Implementation-related equipment

Abstract

To make the device configuration more compact in implementation-related equipment. [Solution] The mounting-related device of this disclosure relates to the process of mounting components onto an object. The mounting-related device comprises a plurality of motors, a regenerative resistor for consuming the regenerative energy generated by the plurality of motors, and a switch for switching which of the plurality of motors the regenerative resistor is connected to.

Description

Technical Field

[0001] This specification discloses an implementation-related device.

Background Art

[0002] Conventionally, an implementation-related device related to a process of mounting components on an object has been known (for example, Patent Document 1). The component supply device described in Patent Document 1 includes a magazine unit having an upper magazine and a lower magazine, a magazine lifting mechanism for independently lifting and lowering the upper magazine and the lower magazine, a storage for storing pallets in a loadable and unloadable manner, and a replacement mechanism having a lifting table and a lifting drive mechanism for replacing pallets between the magazine unit and the storage. The magazine unit can accommodate a plurality of pallets, and each of the plurality of pallets can hold a plurality of components. The magazine lifting mechanism and the lifting drive mechanism include motors.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in such an implementation-related device provided with a motor, a regenerative resistor for consuming regenerative energy generated from the motor is used. However, when the implementation-related device includes a plurality of motors, regenerative resistors individually connected to each of the plurality of motors are required, so that as the number of motors increases, the number of regenerative resistors also increases, resulting in a problem of increasing the size of the device and / or increasing the number of components of the device.

[0005] This disclosure has been made to solve the above-described problems, and the main object is to make the device configuration compact in the implementation-related device.

Means for Solving the Problems

[0006] This disclosure employs the following means to achieve the primary objectives described above.

[0007] The implementation-related devices of this disclosure are: Mounting-related equipment related to the process of mounting components onto an object, Multiple motors, A regenerative resistor for consuming the regenerative energy generated by the aforementioned multiple motors, A switch that switches which of the plurality of motors the regenerative resistor is connected to, It is something that is provided.

[0008] In this implementation-related device, a switch switches which of the multiple motors the regenerative resistor is connected to. In other words, the regenerative resistor is shared among multiple motors. This reduces the number of regenerative resistors required in the implementation-related device compared to providing a separate regenerative resistor for each of the multiple motors, allowing for a more compact device configuration. [Brief explanation of the drawing]

[0009] [Figure 1] A schematic diagram illustrating an example of the implemented system 10. [Figure 2] A schematic diagram showing an example of the mounting device 13 and the component supply device 40. [Figure 3] A schematic diagram showing an example of the internal structure of the parts supply device 40. [Figure 4] An explanatory diagram showing an example of the replacement section 60. [Figure 5] A plan view showing an example of the internal structure of the parts supply device 40. [Figure 6] An explanatory diagram showing the electrical connection relationship between the first motor 76, the second motor 86, and the regenerative resistor 79. [Figure 7] An explanatory diagram illustrating an example of the process by which the parts supply device 40 moves the pallet 54. [Figure 8] A flowchart illustrating an example of magazine lowering processing. [Modes for carrying out the invention]

[0010] This embodiment will be described below with reference to the drawings. Figure 1 is a schematic diagram showing an example of the mounting system 10. Figure 2 is a schematic diagram showing an example of the mounting device 13 and the component supply device 40. Figure 3 is a schematic diagram showing an example of the internal structure of the component supply device 40. Figure 4 is an explanatory diagram showing an example of the replacement unit 60. Figure 5 is a plan view showing an example of the internal structure of the component supply device 40. Figure 6 is an explanatory diagram showing the electrical connection relationship between the first motor 76, the second motor 86 and the regenerative resistor 79. In this embodiment, the left-right direction (X-axis), front-back direction (Y-axis), and up-down direction (Z-axis) are as shown in Figures 1 to 5.

[0011] The mounting system 10 is configured as a production line in which mounting devices 13, which process components P onto a substrate S, are arranged in the transport direction of the substrate S. Here, the object is described as a substrate S, but any object on which components P are mounted can be used, for example, the object may be a three-dimensional base material. As shown in Figure 1, the mounting system 10 is composed of a printing device 11, a printing inspection device 12, a mounting device 13, a mounting inspection device 14, and a control device 18. The printing device 11 is a device that prints a viscous fluid such as solder paste onto the substrate S. The printing device 11 may also be a device that prints adhesives or conductive pastes as the viscous fluid. The printing inspection device 12 is a device that inspects the state of the printed viscous fluid. The mounting device 13 is a device that processes components P onto the substrate S. One or more of the multiple mounting devices 13 in the mounting system 10 have a component supply device 40 attached to their front. The mounting inspection device 14 is a device that inspects the condition of the components P mounted by the mounting device 13. The mounting device 13 may also be a mounting-inspection device that has the functions of the mounting inspection device 14. The management device 18 is a computer that manages information about each device in the mounting system 10.

[0012] The mounting device 13 is a device that takes components P from a component supply unit 22 that supplies components P and mounts them onto a substrate S before or after printing. As shown in Figure 1, the mounting device 13 comprises a substrate processing unit 21, a component supply unit 22, a parts camera 24, a control device 25, and a mounting unit 30. The substrate processing unit 21 is a unit that loads, transports, fixes, and unloads the substrate S. The component supply unit 22 has a plurality of feeders 23 equipped with reels and a tray unit, and is detachably attached to the front side of the mounting device 13. Tape is wound around each reel as a holding member, and a plurality of components P are held on the surface of the tape along the longitudinal direction of the tape. This tape is unwound from the reel toward the rear and, with the components P exposed, is fed by the feeder 23 to the picking position where it will be picked up by the picking member 33. The component supply device 40 is configured as a tray unit and has a tray 55 on which multiple components P are arranged and placed, and moves this tray 55 in and out of a predetermined picking position. The parts camera 24 is a unit that captures images of one or more components P that have been picked up and held by the mounting head 32. The parts camera 24 captures an image when the mounting head 32 holding the components P passes above the parts camera 24 and outputs the captured image data to the control device 25. The control device 25 is configured as a microprocessor centered on the mounting control unit 26 and controls the entire device. This control device 25 includes a storage unit 27 for storing various data. The control device 25 has the function of controlling the entire device of the mounting device 13. The control device 25 outputs control signals to each unit of the mounting device 13 and inputs signals from each unit. The storage unit 27 stores mounting condition information, including the mounting order in which components P are mounted on the substrate S, the placement position of components P, and the type of picking member 33 from which components P can be picked. The mounting unit 30 is a unit that picks up components P from the component supply unit 22 and places them on a substrate S fixed to the substrate processing unit 21. The mounting unit 30 includes a head moving unit 31, a mounting head 32, a picking member 33, and a mark camera 34. The head moving unit 31 includes a slider that moves in the XY direction guided by a guide rail and a motor that drives the slider.The mounting head 32 is detachably mounted on a slider and moves in the XY direction by the head movement unit 31. One or more sampling members 33 are detachably mounted on the underside of the mounting head 32. The sampling members 33 may be suction nozzles that use negative pressure to collect parts, or mechanical chucks that grip parts P. The mark camera 34 is positioned on the underside of the mounting head 32 and is an imaging unit capable of imaging the substrate S, parts P, etc., from above.

[0013] The parts supply device 40 is configured as a unit that supplies parts P to the mounting device 13 using trays 55 on which parts P are placed. As shown in Figure 2, the parts supply device 40 comprises a housing 41, door members 42-44, and an operation panel 45. Furthermore, as shown in Figure 3, the parts supply device 40 includes a production magazine 46, a replenishment magazine 47, a supply movement unit 51, storage units 56, 57, and a storage unit 60, all housed in a storage unit 52. The parts supply device 40 is a warehouse-type tray unit that has a production magazine 46, a replenishment magazine 47, and storage units 56, 57, and is capable of accommodating a larger number of trays 55.

[0014] As shown in Figures 2 and 3, the housing 41 is a roughly rectangular box-shaped structure that serves as a housing 52 for accommodating a production magazine 46, a replenishment magazine 47, storage units 56 and 57, and a replacement unit 60. On the left side of the front of the housing 41, there is a door member 42 for replenishment and a door member 43 for maintenance and inspection. On the right side of the front of the housing 41, there is a door member 44 for maintenance and inspection and an operation panel 45 for operator input. Each door member 42-44 is attached to the opening via a hinge so that it can be opened and closed, and is configured to be locked and unlocked by an electric locking device (not shown). A transparent window is fitted in the center of each door member 42-44. The operation panel 45 has the functions of a display unit and an operation unit, and is configured as a touch panel display device that displays various information to notify the operator, such as work instruction information and error information, and allows the operator to input various operations.

[0015] As shown in FIG. 3, the production magazine 46 is a substantially rectangular parallelepiped box body that is open at the front and rear, and has a plurality of slots 48 arranged vertically. Each slot 48 can receive and remove the pallet 54 from both sides in the front-rear direction. The pallet 54 holds a tray 55 that houses each part P in a plurality of storage recesses arranged in a grid pattern. In addition, substantially T-shaped notch portions that are engaged with each other in the front and rear by a supply moving unit 51 and a pallet moving unit 65 are formed at both ends of the pallet 54 in the front-rear direction. The production magazine 46 is arranged on the rear right side of the storage portion 52, which is the internal space of the housing 41. The production magazine 46 is lifted and lowered by a magazine lifting unit 70.

[0016] The magazine lifting unit 70 lifts and lowers the production magazine 46 that houses the pallet 54 to be pulled out so that the pulling-out unit 50 can pull out the pallet 54 at a height that can be pulled out. The magazine lifting unit 70 includes a first lifting mechanism 71, a first encoder 71a, a first servo amplifier 72, and a first motor 76. The first lifting mechanism 71 is a mechanism for moving the production magazine 46 in the Z-axis direction while supporting it to lift and lower the production magazine 46. In the present embodiment, the first lifting mechanism 71 is configured as a ball screw mechanism. The first lifting mechanism 71 may be a linear motor mechanism or a belt drive mechanism. The first encoder 71a is configured as, for example, a linear encoder, and detects the position of the production magazine 46 in the Z-axis direction. The first servo amplifier 72 is a drive device that outputs drive power to the first motor 76 based on a control signal from the supply control unit 91. The first motor 76 is configured as, for example, a three-phase AC motor, and rotates based on the drive power from the first servo amplifier 72. When the first motor 76 rotates, the driving force from the first motor 76 is transmitted to the first lifting mechanism 71, and the first lifting mechanism 71 lifts and lowers the production magazine 46.

[0017] The supply magazine 47 is, like the production magazine 46, a substantially rectangular parallelepiped box body with an open front, and has a plurality of slots 48 arranged vertically. Each slot 48 is configured to accommodate the pallet 54 so that it can be taken in and out from the front. Further, the supply magazine 47 is disposed above the rear part in the storage part 52. The supply magazine 47 is supported so as to be slidable back and forth with respect to a guide rail extending back and forth. The supply magazine 47 is moved back and forth in the internal space of the housing 41 by a back-and-forth movement device. The back-and-forth movement device may be a belt drive mechanism, a ball screw mechanism, or a linear motor.

[0018] The storage parts 56 and 57 are substantially rectangular parallelepiped box bodies with open fronts, and each has a plurality of slots 58 arranged vertically. Each slot 58 is configured to accommodate the pallet 54 so that it can be taken in and out from the front. Each of the storage parts 56 and 57 has a large number of slots 58 so as to be able to accommodate more pallets 54 than the production magazine 46. The storage part 56 is disposed under the supply magazine 47 on the left side of the rear part in the internal space of the housing 41. The storage part 56 is detachable from the housing 41 and may be configured to be carried into and out of the device by an automated guided vehicle (AGV) not shown in the figure. The storage part 57 is disposed under the production magazine 46 on the lower right side of the rear part in the internal space of the housing 41.

[0019] The drawer unit 50 draws out a pallet 54 stored in one of the slots 48 of the production magazine 46 that is at a height from which the pallet 54 can be drawn out, and moves it to a picking position for supplying parts P to the mounting device 13. The drawer unit 50 also moves the pallet 54 from the picking position to one of the empty slots 48 of the production magazine 46 that is at a height from which the pallet 54 can be fed in. The position of the slot 48 in the production magazine 46 that is at a height from which the pallet 54 can be drawn out and fed in is referred to as the storage position. The drawer unit 50 is inserted into the internal space of the mounting device 13 so that the picking position is at a position from which the mounting unit 30 of the mounting device 13 can pick up parts P. The drawer unit 50 is equipped with a supply movement unit 51 that moves the pallet 54 along the supply direction S in the front-rear direction (Y-axis direction) between the storage position and the picking position. The supply movement unit 51 is equipped with a clamper that clamps the pallet 54 and a movement mechanism that moves the clamper in the front-rear direction. The clamper is inserted into the notch on the rear side of the pallet 54 with the pair of clamping members retracted, and then the pair of clamping members are expanded to clamp the pallet 54. The clamper is expanded and retracted by an air cylinder or the like. The moving mechanism is configured as a drive mechanism that moves the clamper linearly back and forth, and may be, for example, a belt drive mechanism, a ball screw mechanism, or a linear motor.

[0020] The exchange unit 60 is a unit that transfers and exchanges pallets 54 by placing them on the shuttle 62 from either the production magazine 46, the supply magazine 47, or the storage units 56, 57. The exchange unit 60 moves within the operating space 59, which is the internal space of the housing 52 of the housing 41, and is the space that faces the production magazine 46, the supply magazine 47, and the storage units 56, 57 in the front and back directions. The exchange unit 60 has a lifting table 61, a shuttle 62, a sliding unit 63, a pallet moving unit 65, and a table lifting unit 80. The lifting table 61 is a plate-shaped member that supports the shuttle 62 and moves the shuttle 62 up and down. The lifting table 61 is supported by the table lifting unit 80 so that it can be raised and lowered along guide rails installed so as to extend vertically on the left and right side walls of the housing 41. The shuttle 62 is used to place the pallet 54 and is supported by a sliding section 63 that allows it to slide left and right along guide rails installed on the upper surface of the lifting table 61 so as to extend left and right. The sliding section 63 may be composed of a belt drive mechanism, a ball screw mechanism, or a linear motor. The shuttle 62 is moved up, down, left and right within the operating space 59 by the table lifting section 80 and the sliding section 63. The pallet moving section 65 pulls out the pallet 54 from the production magazine 46, supply magazine 47, or storage sections 56, 57 and places it on the shuttle 62, or feeds the pallet 54 on the shuttle 62 into the production magazine 46, supply magazine 47, or storage sections 56, 57. The pallet moving section 65 may move the pallet 54 along the front and rear directions by a belt drive mechanism, a ball screw mechanism, or a linear motor. The pallet moving section 65 is equipped with a clamper, similar to the supply moving section 51, which clamps and unclams the pallet 54. The clamp is expanded and contracted by an air cylinder or the like.

[0021] The table lifting unit 80 includes a second lifting mechanism 81, a second encoder 81a, a second servo amplifier 82, and a second motor 86. The second lifting mechanism 81 is a mechanism for raising and lowering the lifting table 61 and the shuttle 62 by moving the lifting table 61 in the Z-axis direction while supporting the lifting table 61. In this embodiment, the second lifting mechanism 81 is configured as a ball screw mechanism. The second lifting mechanism 81 may be a linear motor mechanism or a belt drive mechanism. The second encoder 81a is configured as a linear encoder, for example, and detects the position of the lifting table 61 in the Z-axis direction. The second servo amplifier 82 is a drive device that outputs drive power to the second motor 86 based on a control signal from the supply control unit 91. The second motor 86 is configured as a three-phase AC motor, for example, and is rotationally driven based on the drive power from the second servo amplifier 82. When the second motor 86 is driven to rotate, the driving force from the second motor 86 is transmitted to the second lifting mechanism 81, which then raises and lowers the lifting table 61.

[0022] Here, the first servo amplifier 72 and first motor 76 of the magazine lifting unit 70, and the second servo amplifier 82 and second motor 86 of the table lifting unit 80 will be described in detail. As shown in Figure 6, the first servo amplifier 72 includes a first rectifier unit 73, a first inverter unit 74, and a first electrolytic capacitor 75. The first rectifier unit 73 and the first inverter unit 74 are connected via power lines 74a and 74b. The first inverter unit 74 and the first motor 76 are connected via power lines 76a to 76c. The first rectifier unit 73 is configured as a three-phase rectifier bridge circuit, for example, equipped with six diodes. The first rectifier unit 73 receives an AC voltage from an external commercial power supply 77 of the component supply device 40, rectifies it, and outputs a DC voltage between power lines 74a and 74b. The first electrolytic capacitor 75 is connected in parallel to the first rectifier unit 73 and the first inverter unit 74 by being connected between power lines 74a and 74b. The first electrolytic capacitor 75 functions as a smoothing capacitor that smooths the DC voltage output by the first rectifier unit 73. The first electrolytic capacitor 75 also plays a role in absorbing regenerative energy generated during deceleration of the first motor 76 and suppressing the voltage rise between power lines 74a and 74b. The first inverter unit 74 is a circuit having, for example, six switching elements such as transistors and six diodes connected in parallel in opposite directions to each of these six switching elements. The first inverter unit 74 takes the DC voltage between power lines 74a and 74b as input, converts it to an AC voltage, and outputs the AC voltage to power lines 76a to 76c. The first motor 76 is rotated by the AC voltage output by the first inverter unit 74 to power lines 76a to 76c. The on / off switching of the switching elements of the first inverter unit 74 is controlled based on a control signal from the power supply control unit 91. This controls the AC voltage output by the first inverter unit 74 and controls the rotation of the first motor 76.

[0023] The second servo amplifier 82 of the table lifting unit 80 comprises a second rectifier unit 83, a second inverter unit 84, and a second electrolytic capacitor 85. The second rectifier unit 83 and the second inverter unit 84 are connected via power lines 84a and 84b. The second inverter unit 84 and the second motor 86 are connected via power lines 86a to 86c. As shown in Figure 6, the second servo amplifier 82 has the same configuration as the first servo amplifier 72, so some parts of the description of the second servo amplifier 82 are omitted. The second rectifier unit 83 receives an AC voltage from the commercial power supply 77, rectifies it, and outputs a DC voltage between power lines 84a and 84b. The second electrolytic capacitor 85 is connected in parallel to the second rectifier unit 83 and the second inverter unit 84 by being connected between power lines 84a and 84b. The second inverter unit 84 receives the DC voltage between power lines 84a and 84b, converts it to an AC voltage, and outputs the AC voltage to power lines 86a to 86c. The second motor 86 is driven to rotate by the AC voltage of the power lines 86a to 86c output by the second inverter unit 84. The on / off switching of the switching elements of the second inverter unit 84 is controlled based on a control signal from the power supply control unit 91.

[0024] Furthermore, as shown in Figure 6, a regenerative resistor 79 is connected to the first motor 76 and the second motor 86 via a switch 78. The regenerative resistor 79 is a resistive element for consuming the regenerative energy generated when the first motor 76 and the second motor 86 decelerate. The switch 78 switches which of the multiple motors (in this case, the first motor 76 and the second motor 86) the regenerative resistor 79 is connected to. Specifically, the switch 78 switches whether both ends of the regenerative resistor 79 are connected between power lines 74a, 74b or between power lines 84a, 84b. As a result, the regenerative resistor 79 is connected in parallel to the input side of multiple inverter circuits (in this case, the first inverter unit 74 and the second inverter unit 84) via the switch 78. The switch 78 switches whether the regenerative resistor 79 is connected to the first inverter unit 74 and the first motor 76 or to the second inverter unit 84 and the second motor 86 based on a control signal from the supply control unit 91. As a result, in the component supply device 40 of this embodiment, one regenerative resistor 79 is shared between the first motor 76 and the second motor 86.

[0025] The control device 90 is configured as a controller for the entire component supply device 40 and includes a supply control unit 91 and a storage unit 92. The supply control unit 91 controls each unit based on commands from the control device 25 of the mounting device 13 and inputs from the operation panel 45. For example, the supply control unit 91 controls the drawer unit 50, the magazine lifting unit 70, the slide unit 63, the pallet moving unit 65, the table lifting unit 80, and the switch 78, as well as the locking and unlocking of the door members 42-44. When the supply control unit 91 controls the magazine lifting unit 70, it obtains information about the Z-axis position of the production magazine 46 from the first encoder 71a and controls the first inverter unit 74 of the first servo amplifier 72 based on this information. As a result, the rotational drive of the first motor 76 is controlled by the drive power from the first inverter unit 74, and the lifting and lowering of the production magazine 46 by the first lifting mechanism 71 is controlled. Similarly, when the supply control unit 91 controls the table lifting unit 80, the supply control unit 91 obtains information regarding the Z-axis position of the lifting table 61 from the second encoder 81a and controls the second inverter unit 84 of the second servo amplifier 82 based on this information. As a result, the rotational drive of the second motor 86 is controlled by the drive power from the second inverter unit 84, and the second lifting mechanism 81 raises and lowers the lifting table 61.

[0026] Next, the operation of the mounting system 10 of this embodiment, as configured in this way, will be explained, starting with the process of placing components P on the substrate S by the mounting device 13. When the mounting process starts, the mounting control unit 26 of the control device 25 reads and acquires the mounting condition information of the substrate S to be produced, and the substrate processing unit 21 transports the substrate S to the mounting position and performs the fixing process. Next, the mounting control unit 26 has the mounting head 32 pick up the components P to be picked up from the feeder 23 or tray 55 of the component supply unit 22, as set based on the mounting condition information. Next, the mounting control unit 26 has the parts camera 24 image the picked up components P to acquire images related to the shape and picking state of the components P, and corrects the position of the components P based on the obtained images and places them at the mounting position on the substrate S. The mounting device 13 repeatedly performs this process.

[0027] Next, the process of moving the pallet 54 that holds the tray 55 in the parts supply device 40 will be described. Figure 7 is an explanatory diagram of an example of the process by which the parts supply device 40 moves the pallet 54, where Figure 7A shows the pallet 54 being drawn from the drawer unit 50 into the production magazine 46, Figure 7B shows the pallet 54 being pulled out from the production magazine 46 into the drawer unit 50, Figure 7C shows the pallet 54 being pulled out from the production magazine 46 into the replacement unit 60, Figure 7D shows the shuttle 62 sliding, Figure 7E shows the pallet 54 being drawn into the replenishment magazine 47, and Figure 7F shows the pallet 54 being removed from the replenishment magazine 47. In the parts supply device 40, as shown in Figures 7A and 7B, the production magazine 46 is raised and lowered while the pallet 54 is drawn from the drawer unit 50 into the production magazine 46, or the pallet 54 is pulled out from the production magazine 46 into the drawer unit 50, and the mounting device 13 is made to perform the mounting process. The work in the production magazine 46 can be performed in parallel with the work in the replacement unit 60. Also, as shown in Figures 7C to 7E, the replacement unit 60 moves the pallets 54 that hold the trays 55 after use from the production magazine 46 to the supply magazine 47 or storage units 56, 57 during the assembly process. The replacement unit 60 also pre-moves the pallets 54 that will hold the trays 55 to be used later from the supply magazine 47 or storage units 56, 57 to the production magazine 46. Because the parts supply device 40 can accommodate a large number of pallets 54, the assembly process can be continued for a longer period of time by using this automatic pallet replacement process with the replacement unit 60.

[0028] The supply control unit 91, in the process of moving these pallets 54, performs raising and lowering operations on the production magazine 46 and the lifting table 61 as needed. For example, when the supply control unit 91 pulls a pallet 54 out of the production magazine 46 to the pull-out unit 50, as shown in Figure 7B, it first determines the target position in the Z-axis direction of the production magazine 46 to move the slot 48 to the storage position, based on the current position of the production magazine 46 in the Z-axis direction obtained from the first encoder 71a and the position of the slot 48 in the production magazine 46 that houses the pallet 54 to be pulled out. Then, the supply control unit 91 controls the magazine lifting unit 70 to perform either raising or lowering operations based on the current position and target position of the production magazine 46, and moves the production magazine 46 to the target position. Then, when the production magazine 46 reaches the target position, the supply control unit 91 controls the drawer unit 50 to pull out the pallet 54 stored in the storage slot 48 and move it to the picking position. Similarly, when moving the tray 55 using the replacement unit 60, the supply control unit 91 first determines the target position of the lifting table 61 based on the position of the pallet 54 to be pulled out to the lifting table 61, or the positions of the slots 48, 58 from which the pallet 54 should be fed out of the lifting table 61. Subsequently, the supply control unit 91 controls the table lifting unit 80 to perform either an upward or downward operation based on the current position of the lifting table 61 in the Z-axis direction based on information from the second encoder 81a and the target position of the lifting table 61, thereby moving the lifting table 61 to the target position.

[0029] Next, we will explain in detail the cases in which the supply control unit 91 performs the magazine lowering process, which is the process of lowering the production magazine 46, and the table lowering process, which is the process of lowering the lifting table 61. Figure 8 is a flowchart showing an example of the magazine lowering process executed by the supply control unit 91 of the control device 90. The program for this magazine lowering process is stored in the storage unit 92 and is executed when the supply control unit 91 determines that it is necessary to lower the production magazine 46 during the process of moving the pallet 54 described above.

[0030] When the supply control unit 91 starts the magazine lowering process, it first checks whether flag F is set to value 0 (step S100). As will be described in detail later, flag F is set to value 1 when there is a plan to use the regenerative resistor 79 and when the regenerative resistor 79 is in use. If flag F is set to value 1 in step S100, the supply control unit 91 waits until flag F becomes value 0. That is, the supply control unit 91 waits without lowering the production magazine 46. If flag F is set to value 0 in step S100, the supply control unit 91 sets flag F to value 1 (step S110) and executes an acceleration process to control the magazine lifting unit 70 and accelerate the rotation of the first motor 76 (step S120). The supply control unit 91 detects the lowering speed of the production magazine 46 based on information of the current position of the production magazine 46 from, for example, the first encoder 71a, and executes the acceleration process until the lowering speed reaches a predetermined speed. Next, the supply control unit 91 controls the magazine lifting unit 70 to maintain a predetermined speed and rotates the first motor 76, executing a constant-speed movement process (step S130). Then, the supply control unit 91 determines whether or not it is time to decelerate the downward speed of the production magazine 46 (step S140). For example, the supply control unit 91 determines that it is time to decelerate when the distance in the Z-axis direction from the current position of the production magazine 46 to the target position is equal to a preset stopping distance, which is the distance the production magazine 46 will descend from the start of deceleration until it stops. If the supply control unit 91 determines in step S140 that it is not time to decelerate, it waits until it is time to decelerate. As a result, the constant-speed movement process continues to be executed. If the supply control unit 91 determines in step S140 that it is time to decelerate, it controls the switch 78 so that the regenerative resistor 79 is connected to the first motor 76 of the two motors 86 (step S150), and controls the magazine lifting unit 70 to perform a deceleration process to decelerate the rotation of the first motor 76 (step S160). The supply control unit 91 continues the deceleration process until it detects that the production magazine 46 has stopped descending, for example, based on information about the current position of the production magazine 46 from the first encoder 71a.During the deceleration process in step S160, regenerative energy is generated from the first motor 76. Then, as a result of the execution of step S150, the regenerative resistor 79 is connected to the first motor 76 via the first inverter unit 74 and the switch 78 before the execution of step S160, so this regenerative energy can be consumed by the regenerative resistor 79 and converted into thermal energy. As a result, even if there is a portion of the regenerative energy that cannot be absorbed by the first electrolytic capacitor 75, the voltage rise between the power lines 76a and 76b can be suppressed. When the deceleration process in step S160 is completed and the production magazine 46 stops at the target position, the supply control unit 91 sets the flag F to value 0 (step S170) and terminates the magazine lowering process.

[0031] Furthermore, the supply control unit 91 performs the same processing for the table lowering process, which is the process of lowering the lifting table 61, as for the magazine lowering process in Figure 8. That is, when the table lowering process starts, the supply control unit 91 first checks the value of flag F and waits without lowering the lifting table 61 until the value becomes 0 if it is 1. If flag F is 0, the supply control unit 91 sets flag F to 1 and controls the second motor 86 to perform acceleration and constant speed movement processing in order to lower the lifting table 61. The supply control unit 91 then waits until it is time to decelerate the lowering speed of the lifting table 61, and if it determines that it is time to decelerate, it controls the switch 78 so that the regenerative resistor 79 is connected to the second motor 86 of the first motor 76 and the second motor 86, and performs deceleration processing to decelerate the rotation of the second motor 86. When the deceleration processing is completed and the lifting table 61 stops at the target position, the supply control unit 91 sets flag F to 0 and terminates the table lowering process. In this table lowering process, while the deceleration process is running, the regenerative resistor 79 is connected to the second motor 86 via the second inverter unit 84 and the switch 78. This allows the regenerative energy generated from the second motor 86 to be consumed by the regenerative resistor 79 and converted into thermal energy. As a result, even if there is a portion of the regenerative energy that cannot be absorbed by the second electrolytic capacitor 85, the voltage rise between the power lines 86a and 86b can be suppressed.

[0032] As described above, if the flag F is set to value 1 in step S100 of the magazine lowering process, the supply control unit 91 waits without starting to lower the production magazine 46 until the flag F becomes value 0. Therefore, for example, if the supply control unit 91 is already executing the table lowering process and the flag F is set to value 1 during the table lowering process, that is, during the period from the start of the acceleration process to the end of the deceleration process of the lifting table 61, the supply control unit 91 will not lower the production magazine 46. Similarly, if the supply control unit 91 is already executing the magazine lowering process and the flag F is set to value 1 during the magazine lowering process, the supply control unit 91 will not lower the lifting table 61. In this way, the supply control unit 91 ensures that specific processes that generate regenerative energy (in this case, the deceleration process when lowering the production magazine 46 and the deceleration process when lowering the lifting table 61) of the first motor 76 and the second motor 86 are not executed simultaneously. In other words, the supply control unit 91 ensures that the connection of the regenerative resistor 79 is not required simultaneously for both the first motor 76 and the second motor 86.

[0033] Furthermore, in the process of raising the production magazine 46, the supply control unit 91 performs acceleration, constant-speed movement, and deceleration processing of the first motor 76, similar to the process of lowering, to raise the production magazine 46 to the target position. Regenerative energy is also generated by the first motor 76 during the deceleration process during this raising process. However, due to the influence of gravity acting on the production magazine 46, the regenerative energy generated from the first motor 76 is greater during the deceleration process during the lowering process than during the deceleration process during the raising process. In other words, since the regenerative energy generated from the first motor 76 during the deceleration process during the raising process is relatively small, problems such as voltage rise between power lines 86a and 86b are less likely to occur even if the deceleration process is performed without connecting the regenerative resistor 79. For this reason, in this embodiment, the supply control unit 91 performs deceleration processing during the raising process of the production magazine 46 regardless of whether or not the regenerative resistor 79 is connected to the first motor 76. Similarly, the supply control unit 91 performs deceleration processing during the raising process of the lifting table 61 regardless of whether or not the regenerative resistor 79 is connected to the second motor 86.

[0034] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The component supply device 40 of this embodiment is an example of the mounting-related device of the present disclosure, the first motor 76 and the second motor 86 are an example of multiple motors, the regenerative resistor 79 is an example of a regenerative resistor, and the switch 78 is an example of a switch. Furthermore, the first inverter unit 74 and the second inverter unit 84 are an example of multiple inverter circuits, the supply control unit 91 is an example of a motor control unit, and the deceleration process in the magazine lowering process and the deceleration process in the table lowering process are examples of specific processes.

[0035] The component supply device 40 of this embodiment, as described above, is a device related to the process of mounting components onto an object. This component supply device 40 includes a first motor 76 and a second motor 86, a regenerative resistor 79 for consuming the regenerative energy generated by the first motor 76 and the second motor 86, and a switch 78 for switching which of the first motor 76 and the second motor 86 the regenerative resistor 79 is connected to. In this component supply device 40, the regenerative resistor 79 is shared between the first motor 76 and the second motor 86. As a result, the number of regenerative resistors in the component supply device 40 can be reduced compared to the case where a regenerative resistor is provided individually for each of the first motor 76 and the second motor 86, and the device configuration can be made more compact.

[0036] Furthermore, the component supply device 40 is provided in accordance with the first motor 76 and the second motor 86, and includes a first inverter unit 74 and a second inverter unit 84 that convert the DC input to AC and output it to the corresponding motor. The regenerative resistor 79 is connected in parallel to the input side of the first inverter unit 74 and the second inverter unit 84 via a switch 78.

[0037] Furthermore, the parts supply device 40 is equipped with a supply control unit 91. The supply control unit 91 controls the switch 78 so that the regenerative resistor 79 is connected to the motor that performs a specific process (deceleration process in the magazine lowering process and deceleration process in the table lowering process) among the first motor 76 and the second motor 86, which is a process that generates regenerative energy. This allows the supply control unit 91 to appropriately connect the regenerative resistor 79 to the first motor 76 and the second motor 86.

[0038] The supply control unit 91 then controls the switch 78 so that the regenerative resistor 79 is connected to the first motor 76, which is the target of the deceleration process, before the deceleration process is executed during the magazine lowering process. Similarly, the supply control unit 91 controls the switch 78 so that the regenerative resistor 79 is connected to the second motor 86, which is the target of the deceleration process, before the deceleration process is executed during the table lowering process. This allows the supply control unit 91 to connect the regenerative resistors 79 to the first motor 76 and the second motor 86 at the appropriate timing.

[0039] Furthermore, the supply control unit 91 controls the first motor 76 and the second motor 86 so that the deceleration process in the magazine lowering process and the deceleration process in the table lowering process are not executed simultaneously. As a result, there is no need to connect the regenerative resistor 79 to both the first motor 76 and the second motor 86 at the same time, so even in the parts supply device 40 of this embodiment, which switches which of the first motor 76 and the second motor 86 to which the regenerative resistor 79 is connected by a switch 78, the first motor 76 and the second motor 86 can be operated appropriately.

[0040] It goes without saying that this disclosure is not limited in any way to the embodiments described above, and can be implemented in various forms as long as they fall within the technical scope of this disclosure.

[0041] For example, in the embodiment described above, the supply control unit 91 connected the regenerative resistor 79 to the first motor 76 by executing step S150 before executing the deceleration process in step S160 in the magazine lowering process, but it is not limited to this. For example, the supply control unit 91 may execute step S150 to connect the regenerative resistor 79 to the first motor 76 at the start of execution of step S160, that is, almost simultaneously with the start of step S160. Alternatively, the supply control unit 91 may connect the regenerative resistor 79 to the first motor 76 at an earlier timing, not just immediately before the execution of the deceleration process in step S160, such as executing step S150 before the execution of step S120. Furthermore, the supply control unit 91 may connect the regenerative resistor 79 to the first motor 76 after the start of the deceleration process in step S160. For example, the supply control unit 91 may detect the voltage between power lines 74a and 74b and control the switch 78 so that the regenerative resistor 79 is connected to the first motor 76 when the voltage exceeds a predetermined threshold. These same considerations can be applied to the process of descent within a table.

[0042] In the embodiment described above, the supply control unit 91 performs deceleration processing during the raising process of the production magazine 46 regardless of whether or not a regenerative resistor 79 is connected to the first motor 76. However, the deceleration processing during the raising process may also be performed with the regenerative resistor 79 connected, similar to the deceleration processing during the lowering process. The same applies to the deceleration processing during the raising process of the lifting table 61. For example, if the supply control unit 91 performs the four processes—deceleration processing during the raising process of the production magazine 46, deceleration processing during the lowering process of the production magazine 46, deceleration processing during the raising process of the lifting table 61, and deceleration processing during the lowering process of the lifting table 61—with the regenerative resistor 79 connected to the motor performing each process, it is preferable for the supply control unit 91 to adjust the execution order and timing of each process so that two or more of these four processes are not executed simultaneously.

[0043] In the above-described embodiment, when the flag F is set to the value 1 in the process that is executed first among the magazine lowering process and the table lowering process, the supply control unit 91 waits until the flag is set to the value 0 for the process that is executed later. That is, the supply control unit 91 prioritizes the process that is executed first among the deceleration process during the magazine lowering process and the deceleration process during the table lowering process. Not limited to this, priorities are set for a plurality of motors (here, the first motor 76 and the second motor 86), and the supply control unit 91 may prioritize the process executed by the motor with a higher priority among the specific processes (here, the deceleration process during the magazine lowering process and the deceleration process during the table lowering process). For example, when the priority of the first motor 76 is higher than that of the second motor 86, if the supply control unit 91 determines that it is necessary to execute the magazine lowering process by the first motor 76 with a higher priority during the execution of the table lowering process by the second motor 86 with a lower priority (during the execution of any one of the acceleration process, the low-speed movement process, and the deceleration process), the supply control unit 91 immediately causes the second motor 86 to execute the deceleration process and controls the table lifting unit 80 so that the second motor 86 stops even if the lifting table 61 does not reach the target position, and starts the magazine lowering process so that the deceleration process during the magazine lowering process is executed after the deceleration process of the second motor 86 ends. In this case, it is preferable that the supply control unit 91 controls the switch 78 so that the regenerative resistor 79 is connected to the second motor 86 while the second motor 86 is executing the deceleration process. Further, the supply control unit 91 may start the magazine lowering process, for example, after the second motor 86 stops. Alternatively, the supply control unit 91 calculates the time T1 (the time required for the acceleration process and the constant-speed movement process of the first motor 76) required from the start of the magazine lowering process based on the current position of the production magazine 46 until the start of the deceleration process of the first motor 76, calculates the time T2 (the time required for the second motor 86 to stop) required for the deceleration process of the second motor 86 based on the current position and / or the lowering speed of the lifting table 61, and if T1≧T2, starts the magazine lowering process immediately, and if T1<T2, may start the magazine lowering process after waiting for the time (T2 - T1).On the other hand, when the supply control unit 91 determines that it is necessary to execute the table lowering process by the second motor 86 with a lower priority during the execution of the magazine lowering process by the first motor 76 with a higher priority, the table lowering process may be started so that at least the deceleration process during the magazine lowering process is completed before the deceleration process during the table lowering process is executed. For example, the supply control unit 91 may start the table lowering process, for example, after the first motor 76 stops. Alternatively, the supply control unit 91 calculates the time T3 (the time required for the acceleration process and the constant speed movement process of the second motor 86) required from the start of the table lowering process based on the current position of the lifting table 61 until the start of the deceleration process of the second motor 86, and calculates the time T4 (the time required until the first motor 76 stops) required until the deceleration process of the second motor 86 is completed based on the current position and / or the lowering speed of the production magazine 46. If T3≧T4, the table lowering process may be started immediately, and if T3<T4, the table lowering process may be started after waiting for the time (T4 - T3).

[0044] In the embodiment described above, the supply control unit 91 executes step S110 before the acceleration process of step S120 in the magazine lowering process and sets flag F to value 1. That is, the supply control unit 91 sets flag F to value 1 before the production magazine 46 starts to lower, so that the regenerative resistor 79 is not connected to the second motor 86 side not only during the execution of the deceleration process but also from the start to the end of the production magazine 46's descent, including the deceleration process. Similarly, the supply control unit 91 prevents the regenerative resistor 79 from being connected to the first motor 76 side from the start to the end of the lifting table 61's descent. The supply control unit 91 is not limited to this, however, it is sufficient to control the system so that the deceleration process during the magazine lowering process in the first motor 76 and the deceleration process during the table lowering process in the second motor 86 are not executed simultaneously. For example, the supply control unit 91 may omit steps S100, S110, and S170 of the magazine lowering process and instead, before the start of the acceleration process during the magazine lowering process, calculate the scheduled execution period for the deceleration process after the acceleration process and constant-speed movement process based on the current position and target position of the production magazine 46, and perform a reservation process to set that scheduled execution period as the period during which the regenerative resistor 79 should be connected to the first motor 76 (a period during which the use of the regenerative resistor 79 in other motors is prohibited). Similarly, before the start of the acceleration process during the table lowering process, the supply control unit 91 may also calculate the scheduled execution period for the deceleration process after the acceleration process and constant-speed movement process based on the current position and target position of the lifting table 61, and perform a reservation process to set that scheduled execution period as the period during which the regenerative resistor 79 should be connected to the second motor 86 (a period during which the use of the regenerative resistor 79 in other motors is prohibited). Furthermore, the supply control unit 91 may, in the reservation processing described above during the magazine lowering process or table lowering process, check whether at least a portion of the execution schedule period calculated this time overlaps with the already set execution schedule period. If there is an overlap, it may calculate a waiting time to prevent the execution schedule period calculated this time from overlapping with the already set execution schedule period, and then set the revised execution schedule period that reflects the waiting time in the calculation of the execution schedule period. The supply control unit 91 may then start the acceleration process after the calculated waiting time has elapsed.By doing so, the acceleration and constant-speed movement processes of one of the motors, the first motor 76 and the second motor 86, can be performed in parallel with the deceleration process of the other motor.

[0045] In the embodiment described above, the regenerative resistor 79 was shared by two motors, the first motor 76 and the second motor 86. However, the configuration is not limited to this, and three or more motors may be configured to share the regenerative resistor 79 via a switch 78. Furthermore, the first motor 76 and the second motor 86 were used to raise and lower the production magazine 46 and the lifting table 61, respectively. However, the configuration is not limited to these, and any motor used in mounting-related equipment that performs processing that generates regenerative energy may be used.

[0046] In the embodiments described above, the component supply device 40 was described as an example of the mounting-related device of this disclosure, but it is not limited to this. The mounting-related device can be any device related to the process of mounting components onto an object. For example, at least one of the printing device 11, printing inspection device 12, mounting device 13, and mounting inspection device 14 of the embodiments described above may be configured as the mounting-related device of this disclosure.

[0047] This specification also discloses a technical concept in which the "mounting-related device described in claim 3" in claim 5 of the original application has been changed to "mounting-related device described in claim 3 or 4". [Industrial applicability]

[0048] This disclosure is applicable to various industries related to the process of mounting components onto objects such as substrates. [Explanation of Symbols]

[0049] 10 Assembly system, 11 Printing device, 12 Printing inspection device, 13 Assembly device, 14 Assembly inspection device, 18 Management device, 21 Board processing unit, 22 Parts supply unit, 23 Parts camera, 25 Control device, 26 Assembly control unit, 27 Storage unit, 30 Assembly unit, 31 Head movement unit, 32 Assembly head, 33 Sampling material, 34 Mark camera, 40 Parts supply device, 41 Housing, 42-44 Door members, 45 Operation panel, 46 Production magazine, 47 Replenishment magazine, 48 Slot, 50 Drawer unit, 51 Supply movement unit, 52 Storage unit, 54 Pallet, 55 Tray, 56, 57 Storage unit, 58 Slot, 59 Operating space, 60 Replacement unit, 61 Lifting table, 62 Shuttle, 63 Slide unit, 65 Pallet movement unit, 70 Magazine lifting unit, 71 72 First lifting mechanism, 73 First servo amplifier, 74 First inverter section, 74a, 74b Power lines, 75 First electrolytic capacitor, 76 First motor, 76a~76c Power lines, 77 Commercial power supply, 78 Switch, 79 Regenerative resistor, 80 Table lifting section, 81 Second lifting mechanism, 82 Second servo amplifier, 83 Second rectifier section, 84 Second inverter section, 84a, 84b Power lines, 85 Second electrolytic capacitor, 86 Second motor, 86a~86c Power lines, 90 Control device, 91 Supply control unit, 92 Memory unit, S Supply direction, P Components, S Circuit board.

Claims

1. Mounting-related equipment related to the process of mounting components onto an object, Multiple motors, A regenerative resistor for consuming the regenerative energy generated by the aforementioned multiple motors, A switch that switches which of the plurality of motors the regenerative resistor is connected to, Implementation-related equipment equipped with these features.

2. The mounting-related device according to claim 1, Multiple inverter circuits are provided corresponding to each of the aforementioned multiple motors, which convert the DC input to AC and output it to the corresponding motor. Equipped with, The regenerative resistor is connected in parallel to the input side of the plurality of inverter circuits via the switch. Implementation-related equipment.

3. The mounting-related device according to claim 1 or 2, A motor control unit that controls the switch so that the regenerative resistor is connected to the motor among the plurality of motors that performs a predetermined specific process which is a process that generates regenerative energy. Implementation-related equipment equipped with these features.

4. The mounting-related device according to claim 3, The motor control unit controls the switch so that the regenerative resistor is connected to the motor that is the target of the specific process before or at the start of the specific process. Implementation-related equipment.

5. The mounting-related device according to claim 3, The motor control unit controls the multiple motors such that the specific process is not executed simultaneously on two or more of the multiple motors. Implementation-related equipment.

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