Work equipment

Abstract

Even if a malfunction prevents the operation of clamping or unclamping the supply unit, it is still possible to remove the supply unit from the work device. [Solution] The work device communicates with a detachably connected supply unit and performs predetermined work together with the supply unit. The work device includes a clamping device that can clamp and unclam the supply unit when the supply unit is connected to the work device, an operation control unit that controls the clamping device to clamp or unclam the supply unit based on the operator's operation, and an automatic control unit that monitors the communication status with the supply unit and controls the clamping device to automatically clamp or unclam the supply unit according to the results of monitoring the communication status.

Description

Technical Field

[0001] This specification discloses a working device.

Background Art

[0002] Conventionally, as this type of working device, a component mounting device that mounts components supplied from a detachable component supply device is known. For example, in Patent Document 1, after the power supply of the tape feeder is cut off by removing the component supply unit from the component supply section of the component mounting device, and then the power supply of the tape feeder is restored by reattaching it to the component supply section, a restart process is performed for the purpose of checking whether there is any change in the state of the carrier tape mounted on the tape feeder before and after the power supply is cut off, and recovering in case of a change.

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 a working device capable of clamping and unclamping a supply unit by a clamping device, when controlling the clamping device to execute a clamping operation or an unclamping operation based on an operator's operation, if an application for operation cannot be started due to some malfunction, it may become difficult to remove the supply unit.

[0005] The main object of the present disclosure is to provide a working device capable of removing a supply unit from the working device even when an operation for clamping or unclamping the supply unit becomes impossible due to some malfunction.

Means for Solving the Problems

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

[0007] The present disclosure is a work device that communicates with a detachably connected supply unit and performs predetermined work together with the supply unit, comprising: a clamping device capable of clamping and unclamping the supply unit while the supply unit is connected to the work device; an operation control unit that controls the clamping device to clamp or unclam the supply unit based on the operator's operation; and an automatic control unit that monitors the communication status with the supply unit and controls the clamping device to automatically clamp or unclam the supply unit according to the results of monitoring the communication status.

[0008] The work apparatus of this disclosure includes an operation control unit that controls a clamping device to clamp or unclam a supply unit based on the operator's operation, and an automatic control unit that monitors the communication status with the supply unit and controls the clamping device to automatically clamp or unclam the supply unit according to the results of monitoring the communication status. The inclusion of an automatic control unit makes it possible to remove the supply unit from the work apparatus even if the operation control unit fails to function. [Brief explanation of the drawing]

[0009] [Figure 1] This is an external view of the work apparatus and supply unit of this embodiment. [Figure 2] This is a side view of the work device and supply unit. [Figure 3] This is an explanatory diagram showing the electrical connection relationship between the work device and the supply unit. [Figure 4] This flowchart shows an example of the automatic unclamping flag setting process. [Figure 5] This flowchart shows an example of automatic unclamping control processing. [Modes for carrying out the invention]

[0010] Next, the forms for implementing this disclosure will be described with reference to the drawings.

[0011] Figure 1 is an external view of the work device 10 and supply unit 60 of this embodiment. Figure 2 is a side view of the work device 10 and supply unit 60. Figure 3 is an explanatory diagram showing the electrical connection relationship between the work device 10 and supply unit 60. In Figure 1, the left-right direction is the X direction, the front-back direction is the Y direction, and the up-down direction is the Z direction.

[0012] The work apparatus 10 of this embodiment is configured as a component mounting apparatus that picks up components P supplied by a supply unit 60 and mounts them onto a substrate S. As shown in Figure 1, the front of the work apparatus 10 has an opening 11a that can receive the supply unit 60. The supply unit 60 is used in a state where it is connected (attached) to the work apparatus 10 through the opening 11a and clamped, for example, by a worker or an automated guided vehicle. Examples of the supply unit 60 include a wafer component supply unit that pushes up wafer components attached to a sheet from the back side with pins, a tray component supply unit that supplies tray components contained in a tray, and a tape component supply unit that supplies tape components contained in a tape.

[0013] As shown in Figures 1 and 2, the work apparatus 10 includes an operation panel 15, a head 21, a head moving device 24, a substrate transport device 30, a parts camera 35, a clamping device 40, and a control device 50 (see Figure 3). The head 21 has one or more suction nozzles 22 that attract parts P by negative pressure. The head moving device 24 is equipped with an electric ball screw type drive unit or a linear motor type drive unit, and moves the head 21 in the XY direction by driving the motor 25 of the drive unit. The substrate transport device 30 is equipped with a conveyor belt and a motor that drives the conveyor belt, and transports the substrate S on the conveyor belt in the X direction by driving the motor. The parts camera 35 is used to take images of the parts P attracted by the suction nozzles 22 from below to check for any misalignment of the parts P.

[0014] The clamping device 40 clamps and unclams the supply unit 60. The clamping device 40 comprises a support member 41 (connecting member), a lifting device 42 for raising and lowering the support member 41, and a forward / backward movement device 43 for moving the support member 41 forward and backward. The support member 41 is connected to the supply unit 60 and supports the supply unit 60. The supply unit 60 is connected to the support member 41 with a portion of it inserted into the opening 11a (initial position). In this embodiment, an air-operated drive unit is used for the lifting device 42 and the forward / backward movement device 43, but an electric ball screw drive unit or a linear motor drive unit may also be used.

[0015] As shown in Figure 2, clamping of the clamping device 40 is performed by first controlling the lifting device 42 so that the supply unit 60, which is supported (connected) to the support member 41 in the initial position, rises, and then controlling the forward / backward movement device 43 so that the supply unit 60 is pulled into the work device 10 to the operating position. Unclamping of the clamping device 40 is performed by first controlling the forward / backward movement device 43 so that the supply unit 60, which is clamped, is pulled out from inside the work device 10, and then controlling the lifting device 42 so that the supply unit 60 descends to the initial position.

[0016] The control panel 15 is a touch-panel display installed on the front of the housing 11 that displays various information and accepts input operations from the operator. By operating the control panel 15, the operator can instruct the work device 10 to shut down or restart. In addition, the operator can launch a dedicated application and, by operating the application via the control panel 15, instruct the clamping and unclamping operations of the supply unit 60 connected to the work device 10 (support member 41).

[0017] The control device 50 is a computer equipped with a CPU 51, a memory unit 52, a communication unit 53, a communication monitoring unit 54, input / output ports, and other communication ports. The communication unit 53 communicates with the supply unit 60 connected to the work device 10 via a communication port, exchanging data and signals with each other. The communication monitoring unit 54 monitors the communication status between the work device 10 and the supply unit 60. The control device 50 receives operation signals from the operation panel 15 and image signals from the parts camera 35 via an input port. The control device 50 also outputs control signals to the head 21, control signals to the head moving device 24 (amplifier 26 as a drive circuit for driving the motor 25), control signals to the board transport device 30, control signals to the parts camera 35, and control signals to the clamping device 40 (lifting device 42, forward / backward movement device 43) via an output port. The control device 50 also includes a backup power supply 55 (e.g., an electric double-layer capacitor) that supplies power for a certain period of time even when a power outage or other power interruption occurs.

[0018] As shown in Figure 1, the control device 50 and amplifier 26 are installed at the back of the housing 11. Therefore, in order to inspect or replace the control device 50 and amplifier 26, it is necessary to remove the supply unit 60 from the work device 10 and access them through the opening 11a of the work device 10.

[0019] Next, the operation of the working device 10 configured in this way will be described. First, the operation when clamping the supply unit 60 to the working device 10 or unclamping it from the working device 10 based on the operation of the operation panel 15 will be described. When a dedicated application is launched via the operation panel 15, the CPU 51 of the control device 50 receives an instruction for the clamping operation or unclamping operation of the supply unit 60 via the operation panel 15. When the CPU 51 receives an instruction for the clamping operation in a state where the supply unit 60 is located at the initial position (the position connected to the support member 41 of the working device 10), the CPU 51 executes the above-described clamping control to move the supply unit 60 from the initial position to the operating position. The supply unit 60 supplies the component P to the head 21 at the operating position. Further, when the CPU 51 receives an instruction for the unclamping operation while the supply unit 60 is being clamped, the CPU 51 executes the above-described unclamping control to move the supply unit 60 from the operating position to the initial position.

[0020] Next, the operation when a forced disconnection occurs in the communication between the working device 10 and the supply unit 60 will be described. FIG. 4 is a flowchart showing an example of an automatic unclamping flag setting process executed by the CPU 51 of the control device 50. Further, FIG. 5 is a flowchart showing an example of an automatic unclamping control process executed by the CPU 51 of the control device 50. These processes are repeatedly executed every predetermined time. First, the automatic unclamping flag setting process will be described.

[0021] When the automatic unclamping flag setting process is executed, the CPU 51 first determines whether or not the supply unit 60 is being clamped (S100). If the CPU 51 determines that the supply unit 60 is being clamped, the communication monitoring unit 54 monitors the communication status with the supply unit 60 (S110) and determines whether or not a forced disconnection has occurred (S120). The communication monitoring unit 54 monitors the communication status with the supply unit 60 based on data periodically received from the supply unit 60 and determines that a forced disconnection has occurred based on the inability to receive data normally. If the CPU 51 determines that no forced disconnection has occurred, it terminates the automatic unclamping flag setting process. On the other hand, if the CPU 51 determines that a forced disconnection has occurred, it sets the value of the automatic unclamping flag F to 1 and stores the value of the automatic unclamping flag F in the storage unit 52 (S130), performs an emergency stop by performing a shutdown process (S140), and terminates the automatic unclamping flag setting process. This allows for responses to communication abnormalities, power outages, etc. In the event of a power outage, the CPU 51 operates using power from the backup power supply 55 and executes each process of the automatic unclamping flag setting process. Similarly, the control device on the supply unit 60 side also monitors the communication status with the work device 10 and, upon confirming that a forced disconnection has occurred, performs an emergency stop.

[0022] Next, the automatic unclamping control process will be described. When the automatic unclamping control process is executed, the CPU 51 first determines whether a restart has occurred (S200). If the CPU 51 determines that no restart has occurred, it simply ends the automatic unclamping control process. On the other hand, if the CPU 51 determines that a restart has occurred, it determines whether the supply unit 60 is in the process of clamping (S210) and whether the automatic unclamping flag F has a value of 1 (S220), respectively. If the CPU 51 determines that the supply unit 60 is not in the process of clamping or that the automatic unclamping flag F has a value of 0, it determines that automatic unclamping is unnecessary and ends the automatic unclamping control process. If the CPU 51 determines that the supply unit 60 is in the process of clamping and the automatic unclamping flag F has a value of 1, it automatically executes the above-described unclamping control (automatic unclamping control) without an instruction (S230) and sets the value 0 in the automatic unclamping flag F (S240). Then, the CPU 51 waits for a predetermined time to elapse (S250). When the predetermined time has elapsed, the CPU 51 determines whether the supply unit 60 is still connected (S260). This process is to determine whether the supply unit 60 has not been removed until the predetermined time has elapsed after the automatic unclamping control is executed. If the CPU 51 determines that the supply unit 60 is not connected, it simply ends the automatic unclamping control process. If the CPU 51 determines that the supply unit 60 is still connected, it automatically executes the above-described clamping control (automatic clamping control) without an instruction (S270) and ends the automatic unclamping control process. Note that the process of S260 includes the case where the supply unit 60 has not been removed from the working device 10 until the predetermined time has elapsed after the automatic unclamping control is executed, and also includes the case where the supply unit 60 has been once removed from the working device 10 but then reconnected to the working device 10 after the automatic unclamping control is executed.

[0023] In this way, the CPU 51 monitors the communication status with the supply unit 60 and, based on the result of monitoring the communication status, sets the automatic unclamping flag F to value 1 and stores it. Then, when the work device 10 is restarted, if the automatic unclamping flag F is value 1, the CPU 51 controls the clamping device 40 to automatically unclam the supply unit 60. As a result, even if the dedicated application cannot be started due to a malfunction of the device when restarting after an emergency stop, the supply unit 60 can be automatically unclamped and removed from the work device 10. Therefore, the operator can attach the supply unit 60 to another work device 10 on the production line, or access the built-in control device 50 and amplifier 26 through the opening 11a of the work device 10 from which the supply unit 60 has been removed to investigate the malfunction.

[0024] Here, the correspondence between the main elements of this embodiment and the main elements of the present disclosure will be explained. Specifically, the supply unit 60 of this embodiment is an example of a supply unit of the present disclosure, the work device 10 (component mounting device) is an example of a work device, the clamp device 40 is an example of a clamp device, and the control device 50 is an example of an operation control device or an automatic control device. In addition, the control device 50 and the amplifier 26 are examples of components that require maintenance.

[0025] 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.

[0026] For example, in the embodiment described above, the operator controls the clamping and unclamping operations of the supply unit 60 by operating a dedicated application via the operation panel 15. However, in addition to controls via the application, the housing 11 may also be provided with a physical switch (physical button) to control the unclamping operation of the supply unit 60 in emergencies or other situations.

[0027] In the above-described embodiment, a component mounting device was given as an example of the work device 10, but it is not limited to this, and can be applied to any work device that can work together with the supply unit.

[0028] As described above, the work apparatus of this disclosure includes an operation control unit that controls the clamping device to clamp or unclam the supply unit based on the operator's operation, and an automatic control unit that monitors the communication status with the supply unit and controls the clamping device to automatically clamp or unclam the supply unit according to the results of monitoring the communication status. By including an automatic control unit, it is possible to remove the supply unit from the work apparatus even if the operation control unit fails to function.

[0029] In the work apparatus of this disclosure, the automatic control unit monitors the communication status with the supply unit, stores history information indicating the occurrence history of forced communication disconnections based on the results of monitoring the communication status, and controls the clamping device to automatically unclam the supply unit when the supply unit is clamped and there is a history of communication disconnections in the history information when the work apparatus is restarted. This makes it possible to remove the supply unit from the work apparatus with a simple process.

[0030] Furthermore, in the work apparatus of this disclosure, the automatic control unit may, after controlling the clamping device to automatically unclam the supply unit according to the results of monitoring the communication status, and then, if the supply unit is connected after a predetermined time has elapsed, control the clamping device to automatically clamp the supply unit. In this way, when there is no need to remove the supply unit, the work apparatus can clamp the supply unit without the need for operator intervention.

[0031] Furthermore, in the work apparatus of this disclosure, the automatic control unit may control the clamping device to automatically unclam the supply unit in accordance with the results of monitoring the communication status, and then, after the supply unit has been disconnected and then reconnected, control the clamping device to automatically clamp the supply unit. In this way, the work apparatus can clamp the supply unit without the need for operator intervention.

[0032] Furthermore, in the work apparatus of this disclosure, maintenance-required components may be housed in the area behind the region where the supply unit is positioned within the clamp. This makes it possible to remove the supply unit from the work apparatus and perform maintenance on the maintenance-required components even if the operation control unit fails to function.

[0033] Furthermore, this specification also discloses the technical idea behind changing "the work apparatus described in claim 1 or 2" to "the work apparatus described in any one of claims 1 to 3" in claim 4 of the original application, and the technical idea behind changing "the work apparatus described in claim 1 or 2" to "the work apparatus described in any one of claims 1 to 4" in claim 5 of the original application. [Industrial applicability]

[0034] This disclosure can be used in industries such as the manufacturing of work equipment. [Explanation of symbols]

[0035] 10 Working device, 11 Housing, 11a Opening, 15 Operation panel, 21 Head, 22 Suction nozzle, 24 Head moving device, 25 Motor, 26 Amplifier, 30 Board transport device, 35 Parts camera, 40 Clamping device, 41 Support member, 42 Lifting device, 43 Forward / backward movement device, 50 Control device, 51 CPU, 52 Memory unit, 53 Communication unit, 54 Communication monitoring unit, 55 Backup power supply, 60 Supply unit, P Components, S Board.

Claims

1. A work device that communicates with a detachably connected supply unit and performs predetermined tasks together with the supply unit, A clamping device that allows clamping and unclamping of the supply unit while the supply unit is connected to the work device, An operation control unit controls the clamping device to clamp or unclam the supply unit based on the operator's operation, An automatic control unit monitors the communication status with the supply unit and controls the clamping device to automatically clamp or unclam the supply unit according to the results of the communication status monitoring, A work device equipped with the following features.

2. A work apparatus according to claim 1, The automatic control unit monitors the communication status with the supply unit, stores history information indicating the occurrence of a forced communication disconnection based on the results of monitoring the communication status, and when the work device is restarted and the supply unit is clamped, if the history information contains a history of a communication disconnection, the clamping device controls the supply unit to automatically unclam it. Work equipment.

3. A work apparatus according to claim 1 or 2, The automatic control unit controls the clamping device to automatically unclam the supply unit according to the results of monitoring the communication status, and then, if the supply unit is still connected after a predetermined time has elapsed, controls the clamping device to automatically clamp the supply unit. Work equipment.

4. A work apparatus according to claim 1 or 2, The automatic control unit controls the clamping device to automatically unclam the supply unit according to the results of monitoring the communication status, and then controls the clamping device to automatically clamp the supply unit when it is disconnected and then reconnected. Work equipment.

5. A work apparatus according to claim 1 or 2, Maintenance components are housed in the area behind the region where the supply unit is positioned during clamping. Work equipment.

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