Working device

Abstract

To provide a working device capable of controlling the position of a moving body while accurately detecting the moving amount of the moving body in the moving direction with an inexpensive constitution.SOLUTION: Height detector 45 of component placing device 1 including rising and falling body 41 and height detector 45 that detects the height of rising and falling body 41 includes mark member 52 that rises and falls together with rising and falling body 41 and includes the plurality of slits 60 disposed along the rising and falling direction, and two mark detectors 53 that detect the presence or absence of slit 60 at each of two detection positions (first detection position KP1 and second detection position KP2) set in movement path R of the plurality of slits 60 that rise and fall according to the movement of mark member 52. Counter 16c counts the number of changes in the combination of the presence or absence of slits 60 detected by each of two mark detectors 53 and height calculator 16d calculates the height of lift 41 based on the counted number of changes in the combination of the presence or absence of slits 60.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present disclosure relates to a work apparatus having a movable body that is movable in one direction. [Background technology]

[0002] A known example of a work device equipped with a movable body that can move freely in one direction is a component mounting device that has a lifting body that can be raised and lowered in the vertical direction, in which a board onto which components are to be mounted is carried in by a transport conveyor, the carried-in board is supported by a plurality of support pins that serve as board support sections provided on the lifting body, and then components are mounted on the board (for example, Patent Document 1 listed below). In such a work device (component mounting device), the height of the lifting body can be controlled sufficiently by switching it between two positions between the lower limit height of the lifting body's lift range and the board holding height when holding the board, but it is also possible to reduce time loss by limiting the height to which the lifting body is lowered when switching boards to only an intermediate height between the lower limit height and the board holding height. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-149433 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when attempting to lower the lifting body (moving body) to an intermediate height and stop it there as described above, the lifting body must be controlled based on the operating time of the lifting cylinder when lowering the lifting body from a state in which the substrate is held, making it difficult to accurately lower the lifting body to the targeted intermediate height (stopping it at the intermediate height). Also, vertical movement of the lifting body positioned at an intermediate height may cause interference with components mounted on the underside of the substrate being loaded or unloaded (underside components), so this must be monitored, but there is a problem in that using an expensive laser displacement sensor for this purpose increases costs.

[0005] Therefore, an object of the present disclosure is to provide a work device that can detect the position of a moving body and control the position of the moving body with an inexpensive configuration. [Means for solving the problem]

[0006] The working device disclosed herein is a working device comprising: a moving body that is freely movable in one direction; a position detection unit that detects the position of the moving body in the one direction; and a control unit that controls the position of the moving body based on the position of the moving body detected by the position detection unit, wherein the position detection unit comprises: a mark member that moves in the one direction together with the moving body and has a plurality of marks arranged along the one direction of movement; two mark detection units that detect the presence or absence of the marks at each of two detection positions set on the movement path of the plurality of marks that moves in accordance with the movement of the mark member; a counting unit that counts the number of changes in the combinations of the presence and absence of the marks detected by each of the two mark detection units; and a position calculation unit that calculates the position of the moving body based on the number of changes in the combinations of the presence and absence of the marks counted by the counting unit. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to perform position control of a moving body while accurately detecting the amount of movement of the moving body in the moving direction with an inexpensive configuration. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a perspective view of a component mounting device according to a first embodiment of the present disclosure. [Figure 2] 1 is a perspective view of a substrate transport and holding unit included in a component mounting device according to a first embodiment of the present disclosure. [Figure 3] 3A and 3B are side views of a substrate transport and holding unit included in the component mounting device according to the first embodiment of the present disclosure. [Figure 4] FIG. 2 is a block diagram showing a control system of the component mounting device according to the first embodiment of the present disclosure. [Figure 5] 1 is a side view of a substrate transport and holding unit included in the component mounting device according to the first embodiment of the present disclosure. [Figure 6] FIG. 2 is a perspective view of a sensor unit of a height detection unit included in the component mounting device according to the first embodiment of the present disclosure. [Figure 7] 3A and 3B are front views of a height detection unit included in the component mounting device according to the first embodiment of the present disclosure. [Figure 8] 3 is a front view of a portion of a mark member included in a height detection unit included in the component mounting device according to the first embodiment of the present disclosure. FIG. [Figure 9] 5A, 5B, 5C, and 5D are explanatory diagrams illustrating the operation of a height detection unit included in the component mounting device according to the first embodiment of the present disclosure. [Figure 10] FIG. 11 is a perspective view of a sensor unit of a height detection unit included in a component mounting device according to a second embodiment of the present disclosure. [Figure 11] FIG. 11 is a front view of a portion of a mark member included in a height detection unit included in a component mounting device according to a second embodiment of the present disclosure. [Figure 12] 10A, 10B, 10C, and 10D are explanatory diagrams illustrating the operation of a height detection unit included in the component mounting device according to the second embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0009] 1 shows a component mounting device 1 as a working device according to a first embodiment of the present disclosure. The component mounting device 1 is a device that mounts components BH on a board KB, and includes a base 11, a board transport holder 12, multiple part feeders 13, a head moving mechanism 14, and a mounting head 15. For ease of explanation, the left-right direction of the component mounting device 1 as seen from the operator OP is defined as the X direction, and the front-to-back direction of the component mounting device 1 as seen from the operator OP is defined as the Y direction. The up-down direction is defined as the Z direction.

[0010] 1, board transport and holding unit 12 supports both Y-direction ends of board KB from below, transports it in the X-direction, and holds it after carrying it into a predetermined work position. Multiple part feeders 13 are each detachably attached to feeder bases 11F located at the Y-direction ends of base 11. Each part feeder 13 supplies parts BH to part pick-up position 13T.

[0011] 1, the head moving mechanism 14 includes a fixed beam 14a and a moving beam 14b. The fixed beam 14a extends in the Y direction and is fixed to the base 11. The moving beam 14b extends in the X direction and has one end attached to the fixed beam 14a. The moving beam 14b is movable in the Y direction along the fixed beam 14a.

[0012] 1, the mounting head 15 is attached to a moving beam 14b and is movable in the X direction along the moving beam 14b. The mounting head 15 moves in a horizontal plane (XY plane) in the space above the base 11 by the movement of the moving beam 14b in the Y direction relative to the fixed beam 14a and the movement of the mounting head 15 itself in the X direction relative to the moving beam 14b.

[0013] 1, the mounting head 15 has multiple nozzles 15N extending downward. The mounting head 15 generates a vacuum suction force at the bottom end of each nozzle 15N, thereby suctioning and picking up components BH supplied to the component removal position 13T by each part feeder 13 onto the nozzle 15N.

[0014] 2 and 3(a) and (b), the substrate transport holder 12 includes a conveyor stand 21 provided on the base 11, and two front and rear transport conveyors 22 provided on the conveyor stand 21. Each transport conveyor 22 extends in the X direction as a whole, and the two transport conveyors 22 are arranged side by side parallel to each other in the Y direction (front-rear direction). The left and right ends (X direction) of each transport conveyor 22 are fixed to the conveyor stand 21 by fixtures 23, respectively.

[0015] 2 and 3(a) and (b), the transport conveyor 22 includes a base member 31 that spreads out along the XZ plane and extends in the X direction, a pair of transport belts 33 that are provided on the inner surfaces of the base members 31 (the surfaces on which the two opposing base members 31 face each other) and transport the substrate KB in the X direction, a pair of movable clampers 34 that are provided on the inner surfaces of each of the two base members 31 so as to be movable in the Z direction, and a fixed clamper 35 that is provided at the upper end of each of the two base members 31. Each fixed clamper 35 is positioned to protrude above (directly above) the movable clamper 34 below it.

[0016] 2 and 3(a) and (b), an elevating body 41 having a shape extending along the XY plane is provided below the two front and rear transport conveyors 22. A plurality of support pins 43 serving as substrate support portions are provided on the upper surface of the elevating body 41 and extend upward.

[0017] 3(a) and 3(b), an air cylinder 44 is provided on the conveyor base 21. The lifting body 41 is raised and lowered within a lifting area below the work position.

[0018] When supporting a substrate KB carried into the work position by the transport conveyor 22, the lifting body 41 is raised by the lifting cylinder 44 from a state in which it is positioned at the lowest height of the lifting area (FIG. 3(a) → FIG. 3(b)). When the lifting body 41 is positioned at the lowest height, each of the pair of movable clampers 34 is in a state of hanging down from the base member 31. However, when the lifting body 41 rises, it is pushed up by its upper surface, pushing up both ends of the substrate KB. At this time, the support pins 43 also abut against the underside of the substrate KB, pushing up the entire substrate KB. As a result, the substrate KB is separated upward from the transport conveyor 22, and both ends are pressed against the underside of the fixed clampers 35 (FIG. 3(b)). As a result, both ends of the substrate KB are sandwiched and held (clamped) between the pair of movable clampers 34 and the pair of fixed clampers 35.

[0019] Figure 4 shows the control system of component mounting device 1. In Figure 4, control unit 16 provided in component mounting device 1 controls the operations of board transport and holding unit 12, multiple part feeders 13, head movement mechanism 14, and mounting head 15. Board transport and holding unit 12 is controlled by control unit 16 to carry in board KB and hold the board KB. Head movement mechanism 14 is controlled by control unit 16 to move mounting head 15 within a horizontal plane. Each part feeder 13 is controlled by control unit 16 to supply parts BH to component removal position 13T. Mounting head 15 is controlled by control unit 16 to pick up parts BH onto nozzles 15N and to remove the picked-up parts BH from nozzles 15N.

[0020] 4, control unit 16 includes mounting operation execution control unit 16a and memory unit 16b. Memory unit 16b stores an operation program for the component mounting operation to be executed by component mounting device 1, and mounting operation execution control unit 16a operates board transport and holding unit 12, parts feeder 13, head moving mechanism 14, and mounting head 15 based on the operation program to perform the component mounting operation of mounting components BH on board KB.

[0021] In the component mounting operation, first, the substrate transport and holding unit 12 operates to receive the substrate KB sent from an apparatus on the upstream process side of the component mounting device 1. Then, the substrate KB is brought into the work position and held there (FIG. 1). The control unit 16 operates the lift cylinder 44 to raise the lift body 41 from its lowest height position, and the lift body 41 pushes up the pair of movable clampers 34, pressing both ends of the substrate KB against the pair of fixed clampers 35 to clamp them, while the upper ends of the multiple support pins 43 abut against the underside of the substrate KB to support the entire substrate KB.

[0022] Once the board KB is held as described above, each part feeder 13 supplies a component BH to the component removal position 13T, and the head movement mechanism 14 moves the mounting head 15 back and forth between a position above the part feeder 13 and a position above the board KB. As the mounting head 15 moves between a position above the part feeder 13 and a position above the board KB, it picks up the component BH supplied by the part feeder 13 with the nozzle 15N and releases the component BH from the nozzle 15N above the board KB.

[0023] When all components BH to be mounted on the board KB have been mounted by the above-mentioned operation of the mounting head 15, the control unit 16 lowers the lifting body 41, but when the next board KB is to be loaded and the component mounting operation continued, the lifting body 41 is not lowered to the lower limit height, but is lowered only to an intermediate height between the lower limit height and the board holding height when holding the board KB (FIG. 5). The intermediate height set at this time is set to a height that will prevent the support pins 43 from interfering with the lower-side components when components BH (lower-side components) are mounted on the lower surface of the board KB to be unloaded and the lower surface of the next board KB to be loaded.

[0024] 4, the component mounting device 1 is provided with a height detection unit 45 as a position detection unit that detects the position of the lifting body 41 in the lifting direction (Z direction) as the height of the lifting body 41. When the control unit 16 lowers the lifting body 41 to the intermediate height, it lowers the lifting body 41 while monitoring the height of the lifting body 41 detected by the height detection unit 45. Then, when the height of the lifting body 41 detected by the height detection unit 45 reaches the set (target) intermediate height, the control unit 16 stops the operation of the lifting cylinder 44 (the configuration of the height detection unit 45 will be described later).

[0025] Once the lifting body 41 has been lowered to the intermediate height, the control unit 16 operates the board transport and holding unit 12 to transport the board KB to a downstream process device. Once the component mounting work for one board KB has been completed, the transport conveyor 22 transports the next board KB to the work position. Once the next board KB has been transported to the work position, the control unit 16 operates the lifting cylinder 44 to raise the lifting body 41 and hold the board KB transported to the work position in the manner described above. Then, the component mounting work for that board KB is carried out.

[0026] The component mounting operation proceeds according to the above-described flow, but component mounting device 1 in embodiment 1 is provided with height detection unit 45 that detects the height of lifting body 41, so that lifting body 41 can be lowered to the target intermediate height and stopped accurately there. Furthermore, because fluctuations in the height of lifting body 41 after it has been stopped at the intermediate height can be monitored, it is possible to prevent a situation in which the lifting cylinder 44, stopped at the intermediate height, causes lifting body 41 to move up and down due to the elastic properties of air, causing interference between the underside components of the next board KB to be loaded and support pins 43.

[0027] Next, we will explain the configuration of the height detection unit 45. The height detection unit 45 is configured to have a sensor unit 50 (FIG. 2) provided between the lifting body 41 and the conveyor base 21, a count unit 16c provided in the control unit 16, and a height calculation unit 16d as a position calculation unit.

[0028] In FIG. 6, the sensor unit 50 includes a base body 51, a mark member 52, and two mark detection units 53 (a first mark detection unit 53A and a second mark detection unit 53B).

[0029] 6, the base body 51 has a shape that extends along the YZ plane as a whole. The base body 51 has two legs 51K that are bent at the bottom and extend horizontally, and these two legs 51K are attached to the upper surface of the conveyor base 21.

[0030] 6, mark member 52 has a shape that extends in the vertical direction (Z direction). A horizontal connecting portion 52F is formed at the upper end of mark member 52, and this connecting portion 52F is fixed to lifting body 41. Therefore, mark member 52 moves (lifts and lowers) together with lifting body 41 (FIGS. 7(a) and (b)).

[0031] 6, two mark rows 60L (the left mark row 60L and the right mark row 60L) formed by a plurality of slits 60 arranged at regular intervals along the up-down direction (the Z direction) are positioned on the left and right sides of each of the width directions (the Y direction) of the mark member 52. The left mark row 60L is made up of a plurality of first slits 60A, and the right mark row 60L is made up of a plurality of second slits 60B.

[0032] Each of the multiple first slits 60A opens at one edge (left edge) in the width direction (Y direction) of the mark member 52 and extends horizontally. Each of the multiple second slits 60B opens at the other edge (right edge) in the width direction (Y direction) of the mark member 52 and extends horizontally. These slits 60 (first slits 60A and second slits 60B) function as "marks" in the mark member 52.

[0033] The two mark detection units 53 (first mark detection unit 53A and second mark detection unit 53B) each consist of an optical sensor that emits and receives inspection light. The first mark detection unit 53A is provided on the left side of the mark member 52, and the second mark detection unit 53B is provided on the right side of the mark member 52.

[0034] 6 and 8, a first detection position KP1 and a second detection position KP2 are set on the movement path R of the slit 60, which moves (rises and falls) in accordance with the up and down movement of the mark member 52. The first detection position KP1 is set on the movement path R (first movement path R1) of the first slit 60A, and the second detection position KP2 is set on the movement path R (second movement path R2) of the second slit 60B.

[0035] The first mark detector 53A is installed at a position where the projected and received inspection light (hereinafter referred to as first inspection light L1) passes through the first detection position KP1. Therefore, when the mark member 52 moves up and down, the first inspection light L1 is interrupted by the first slits 60A that it passes through (crosses) and by a part of the mark detector 53 that extends laterally in a tooth shape between adjacent first slits 60A. When the first mark detector 53A receives the projected first inspection light L1, it detects that the first slit 60A is present at the first detection position KP1, and when it does not receive the projected first inspection light L1, it detects that the first slit 60A is not present at the first detection position KP1.

[0036] The second mark detector 53B is installed at a position where the projected and received inspection light (hereinafter referred to as second inspection light L2) passes through the second detection position KP2. Therefore, when the mark member 52 moves up and down, the second inspection light L2 is interrupted by the second slits 60B that it passes through (crosses) and by a part of the mark detector 53 that extends laterally in a tooth shape between adjacent second slits 60B. When the second mark detector 53B receives the projected second inspection light L2, it detects that the second slits 60B are present at the second detection position KP2, and when it does not receive the projected second inspection light L2, it detects that the second slits 60B are not present at the second detection position KP2.

[0037] Thus, in embodiment 1, the sensor unit 50 moves in one direction (lifting direction) together with the moving lifting body 41, and is configured to include a mark member 52 having slits 60 (first slits 60A and second slits 60B) which are multiple marks arranged along the lifting direction, and two mark detection units 53 (first mark detection unit 53A and second mark detection unit 53B) which detect the presence or absence of slits 60 (first slit 60A or second slit 60B) at each of two detection positions (first detection position KP1 and second detection position KP2) set on the movement path R (first movement path R1 and second movement path R2) of the multiple slits 60 which move in accordance with the movement of the mark member 52.

[0038] The counting unit 16c counts the number of changes in the combination of the presence and absence of the slits 60 detected by each of the two mark detecting units 53.

[0039] 8 shows the arrangement of the slits 60 (first slit 60A and second slit 60B) provided in the mark member 52 and the arrangement of the two mark detection units 53 (first mark detection unit 53A and second mark detection unit 53B). In the figure, a white circle "◯" (see second inspection light L2) indicates a state in which the mark detection unit 53 detects that a slit 60 is present at the detection position (first detection position KP1 or second detection position KP2), and a black circle "●" (see first inspection light L1) indicates a state in which the mark detection unit 53 detects that a slit 60 is not present at the detection position (first detection position KP1 or second detection position KP2). The widths HB of the slits 60 are equal in the first slits 60A and the second slits 60B, and the intervals KK between adjacent slits 60 are also equal between the first slits 60A and the second slits 60B. Furthermore, the widths HB of the slits 60 and the intervals KK between adjacent slits 60 are also equal (HB = KK). Depending on the detection characteristics of the mark detector 53, HB and KK may not be equal.

[0040] 8, the first slit 60A and the second slit 60B are arranged so as to be vertically offset by an odd multiple of the length S, which is half the width HB of each slit 60 (which is also half the interval KK of the slits 60). The first inspection light L1, which is the inspection light of the first mark detection unit 53A, and the second inspection light L2, which is the inspection light of the second mark detection unit 53B, are located at the same height. Note that the first inspection light L1 and the second inspection light L2 may be vertically offset by an even multiple of 2S.

[0041] When the lifting body 41 rises and the mark member 52 moves upward, the combination of the presence or absence of the first slit 60A detected by the first mark detection unit 53A and the presence or absence of the second slit 60B detected by the second mark detection unit 53B changes in Fig. 9 as follows: (a) "Present, Present" → (b) "Present, Absent" → (c) "Absent, Absent" → (d) "Absent, Present" → (a) "Present, Present" → ... Conversely, when the lifting body 41 descends and the mark member 52 moves downward, the combination of the presence or absence of the first slit 60A detected by the first mark detection unit 53A and the presence or absence of the second slit 60B detected by the second mark detection unit 53B changes in Fig. 9 as follows: (a) "Present, Present" → (d) "Absent, Present" → (c) "Absent, Absent" → (b) "Present, Absent" → (a) "Present, Present" → ...

[0042] As described above, in the first embodiment, the combinations of the presence or absence of slits 60 detected by each of the two mark detection units 53 (first mark detection unit 53A and second mark detection unit 53B) are four: "present and present," "present and absent," "absent and absent," and "absent and present." When the mark member 52 moves in the raising and lowering direction, the combinations of the presence or absence of slits 60 detected change in the following order: "present and present" → "present and absent" → "absent and absent" → "absent and present" → "present and present" → ... or "present and present" → "absent and present" → "absent and absent" → "present and absent" → "absent and absent" → ...

[0043] The height calculation unit 16d calculates the position of the lifting / lowering body 41 based on the number of changes in the combination of the presence or absence of the slit 60 counted by the counting unit 16c. In more detail, the height calculation unit 16d calculates the amount of change in the position (height) of the lifting / lowering body 41 based on the number of changes in the combination of the presence or absence of the slit 60 counted by the counting unit 16c, and calculates the position (height) of the lifting / lowering body 41 based on the calculated amount of change in the position (height) of the lifting / lowering body 41. In more detail, the height calculation unit 16d calculates the amount of change in the height of the lifting / lowering body 41 by multiplying the number of changes in the combination of the presence or absence of the slit 60 counted by the counting unit 16c by the amount of change in the height of the lifting / lowering body 41 corresponding to one change in the combination, and calculates the position of the lifting / lowering body 41 based on the calculated amount of change in the height of the lifting / lowering body 41.

[0044] 9, if the combination of the presence or absence of slits 60 changes from (a) to (b) to (c) to (d) as mark member 52 rises, the number of changes in the combination of the presence or absence of slits 60 is 3. Here, if the amount of change in height of lifting body 41 corresponding to one change in combination is, for example, 5 mm, the amount of upward rise of mark member 52 is calculated as 3 × 5 mm = 15 mm.

[0045] In this way, the presence or absence of the slit 60 detected by each of the two mark detection units 53 changes simply in the order of "present" → "absent" → "present" → "absent" → "present", etc. However, by adjusting the arrangement of the slit 60 and the arrangements of the first detection position KP1 and the second detection position KP2 relative to the slit 60, it is possible to set the combination of the presence or absence of the slit 60 detected by each of the two mark detection units 53 to change in the order of "present, present" → "present, absent" → "absent, absent" → "absent, present" → "present, present" →... or "present, present" → "absent, present" → "absent, absent" → "present, absent" → "present, present" →... There are various other positional relationships of the slit 60 and the positional relationships of the first detection position KP1 and the second detection position KP2 that result in such a change in combination (for example, see embodiment 2 below).

[0046] (Embodiment 2) 10 shows a sensor unit 50A according to the second embodiment. In the sensor unit 50A according to the second embodiment, the mark member 52 is also made up of a plate-like member extending in the vertical direction as a whole, but on one side of the width direction (Y direction) (here, the left side), a single mark row 60L is formed, which is made up of a plurality of slits 60 arranged at regular intervals along the vertical direction. Each slit 60 opens at the left edge of the mark member 52 in the width direction (Y direction) and extends horizontally.

[0047] Each of the two mark detection units 53 (first mark detection unit 53A and second mark detection unit 53B) is composed of an optical sensor that emits and receives inspection light, similar to the case of embodiment 1. Both the first mark detection unit 53A and the second mark detection unit 53B are provided on the far left side of the mark member 52, and the second mark detection unit 53B is located above the first mark detection unit 53A.

[0048] 10 and 11, a first detection position KP1 and a second detection position KP2 are set on the movement path R of the slit 60, which moves (rises and falls) in accordance with the vertical movement of the mark member 52. The second detection position KP2 is located above the first detection position KP1.

[0049] The first mark detector 53A is installed at a position where the projected and received inspection light (first inspection light L1) passes through the first detection position KP1. Therefore, when the mark member 52 moves up and down, the first inspection light L1 is interrupted by the slits 60 that pass through (cross) it and by a part of the mark detector 53 that extends laterally in a tooth shape between adjacent slits 60. When the first mark detector 53A receives the projected first inspection light L1, it detects that the slit 60 is present at the first detection position KP1, and when it does not receive the projected first inspection light L1, it detects that the slit 60 is not present at the first detection position KP1.

[0050] The second mark detector 53B is installed at a position where the projected and received inspection light (second inspection light L2) passes through the second detection position KP2. Therefore, when the mark member 52 moves up and down, the second inspection light L2 is interrupted by the slits 60 that pass through (cross) it and by a part of the mark detector 53 that extends laterally in a tooth shape between adjacent slits 60. When the second mark detector 53B receives the projected second inspection light L2, it detects that the slit 60 is present at the second detection position KP2, and when it does not receive the projected second inspection light L2, it detects that the slit 60 is not present at the second detection position KP2.

[0051] As described above, the sensor unit 50A in the second embodiment also moves in one direction (the lifting direction) together with the moving lifting body 41, and includes a mark member 52 having slits 60 as multiple marks arranged along the lifting direction, and two mark detection units 53 (first mark detection unit 53A and second mark detection unit 53B) that detect the presence or absence of the slits 60 at two detection positions (first detection position KP1 and second detection position KP2) set on the movement path R of the multiple slits 60 that move along the mark member 52. The function of the counting unit 16c is the same as in the first embodiment.

[0052] 11 shows the arrangement of the slits 60 provided in the mark member 52 and the arrangement of the two mark detection units 53 (first mark detection unit 53A and second mark detection unit 53B). In the figure, a white circle "◯" (see second inspection light L2) indicates a state in which the mark detection unit 53 detects that there is a slit 60 at the detection position (first detection position KP1 or second detection position KP2), and a black circle "●" (see first inspection light L1) indicates a state in which the mark detection unit 53 detects that there is no slit 60 at the detection position (first detection position KP1 or second detection position KP2), as in the case of embodiment 1. The width HB of a slit 60 and the interval KK between adjacent slits 60 are equal (HB=KK).

[0053] In the second embodiment, the first inspection light L1 of the first mark detection unit 53A and the second inspection light L2 of the second mark detection unit 53B are arranged so as to be shifted in the vertical direction by an odd multiple of the length S, which is half the width HB of the slit 60 (which is also half the spacing KK of the slit 60) (FIG. 11 shows an example in which they are shifted by three times the length S).

[0054] When the lifting body 41 rises and the mark member 52 moves upward, the combination of the presence or absence of the slit 60 detected by the first mark detection unit 53A and the presence or absence of the slit 60 detected by the second mark detection unit 53B changes as follows in Fig. 12: (a) "Present, Present" → (b) "Present, Absent" → (c) "Absent, Absent" → (d) "Absent, Present" → (a) "Present, Present" → ... Conversely, when the lifting body 41 descends and the mark member 52 moves downward, the combination of the presence or absence of the first slit 60A detected by the first mark detection unit 53A and the presence or absence of the second slit 60B detected by the second mark detection unit 53B changes as follows in Fig. 11: (a) "Present, Present" → (d) "Absent, Present" → (c) "Absent, Absent" → (b) "Present, Absent" → (a) "Present, Present" → ...

[0055] As described above, in the second embodiment as well, the combinations of the presence or absence of slits 60 detected by each of the two mark detection units 53 (first mark detection unit 53A and second mark detection unit 53B) are four: "present and present," "present and absent," "absent and absent," and "absent and present." When the mark member 52 moves in the raising and lowering direction, the combinations of the presence or absence of slits 60 detected change in the following order: "present and present" → "present and absent" → "absent and absent" → "absent and present" → "present and present" →... or "present and present" → "absent and present" → "absent and absent" → "present and absent" → "absent and absent" →...

[0056] As described above, the height detection unit 45 of the component mounting device 1 in embodiments 1 and 2 comprises a mark member 52 that moves in one direction (up and down) together with the lifting body 41 as a moving body that moves in that one direction, and that has slits 60 as multiple marks arranged along the one moving direction, and two mark detection units (first mark detection unit 53A and second mark detection unit 53B) that detect the presence or absence of the slits 60 at each of two detection positions (first detection position KP1 and second detection position KP2) set on the movement path R of the multiple slits 60 that move in accordance with the movement of the mark member 52, and the number of changes in the combination of the presence or absence of the slits detected by each of these two mark detection units is counted by the counting unit 16c, and the height calculation unit 16d, which is a position calculation unit, calculates the position of the lifting body 41 based on the number of changes in the combination of the presence or absence of the slits 60 that have been counted.

[0057] The above configuration is common to both the first and second embodiments, but in the case of the first embodiment, the multiple marks (slits 60) form two mark rows 60L aligned along the movement direction of the mark member 52, and the detection positions (first detection position KP1 and second detection position KP2) of the two mark detection units 53 are set corresponding to the two mark rows 60L, respectively. On the other hand, in the case of the second embodiment, the multiple marks (slits 60) form one mark row 60L aligned along the movement direction of the mark member 52, and the detection positions (first detection position KP1 and second detection position KP2) of the two mark detection units 53 are set corresponding to the one mark row 60L.

[0058] In the component mounting device 1 in the first and second embodiments, the two mark detection units 53 detect the presence or absence of a mark (slit 60) at two detection positions (first detection position KP1 and second detection position KP2), and the position of the mark detection unit 53 (of the lifting / lowering body 41) is detected by counting the number of changes in the combination of presence and absence. While the detection of the presence or absence of a mark originally only allows two-phase detection of "presence" and "absence," four-phase detection can be performed by changing the combination of two "presence" and "absence" from "presence, presence" → "presence, absence" → "absence, absence" → "absence, presence" → "presence, presence" → ... or "presence, presence" → "absence, presence" → "absence, absence" → "presence, absence" → "presence, presence" → .... This allows the amount of movement of the lifting / lowering body 41 to be detected with twice the detection accuracy (resolution) of two-phase detection, allowing the height of the lifting / lowering body 41 to be accurately detected and the height (position) of the lifting / lowering body 41 to be controlled.

[0059] A conventionally known laser displacement sensor can be used to control the height (position) of the lifting body 41, but laser displacement sensors are generally expensive and therefore costly. The height detection unit 45 in the first and second embodiments can be configured at a lower cost than a laser displacement sensor, so the cost of the component mounting device 1 can be reduced.

[0060] As described above, according to the component mounting device 1 in the first and second embodiments, it is possible to perform height control (position control) of the lifting body 41 while accurately detecting the height of the lifting body 41 with an inexpensive configuration.

[0061] Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above and various modifications are possible. For example, in the above-described first and second embodiments, the mark provided on the mark member 52 is a slit 60, but this may be a hole. Furthermore, the mark may be a colored mark, and the mark detection unit 53 may detect the presence or absence of the mark by detecting the color of the mark at the detection position. Note that the number of mark detection units 53 is not limited to two, and may be three or more.

[0062] Furthermore, in the above-described first and second embodiments, the mark member 52 is configured to rise and fall together with the lifting body 41 by connecting the connecting portion 52F at its upper end to the lifting body 41, but the mark member 52 does not necessarily have to be directly connected to the lifting body 41, and may be indirectly connected to the lifting body 41 via another member. Note that the mark member 52 does not necessarily have to be configured to rise and fall together with the lifting body 41, and the mark detection unit 53 may be fixed directly or indirectly to the conveyor base 21. In that case, the mark detection unit 53 may be configured to rise and fall together with the lifting body 41, and the mark detection unit 53 that rises and falls together with the lifting body 41 may count changes in the presence or absence of multiple marks on the mark member 52 fixed directly or indirectly to the conveyor base 21.

[0063] In the above-described first and second embodiments, an example has been shown in which the working device of the present disclosure is applied to the component mounting device 1, but the present disclosure can be applied to general working devices equipped with a movable body that can move freely in one direction, including printing devices and inspection devices that form a production line together with the component mounting device 1. In this case, the moving direction (one direction) of the movable body is not limited to the vertical direction, but can be any direction including the horizontal direction. [Industrial Applicability]

[0064] A working device is provided that is inexpensively configured and capable of controlling the position of a moving body while accurately detecting the position of the moving body in the moving direction. [Explanation of symbols]

[0065] 1. Parts mounting device (working device) 12 Substrate transport holder 15 Mounting head 16 Control Unit 16c Counting section 16d Height calculation unit (position calculation unit) 22 Transport conveyor 41 Elevating body (moving body) 43 Support pin (board support part) 44 Lifting cylinder 45 Height detection unit (position detection unit) 50,50A sensor part 51 Base body 52 Marking material 53 Mark detection unit 53A First mark detection unit 53B Second mark detection unit 60 Slit (mark) 60A First slit 60B Second slit 60L Mark Row KP1 First detection position (detection position) KP2 Second detection position (detection position) R travel path R1 First moving route R2 2nd travel route BH parts KB board

Claims

1. A work device comprising: a moving body that is movable in one direction; a position detection unit that detects a position of the moving body in the one direction; and a control unit that controls the position of the moving body based on the position of the moving body detected by the position detection unit, The position detection unit a marking member that moves in the one direction together with the moving body and has a plurality of marks arranged along the one moving direction; two mark detectors that detect the presence or absence of the marks at two detection positions set on a movement path of the plurality of marks that moves in accordance with the movement of the marking member; a counting unit that counts the number of changes in the combination of the presence and absence of the marks detected by each of the two mark detection units; a position calculation unit that calculates a position of the moving object based on the number of changes in the combination of the presence and absence of the marks counted by the count unit; A working device comprising:

2. 2. The working device according to claim 1, wherein the position calculation unit calculates an amount of change in the position of the moving body based on the number of changes in the combination of the presence and absence of the marks counted by the counting unit, and calculates the position of the moving body based on the calculated amount of change in the position of the moving body.

3. When the marking member moves in the one direction, the combination of the presence and absence of the marking changes. Existence and existence → Existence and nothing → Nothing and nothing → Nothing and existence → Existence and existence → ... or Existence and existence → Nothing and existence → Nothing and nothing → Existence and nothing → Existence and existence → ... The working device according to claim 1 , wherein the change is in the order of:

4. 2. The working device according to claim 1, wherein the plurality of marks form two mark rows aligned along the movement direction of the marking member, and the detection positions of the two mark detection units are set to correspond to the two mark rows, respectively.

5. 2. The working device according to claim 1, wherein the plurality of marks form a single mark row aligned along the movement direction of the marking member, and the detection positions of the two mark detection units are set to correspond to the single mark row.

6. 2. The operating device according to claim 1, wherein the mark is a slit or a hole, and the two mark detection units are optical sensors that project inspection light onto the respective detection positions.

7. 2. The working device according to claim 1, wherein the movable body comprises a lifting body that rises and falls below a substrate carried in by a transport conveyor, the position detection unit detects the height of the lifting body, the control unit performs height control of the lifting body as the position control based on the height of the lifting body detected by the position detection unit, and the working device further comprises a mounting head that mounts components on the substrate supported by a substrate support unit provided on the lifting body that rises from below the substrate.

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