results. By displaying the information shown in FIG. 10, the operator can understand the vibration measurement results. As shown in FIG. 10, "Processing" and "Results" are displayed as vibration measurement results. In the example shown in FIG. 10, specific results are not displayed. For "Processing," information about what processing (e.g., frequency analysis using FFT) was performed on the vibration values ​​based on the measurement results of the acceleration sensor S1 of the smartphone S may be displayed. For "Results," vibration values ​​calculated for each of the X, Y, and Z directions may be displayed, for example.

[0087] FIG. 11 is a screen showing a recommended operation mode determined based on the vibration measurement results shown in FIG. 10. By displaying the information shown in FIG. 11, the worker can understand the preferable operation mode when performing component mounting operations and can actually operate the component mounting apparatus 1 in that operation mode. As shown in FIG. 11, the recommended operation mode is displayed as a "recommended result." In the example shown in FIG. 11, vibration suppression mode 2 is recommended. The "correspondence table" is a table showing the specifications of normal mode and vibration suppression modes 1 to 4, allowing the worker to understand the specifications of the recommended operation mode.

[0088] FIG. 12 shows a setting change screen for the vibration evaluation application S3. By displaying the setting change screen shown in FIG. 12, the worker can change the settings of the vibration evaluation application S3. As shown in FIG. 12, the settings for the vibration evaluation application S3 can be changed for "sensitivity setting," "measurement method setting," and "communication setting." In the example shown in FIG. 12, specific settings are not displayed. For "sensitivity setting," the sensitivity of vibration measurement can be calibrated / set. For "measurement method setting," various measurement conditions (such as the length of measurement time and the minimum detection level of vibration value) can be set. For "communication setting," items related to communication with the control unit 22 of the component mounting apparatus 1 and other terminal devices can be set.

[0089] (Actions and Effects) As described above, the control method for the component mounting apparatus 1 (working apparatus) of the embodiment includes the steps of operating the component mounting apparatus 1 installed on the floor surface G, calculating a vibration value associated with the operation of the component mounting apparatus 1 using an acceleration sensor S1 built into the smartphone S, and selecting an operating mode related to the upper limit value of the speed or acceleration of the component mounting apparatus 1 based on the vibration value.

[0090] According to this method, by using the smartphone S to calculate the vibration value and select the operation mode, it is possible to reduce the vibration caused by the operation of the component mounting apparatus 1 in a simple manner.

[0091] Furthermore, in the control method for the component mounting apparatus 1 (working apparatus) of the embodiment, in the step of calculating the vibration value, the vibration value is calculated based on the measurement value of the acceleration sensor S1 by a vibration evaluation application S3 installed in the smartphone S. According to this method, by using the vibration evaluation application S3 of the smartphone S, the vibration value can be calculated easily and accurately.

[0092] Moreover, the control method for the component mounting apparatus 1 (working apparatus) of the embodiment further includes a step of determining a recommended operation mode according to the vibration value by a vibration evaluation application S3 of the smartphone S. According to such a method, the worker can refer to the recommended operation mode and select the operation mode to actually use.

[0093] Furthermore, in the control method for the component mounting apparatus 1 (working apparatus) of the embodiment, in the step of calculating the vibration value, the vibration value is calculated using the acceleration sensor S1 of the smartphone S placed on the floor surface G. According to such a method, it is possible to select an operation mode that reduces the vibration value of the floor surface G.

[0094] Furthermore, in the control method for the component mounting apparatus 1 (working apparatus) of the embodiment, in the step of calculating the vibration value, the vibration value is calculated using the acceleration sensor S1 of the smartphone S placed on the component mounting apparatus 1. According to such a method, it is possible to select an operation mode that reduces the vibration value of the component mounting apparatus 1.

[0095] Furthermore, in the control method for the component mounting apparatus 1 (working apparatus) of the embodiment, the step of calculating the vibration value includes a step of calculating a first vibration value using an acceleration sensor S1 of a smartphone S placed on a floor surface G, and a step of calculating a second vibration value using the acceleration sensor S1 of the smartphone S placed on the component mounting apparatus 1, and the step of selecting an operation mode selects the operation mode based on the first vibration value and the second vibration value. According to this method, by selecting the operation mode based on the first vibration value related to the vibration of the floor surface G and the second vibration value related to the vibration of the component mounting apparatus 1, it is possible to more accurately reduce vibrations accompanying the operation of the component mounting apparatus 1.

[0096] Furthermore, the control method for the component mounting apparatus 1 (working apparatus) of the embodiment further includes a step of notifying a vibration abnormality based on the comparison result between the first vibration value and the second vibration value. According to such a method, for example, if the trends of the first vibration value and the second vibration value differ, there is a possibility that the vibration of the component mounting apparatus 1 (working apparatus) is not being directly transmitted to the floor surface G and is in an abnormal state, and therefore, by notifying the vibration abnormality, it is possible to notify the worker of the vibration abnormality.

[0097] As described above, the control system for the component mounting apparatus 1 (working apparatus) of the embodiment performs the steps of operating the component mounting apparatus 1 (working apparatus) installed on the floor surface G, calculating a vibration value associated with the operation of the component mounting apparatus 1 using an acceleration sensor S1 built into the smartphone S, and selecting an operating mode related to the upper limit value of the speed or acceleration of the component mounting apparatus 1 based on the vibration value.

[0098] According to this configuration, by using the smartphone S to calculate the vibration value and select the operation mode, it is possible to reduce the vibration caused by the operation of the component mounting apparatus 1 in a simple manner.

[0099] (others) Although the present invention has been described above using the above-described embodiments, the present invention is not limited to these embodiments. For example, while the above description has been given of the case where the control unit 22 of the component mounting apparatus 1 and the smartphone S communicate directly or do not communicate with each other, the present invention is not limited to these cases. For example, in a control system 200 according to a modified example shown in FIG. 13 , a control device 30 is provided separately from the component mounting apparatus 1 and the smartphone S, and the control device 30 communicates with both the component mounting apparatus 1 and the smartphone S. The control device 30 may be a control device (e.g., a PC) that controls and manages the entire component mounting system, including the component mounting apparatus 1. According to this control system 200, information such as vibration measurement results and recommended operating modes generated by the vibration evaluation application S3 of the smartphone S can be transmitted to the control device 30, and the component mounting apparatus 1 can be operated or displayed on the operation display unit 24 of the component mounting apparatus 1 based on the information received by the control device 30. This improves operator convenience and also enables automation with reduced operator intervention.

[0100] In addition, in the embodiment, the case where the working device is the component mounting device 1 has been described, but the present invention is not limited to this case. For example, the present invention may be applied to any working device that works on a work object, such as a printing device that performs printing work on a print object, and that is installed on the floor and generates vibrations.

[0101] In addition, in the embodiment, a case has been described in which the smartphone S is placed on the stand 6 to calculate the first vibration value, and the smartphone S is placed on the floor G to calculate the second vibration value, but this is not the only possible case. For example, only the first vibration value may be calculated, and a recommended operation mode may be determined and presented based on only the first vibration value, or only the second vibration value may be calculated, and a recommended operation mode may be determined and presented based on only the second vibration value.

[0102] Although the present disclosure has been fully described in connection with the preferred embodiments with reference to the accompanying drawings, various variations and modifications will be apparent to those skilled in the art. Such variations and modifications should be understood to be included within the scope of the present disclosure as defined by the appended claims, unless they depart therefrom. Furthermore, changes in the combination and order of elements in each embodiment may be made without departing from the scope and spirit of the present disclosure.

[0103] It should be noted that, by appropriately combining any of the above-described embodiments and various modifications, it is possible to achieve the effects of each of them. [Industrial Applicability]

[0104] The present invention is applicable to any control method and control system for a work implement. [Explanation of symbols]

[0105] 1. Component mounting equipment (working equipment) 3. Circuit Board 6 Mounting stand 18 Mounting head 22 Control Unit 100 Component mounting device control system (work device control system) S smartphone S1 Accelerometer S3 Vibration Evaluation Application G Floor surface

Claims

1. operating a working device installed on the floor surface; calculating a vibration value associated with operation of the working device using an acceleration sensor built into the smartphone; selecting an operation mode related to an upper limit value of a speed or an acceleration of the work implement based on the vibration value; A method for controlling a work device.

2. In the step of calculating the vibration value, the vibration value is calculated based on a measurement value of the acceleration sensor by an application installed on the smartphone. The control method for a work device according to claim 1 .

3. and determining, by the application on the smartphone, the recommended operation mode in response to the vibration value. The control method for a work device according to claim 2.

4. In the step of calculating the vibration value, the vibration value is calculated using the acceleration sensor of the smartphone placed on the floor surface. The control method for a work device according to claim 1 .

5. In the step of calculating the vibration value, the vibration value is calculated using the acceleration sensor of the smartphone disposed on the working apparatus. The control method for a work device according to claim 1 .

6. The step of calculating the vibration value includes: calculating a first vibration value using the acceleration sensor of the smartphone placed on the floor surface; calculating a second vibration value using the acceleration sensor of the smartphone disposed on the working apparatus; In the step of selecting the operation mode, the operation mode is selected based on the first vibration value and the second vibration value. The control method for a work device according to claim 1 .

7. further comprising a step of notifying a vibration abnormality based on a comparison result between the first vibration value and the second vibration value. The control method for a work device according to claim 6.

8. operating a working device installed on the floor surface; calculating a vibration value associated with operation of the working device using an acceleration sensor built into the smartphone; selecting an operation mode related to an upper limit value of a speed or an acceleration of the working device based on the vibration value; Control system for work equipment.

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