Determination method and component mounting device

Abstract

This system more effectively suppresses false detections of nozzle holder abnormalities and supports the early detection of nozzle holder abnormalities. [Solution] The determination method involves a component mounting device comprising a drive unit, a lifting unit raised and lowered by the drive unit, and a mounting unit supported by the lifting unit in a state where it can be raised and lowered by a predetermined distance along the lifting direction of the lifting unit, and having a holding unit that suctions and holds components. The device measures the load value applied to the holding unit that performs the lifting operation, records the measured load value in a time series, compares the recorded time series load value with a previously recorded time series normal load value, and determines and outputs whether or not there is an indication of an abnormality in the holding unit.

Description

Technical Field

[0001] The present disclosure relates to a determination method and a component mounting device.

Background Art

[0002] In Patent Document 1, there is provided a mounting unit having a drive unit, a lifting unit that is lifted and lowered by the drive unit, and a holding unit that is supported by the lifting unit so as to be slidable in the vertical direction by a predetermined distance with respect to the lifting unit and that adsorbs and holds a component; a measuring unit that measures a thrust value of the drive unit when a component held by the holding unit is pressed against a substrate while the holding unit is lowered together with the lifting unit by the drive unit; and a determination unit that determines a sliding state of the holding unit with respect to the lifting unit based on the thrust value measured by the measuring unit. A component mounting device is disclosed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In view of the above-described conventional circumstances, the present disclosure is devised to more effectively suppress false detection of abnormalities in a nozzle holder and to provide a determination method and a component mounting device that assist in early detection of abnormalities in the nozzle holder.

Means for Solving the Problems

[0005] This disclosure provides a determination method performed by a component mounting device for mounting components onto a substrate, wherein the component mounting device comprises a mounting unit having a drive unit, a lifting unit raised and lowered by the drive unit, and a holding unit supported by the lifting unit in a state that allows it to be raised and lowered by a predetermined distance along the lifting direction of the lifting unit, and which holds the component by suction, and provides a determination method that measures the load value applied to the holding unit that performs the lifting operation, records the measured load value in a time series, compares the recorded time series load value with a previously recorded time series normal load value, and determines and outputs whether or not there is an indication of an abnormality in the holding unit.

[0006] Furthermore, this disclosure provides a component mounting device for mounting components onto a substrate, comprising: a drive unit; a lifting unit that moves up and down by the drive unit; a mounting unit that is supported by the lifting unit in a state that it can move up and down by a predetermined distance along the lifting direction of the lifting unit and has a holding unit that suctions and holds the component; a measurement unit that measures the load value applied to the holding unit that performs the lifting operation; a recording unit that records the measured load value in a time series; and a determination unit that compares the recorded time series load value with a previously recorded time series normal load value to determine whether or not there is an indication of an abnormality in the holding unit and outputs the result. [Effects of the Invention]

[0007] According to this disclosure, it is possible to more effectively suppress false detections of nozzle holder abnormalities and support the early detection of nozzle holder abnormalities. [Brief explanation of the drawing]

[0008] [Figure 1] Plan view showing an example of a component mounting device in an embodiment. [Figure 2] Front view showing an example of the configuration of the component mounting section. [Figure 3] Transition diagram showing an example of the operation of the component mounting unit. [Figure 4] Block diagram showing an example of the internal configuration of a component mounting device according to an embodiment. [Figure 5] Flowchart showing an example of the operation procedure of the component mounting device in the embodiment. [Figure 6] Figure showing example 1 of changes in load value. [Figure 7] Figure showing example 2 of changes in load value. [Figure 8] Figure showing example 3 of changes in load value. [Figure 9] This figure shows an example of abnormality detection in a conventional nozzle holder. [Modes for carrying out the invention]

[0009] (Background leading to this disclosure) The nozzle holder (corresponding to the holding portion 52 in this disclosure), which houses the suction nozzle for picking up parts, has a built-in spring. When the suction nozzle comes into contact with a part during picking up or mounting the part, the built-in spring in the nozzle holder contracts, causing the holder to move up and down in a direction along the vertical direction of the suction nozzle. This prevents damage to the part caused by the vertical movement of the suction nozzle, or prevents the part from scattering.

[0010] Therefore, conventional component mounting devices notified of nozzle holder abnormalities based on whether the measured load was above a specified threshold (see prior art 1). Here, the conventional method for detecting abnormalities in nozzle holders will be explained with reference to Figure 9. Figure 9 is a diagram showing an example of a conventional nozzle holder abnormality detection method.

[0011] Figure 9 shows the normal graph GP11, which illustrates the time change in the load value applied to a normal nozzle holder. Load graph GP12 shows the time change in the load value applied to a nozzle holder where foreign matter such as dust is temporarily trapped. Load graph GP13 shows the time change in the load value applied to a nozzle holder that is not abnormal but shows signs of deterioration leading to an impending abnormality. The load value is calculated based on the thrust value of the motor that raises and lowers the suction nozzle.

[0012] As shown in the load graph GP12 in Figure 9, if foreign matter such as dust gets trapped in the nozzle holder, and the flexibility of the nozzle holder is temporarily impaired, a large load exceeding the threshold Th may be measured temporarily due to the foreign matter. In such cases, the nozzle holder was incorrectly detected as an abnormal nozzle holder in relation to the load graph GP12, even though it was functioning normally.

[0013] Furthermore, as shown in the load graph GP13 in Figure 9, although the nozzle holder does not measure loads above the threshold Th, the difference from the normal graph GP11 gradually increases due to deterioration. In such cases, the nozzle holder's performance relative to the load graph GP13 was not detected as abnormal until the nozzle holder's lifting performance deteriorated to the point where loads exceeding the threshold Th were measured. Therefore, it was difficult for operators monitoring the mounting machine to detect abnormalities in the nozzle holder early.

[0014] Therefore, the following descriptions will detail each embodiment specifically disclosing the determination method and component mounting device related to this disclosure, with reference to the drawings as appropriate. However, unnecessarily detailed explanations may be omitted. For example, detailed explanations of already well-known matters and redundant explanations of substantially identical configurations may be omitted. This is to avoid the following explanation becoming unnecessarily verbose and to facilitate understanding by those skilled in the art. The accompanying drawings and the following description are provided to enable those skilled in the art to fully understand this disclosure and are not intended to limit the subject matter described in the claims.

[0015] Herein, the terms used in the following description are illustrative and not intended to limit the scope. For example, the term "carrier tape" includes components that are contained in and supplied by this carrier tape. While this disclosure describes an example of supplying components using a carrier tape, the components may also be supplied by a tray feeder.

[0016] Referring to FIG. 1, a configuration example of the component mounting device C1 will be described. FIG. 1 is a plan view showing an example of the component mounting device C1 according to the embodiment. The X direction and the Y direction shown in FIG. 1 indicate the horizontal plane of the component mounting device C1. Also, the Z direction is the height direction of the component mounting device C1 and indicates the vertical direction.

[0017] The component mounting device C1 is a device that mounts components 2 (see FIG. 3), such as electronic components, on a substrate 1. The component mounting device C1 includes a base 12, a conveyance unit 14, each of a pair of Y-axis tables 16, each of a pair of beams 18, each of a plurality of component supply units 20, each of a plurality of component mounting units 30, each of a plurality of substrate recognition cameras 22, each of a plurality of component recognition cameras 24, and a notification unit 26.

[0018] The conveyance unit 14 is, for example, a conveyor and is provided on the base 12. The conveyance unit 14 performs the loading and conveyance of the substrate 1. In the present embodiment, the conveyance unit 14 positions the substrate 1 that has been loaded along the X-axis direction at a predetermined position in the Y-axis direction. The conveyance unit 14 conveys the substrate after the component 2 has been mounted along the X-axis direction.

[0019] Also, the conveyance unit 14 has a pressing plate 14a. After the substrate 1 is positioned at a predetermined position, the conveyance unit 14 lifts the substrate 1 upward (in the Z-axis direction shown in FIG. 1). The conveyance unit 14 holds the substrate 1 at a predetermined position by pressing the side portion of the upper surface of the substrate 1 against the lower surface of the pressing plate 14a.

[0020] Each of the pair of Y-axis tables 16 is provided on the base 12. Each of the pair of beams 18 is attached to and provided on each of the pair of Y-axis tables 16.

[0021] Each of the multiple component supply units 20 is provided on both sides of the base 12, which are opposite each other, with the transport unit 14 in between. Each of the multiple component supply units 20 supplies at least one component 2 to be mounted on the substrate 1. For example, each of the multiple component supply units 20 has each of the multiple tape feeders, and supplies the component 2 by pitch-feeding a carrier tape containing the component 2 toward the supply position of the component 2.

[0022] Each of the multiple component mounting units 30 transports and mounts components 2 supplied from the corresponding component supply unit 20 to the substrate 1. Each of the multiple component mounting units 30 is attached to the beam 18 and moves in the Y-axis direction with the beam 18 by a pair of Y-axis tables 16, and moves in the X-axis direction by the beam 18. Details of the component mounting units 30 will be described later.

[0023] Each of the multiple board recognition cameras 22 is attached to the housing 32 of each of the multiple component mounting sections 30 and moves integrally with the housing 32. Each of the multiple board recognition cameras 22 images the board 1 from above in order to recognize the mounting position of the component 2 on the board 1. Each of the multiple board recognition cameras 22 outputs the captured image to the processor C11.

[0024] Each of the multiple component recognition cameras 24 captures an image of the component 2 held in the holding unit 52, which will be described later. In this embodiment, each of the multiple component recognition cameras 24 is provided between the transport unit 14 and the component supply unit 20, and captures an image of the component 2 held in the holding unit 52 from below at the timing when the holding unit 52 passes between the transport unit 14 and the component supply unit 20. Each of the multiple component recognition cameras 24 outputs the captured image to the processor C11. Note that each of the multiple component recognition cameras 24 only needs to be provided in a position where it can capture an image of the component 2 held in the holding unit 52.

[0025] The notification unit 26 is implemented via a display or the like and notifies the worker that signs of an abnormality in the holding unit 52 have been detected. The notification unit 26 may also be equipped with a speaker and output an audio message indicating that signs of an abnormality in the holding unit 52 have been detected.

[0026] Next, the component mounting section 30 of the component mounting device C1 will be described with reference to Figures 2 and 3, respectively. Figure 2 is a front view showing an example of the configuration of the component mounting section 30. Figure 3 is a transition diagram showing an example of the operation of the mounting unit 34. Note that the housing 32 shown in Figure 2 is a cross-section of the housing 32, showing each of the multiple mounting units 34 that are partially housed in the housing 32. Also, the mounting unit 34 shown in Figure 3 is a cross-section of the mounting unit 34, and is a partially enlarged view showing the holding section 52 and the suction nozzle 54 in part.

[0027] In the following description of the component mounting section 30, the "up and down direction" in which the component mounting section 30 moves up and down and the "up and down direction" of the movement of each member are approximately the same direction, and both are aligned with the Z direction.

[0028] The component mounting section 30 comprises a housing 32 and each of the multiple mounting units 34.

[0029] The housing 32 accommodates a portion of each of the multiple mounting units 34. Specifically, the housing 32 accommodates each of the multiple mounting units 34 with at least a portion of the holding portion 52 exposed outside the housing 32.

[0030] Each of the multiple mounting units 34 includes a drive unit 36, a lifting unit 38, a support unit 48, an elastic member 50, a holding unit 52, and an elastic member 60.

[0031] The drive unit 36 ​​is, for example, a motor. The drive unit 36 ​​is controlled by the processor C11 to raise and lower the lifting unit 38 in the vertical direction.

[0032] The lifting section 38 is raised and lowered by a drive unit 36. The lifting section 38 has a shaft 40 and a connecting section 44. The shaft 40 has a lifting shaft section 42 and moves along the vertical direction by the drive unit 36. The shaft 40 extends along the vertical direction, with one end connected to the drive unit 36 ​​and the other end connected to the connecting section 44. The connecting section 44 has an engagement hole 46 and is connected to the lower end of the shaft 40, and the pin 56 of the holding section 52 is hooked into the engagement hole 46, thereby connecting the shaft 40 and the holding section 52.

[0033] The support portion 48 is, for example, a spline guide. The support portion 48 supports the shaft 40 so that it can move in the vertical direction.

[0034] The elastic member 50 is, for example, a return spring. The elastic member 50 biases the shaft 40 in the Z direction.

[0035] The holding part 52 has a vertically extending lifting shaft part 42 inserted into it, and moves along the vertical direction by power from the drive unit 36 ​​transmitted via the lifting shaft part 42. The holding part 52 is supported by the lifting unit 38 in a state that allows it to move a predetermined distance in the vertical direction relative to the lifting unit 38. The holding part 52 attracts and holds the parts 2 supplied by the parts supply unit 20, and releases the attraction to mount them on the substrate 1. The holding part 52 has an attraction nozzle 54, a pin 56, and a hole 58.

[0036] The suction nozzle 54 holds the component 2 by adsorption at its lower end.

[0037] The pin 56 is inserted into and engaged with the engagement hole 46 of the connecting portion 44, in a state where it can move a predetermined distance in the vertical direction relative to the engagement hole 46. The hole 58 into which the lifting shaft portion 42 is inserted is in a state where the hole 58 and the lifting shaft portion 42 can move relative to each other in the vertical direction.

[0038] The elastic member 60 is, for example, a coil spring. The elastic member 60 biases the connecting portion 44 and the holding portion 52 in a direction that moves them apart from each other along the vertical direction.

[0039] Figure 3(a) shows the mounting unit 34 with the component 2 held by the suction nozzle 54. Figure 3(b) shows the mounting unit 34 with the lifting section 38 lowered by the drive unit 36, so that the component 2 held by the suction nozzle 54 is in contact with the substrate 1. From the state shown in Figure 3(b), when the lifting section 38 of the mounting unit 34 is moved further downward by the drive unit 36, as shown in Figure 3(c), the elastic member 60 is compressed by the power from the drive unit 36, and the holding section 52 is biased downward. When the component 2 held at the lower end of the holding section 52 comes into contact with the substrate 1 due to the biasing of the holding section 52, the mounting unit 34 releases the suction by the holding section 52 and mounts the component 2 to the substrate 1.

[0040] Next, an example of the internal configuration of the component mounting device C1 will be described with reference to Figure 4. Figure 4 is a block diagram showing an example of the internal configuration of the component mounting device C1 according to an embodiment.

[0041] The component mounting device C1 includes a processor C11, a memory C12, and a mechanical unit C13.

[0042] The processor C11 is configured using, for example, a Central Processing Unit (CPU), a Field Programmable Gate Array (FPGA), or a Graphics Processing Unit (GPU), and works in cooperation with memory C12 to perform various processing and control functions. Specifically, the processor C11 references the programs and data held in memory C12 and executes those programs to realize the functions of the component mounting device C1.

[0043] Memory C12 includes, for example, Random Access Memory (RAM) used as work memory when executing various processes of processor C11, and Read Only Memory (ROM) which stores programs and data that define the operation of processor C11. RAM temporarily stores data or information generated or acquired by processor C11. ROM contains programs that define the operation of processor C11.

[0044] The mechanical unit C13 is controlled by the processor C11. The mechanical unit C13 includes a component mounting unit 30, a transport unit 14, a Y-axis table 16, a beam 18, a component supply unit 20, a substrate recognition camera 22, a component recognition camera 24, and a notification unit 26. Note that the mechanical unit C13 shown in Figure 4 only shows a representative configuration.

[0045] The component mounting section 30 further includes a servo control unit 62 and a measurement unit 64.

[0046] The servo control unit 62 performs position control or torque control of the drive unit 36 ​​based on the control command output from the processor C11, thereby raising and lowering the lifting unit 38.

[0047] The measurement unit 64 measures the thrust value of the drive unit 36 ​​that raises and lowers the lifting unit 38 at a predetermined period. The thrust value referred to here is the so-called Pulse Width Modulation (PWM) value. The measurement unit 64 outputs the measured thrust value information to the processor C11 at a predetermined period.

[0048] Next, with reference to Figure 5, a method for detecting abnormalities in the holding section 52 will be described. Figure 5 is a flowchart showing an example of the operation procedure of the component mounting device C1 in the embodiment. The operation procedure shown in Figure 5 is performed for each of the holding sections 52 housed in the housing 32. The operation procedure shown in Figure 5 may be performed periodically, for example, once a day, once a week, or each time a component 2 is mounted.

[0049] The processor C11 acquires the thrust value of the drive unit 36 ​​measured by the measurement unit 64. Based on the acquired thrust value, the processor C11 calculates the load value applied to the holding unit 52 during the lifting operation (St11).

[0050] Processor C11 records the calculated load values ​​in memory C12 in a time series (St12). Processor C11 records the calculated load values ​​applied to the holding unit 52 from the time the holding unit 52 starts its descent until the time it finishes its upward movement.

[0051] When the processor C11 finishes recording the load values ​​applied to the holding unit 52, it compares the time-series data of the recorded load values, known as load graphs GP12, GP13, and GP14 (see Figures 6 to 8), with the normal graph GP11 (i.e., the normal value) (see Figures 6 to 8) (St12). The processor C11 calculates the difference between the load value and the normal load value shown in the normal graph GP11 (i.e., the normal value), and the time it takes for this difference to occur (St13).

[0052] The "normal value" referred to here is the load value obtained when the normal holding unit 52 performs an upward or downward movement. The normal graph GP11 is time-series data of the load value applied to the holding unit 52 measured from the time the normal holding unit 52 starts its downward movement until the time it finishes its upward movement.

[0053] The processor C11 integrates the difference between the acquired load value applied to the holding part 52 and the normal value over the time period during which the load value applied to the holding part 52 during the lowering operation is greater than the normal value and there is a difference between the load value of the holding part 52 and the normal value (hereinafter referred to as "difference time").

[0054] The difference time referred to here may be the sum of the time periods in which there is a difference between the load value applied to the holding part 52 and the normal value (for example, time periods T12A, T12B, etc.) (for example, the time corresponding to time period T12), or it may be the time corresponding to the longest time period among the time periods in which there is a difference between the load value applied to the holding part 52 and the normal value (for example, time period T12A, T12B).

[0055] Processor C11 weights the value (area) obtained by integrating the difference between the load value and the normal value over the difference time by the square of the difference time, and calculates the cumulative area of ​​the load value applied to the holding part 52 during the lifting operation on a two-dimensional graph (for example, load graphs GP12, GP13, GP14, etc. described later) with the load value on the vertical axis and time on the horizontal axis. The formula for calculating the cumulative area is as follows. Cumulative area = {Σ(current load value - normal value)} × {(difference time)^2} ... (1)

[0056] Processor C11 determines whether the cumulative area of ​​the calculated load values ​​is equal to or greater than the first threshold (St14).

[0057] If the processor C11 determines in step St14 that the cumulative area is equal to or greater than the first threshold (St14, YES), it calculates the difference time at which it determines that the load value applied to the lifting and lowering operation of the holding unit 52 is equal to or greater than the normal value (St15). The processor C11 then determines whether the calculated difference time is equal to or greater than the second threshold (St16). The first and second thresholds may be arbitrarily set and changed by the operator.

[0058] On the other hand, if processor C11 determines in step St14 that the cumulative area is not equal to or greater than the first threshold (St14, NO), it waits until the next lifting operation of the holding unit 52 begins. When the next lifting operation of the holding unit 52 begins, processor C11 starts processing in step St11.

[0059] If the processor C11 determines in step St15 that the difference time is greater than or equal to the second threshold (St15, YES), it notifies the holding unit 52 that there is an indication of an abnormality (St16).

[0060] On the other hand, if processor C11 determines in step St15 that the difference time period is not equal to or greater than the second threshold (St15, NO), it waits until the next lifting operation of the holding unit 52 begins. When the next lifting operation of the holding unit 52 begins, processor C11 starts processing in step St11.

[0061] The time required for the lowering operation of the holding part 52 varies depending on the thickness of the part. Therefore, the calculation of the difference between the load value and the normal value applied to the lowering operation of the holding part 52 may be performed by matching the timing at which the holding part 52 starts its lowering operation (start time) with the first normal value in chronological order, and by matching the time period until the timing at which the holding part 52 finishes its upward operation (end time) with the last normal value in chronological order.

[0062] Furthermore, while this disclosure describes an example of detecting signs of abnormality in the holding unit 52 using the cumulative area calculated in a single lifting operation, the method for detecting signs of abnormality in the holding unit 52 is not limited to this. The processor C11 may calculate the average value of the cumulative area calculated in multiple lifting operations and detect signs of abnormality in the holding unit 52 based on a comparison of the calculated average value of the cumulative area with a first threshold. In such a case, the difference time may be the average value of the difference times calculated in multiple lifting operations. The processor C11 may calculate the average value of the difference times calculated in multiple lifting operations and detect signs of abnormality in the holding unit 52 based on a comparison of the calculated average value of the difference times with a second threshold.

[0063] As described above, the component mounting device C1 in this disclosure can more effectively suppress false detections indicating that the holding part 52 is abnormal, even when the load value applied to the holding part 52 temporarily increases due to temporary blockage of foreign matter. Furthermore, the component mounting device C1 can detect and notify of signs of abnormality in the holding part 52 even when the load value applied to the holding part 52 does not exceed the threshold Th used in conventional abnormality determination.

[0064] Next, we will explain examples of difference area and difference time with reference to Figures 6 to 8. Figure 6 shows example 1 of load value change. Figure 7 shows example 2 of load value change. Figure 8 shows example 3 of load value change.

[0065] The load graphs GP12, GP13, and GP14 shown in Figures 6 to 8 illustrate the time-series change in load values ​​during the lifting and lowering operation of the holding unit 52. The normal graph GP11 shows the time-series change in load values ​​during the lifting and lowering operation of the holding unit 52 as previously registered for normal operation.

[0066] <If the foreign object causing the blockage is resolved midway through the process> The load graph GP12 shown in Figure 6 shows the time-series change in load value when the sticking of the holding part 52 due to foreign matter is resolved during the lifting or lowering process. The cumulative area AR12 shows the integral value of the difference between the load graph GP12 and the normal graph GP11. In this case, the load graph GP12 shows a difference from the load value of the normal graph GP11 in each of the time periods T12A and T12B within the total length T11, which represents the section from the timing when the holding part 52 starts its lowering movement to the timing when it finishes its upward movement. Furthermore, in the load graph GP12, in time period T12A, the load value increases sharply due to the sticking of the holding part 52 due to foreign matter, and then sharply decreases when the sticking of the holding part 52 is resolved at the timing when the load value reaches its peak PK1.

[0067] Here, the load graph GP12 shows that at timing TM12, the load value exceeds the threshold Th conventionally used to detect abnormalities in the holding unit 52. However, even if the load value exceeds the threshold Th, the component mounting device C1 does not detect any signs of abnormality in the holding unit 52 and omits notification if it determines that the cumulative area is not equal to or greater than the first threshold, or that the time zone T12A, which is the difference time, is not equal to or greater than the second threshold. Therefore, the component mounting device C1 can suppress false detections of abnormalities in the holding unit 52 based on an increase in load value due to a temporary malfunction.

[0068] <If there are signs of an abnormality> The load graph GP13 shown in Figure 7 shows the time-series change in load value when there are signs of deterioration in the holding part 52. The cumulative area AR13 shows the integral value of the difference between the load graph GP13 and the normal graph GP11. In such cases, the load graph GP13 shows a difference from the load value of the normal graph GP11 over its entire length T11. Furthermore, this difference increases in proportion to the degree of deterioration of the holding part 52. Based on the cumulative area and difference time which increase with the degree of deterioration of the holding part 52, the component mounting device C1 determines that the cumulative area is equal to or greater than the first threshold and that the time period T12 or time period T12A, which is the difference time, is equal to or greater than the second threshold, and notifies of the signs of abnormality in the holding part 52.

[0069] <If the foreign object causing the adhesion is resolved midway through the process, and signs of an abnormality are observed> The load graph GP14 shown in Figure 8 shows the time-series change in load value when the sticking of the holding part 52 due to foreign matter is resolved during the lifting and lowering process, and when there are signs of abnormality in the holding part 52 due to deterioration. The cumulative area AR14 shows the integral value of the difference between the load graph GP14 and the normal graph GP11. In such a case, the load graph GP14 shows a difference from the load value of the normal graph GP11 over its entire length T11. Furthermore, the load graph GP14 shows a rapid increase in load value until the sticking of the holding part 52 due to foreign matter is resolved, and then the load value rapidly decreases when the sticking of the holding part 52 is resolved at the timing when the load value reaches its peak PK2.

[0070] Here, the load graph GP14 shows that the load value exceeds the threshold Th at timing TM14A. Even if the load value exceeds the threshold Th, the component mounting device C1 does not detect any signs of abnormality in the holding unit 52 and omits notification if it determines that the cumulative area is not equal to or greater than the first threshold, or that the difference time is not equal to or greater than the second threshold. Furthermore, if the component mounting device C1 determines at timing TM14B that the cumulative area is equal to or greater than the first threshold and the difference time is equal to or greater than the second threshold, it detects signs of abnormality in the holding unit 52 and issues a notification indicating that there are signs of abnormality in the holding unit 52. Thus, the component mounting device C1 can suppress false detections of abnormality in the holding unit 52 and detect signs of abnormality in the holding unit 52 based on an increase in load value due to a temporary malfunction.

[0071] (Note) Based on the descriptions of the embodiments described above, the following technologies are disclosed.

[0072] (Technology 1) A determination method performed by a component mounting device C1 that mounts component 2 onto a substrate 1, The aforementioned component mounting device C1 is The device comprises a drive unit 36, a lifting unit 38 that is raised and lowered by the drive unit 36, and a mounting unit 34 that is supported by the lifting unit 38 in a state that allows it to be raised and lowered by a predetermined distance along the lifting direction of the lifting unit 38, and has a holding unit 52 that suctions and holds the part 2. The load value applied to the holding part 52 that performs the lifting and lowering operation is measured, The measured load values ​​are recorded in chronological order. The recorded time-series load values ​​are compared with previously recorded time-series normal load values ​​(normal values) to determine whether or not there are signs of an abnormality in the holding unit 52, and output the result. Judgment method. As a result, the component mounting device C1 can more effectively suppress false detections indicating that the holding part 52 is abnormal, even when the load value applied to the holding part 52 temporarily increases due to temporary blockage of foreign matter. Furthermore, the component mounting device C1 can detect signs of abnormality in the holding part 52 even when the load value applied to the holding part 52 does not exceed the threshold Th used in conventional abnormality detection.

[0073] (Technology 2) The difference between the load value and the normal load value (normal value) is accumulated, If it is determined that the accumulated cumulative difference (cumulative area AR12~AR14) is equal to or greater than a predetermined value (first threshold), it is determined that there is a sign of an abnormality in the holding unit 52. The determination method described in (Technical 1). As a result, the component mounting device C1 can detect signs of an abnormality in the holding part 52 even if the load value applied to the holding part 52 does not exceed the threshold Th used in conventional abnormality detection.

[0074] (Technology 3) If it is determined that there is a sign of abnormality in the holding part 52, the user (worker) using the component mounting device C1 will be notified that there is a sign of abnormality in the holding part 52. The determination method described in (Technical 2). As a result, if the component mounting device C1 detects signs of an abnormality in the holding section 52, it can notify the operator that signs of an abnormality in the holding section 52 have been detected.

[0075] (Technology 4) The following are periodically performed: measurement and recording of the load value applied to the holding part 52, comparison of the load value with the normal load value (normal value), and determination of whether or not there is an indication of an abnormality in the holding part 52. The determination method described in (Technical 1). As a result, the component mounting device C1 can detect whether or not there are any signs of an abnormality in the holding part 52 before an abnormality in the holding part 52 is detected.

[0076] (Technology 5) Based on the load waveforms (load graphs GP12 to GP14) based on the load values ​​recorded in time series and the normal waveform (normal graph GP11) based on the normal load values ​​(normal values) recorded in time series, it is determined whether or not there are signs of an abnormality in the holding unit 52. The determination method described in (Technical 1). As a result, the component mounting device C1 can more effectively suppress false detections indicating that the holding part 52 is abnormal, even when the load value applied to the holding part 52 temporarily increases due to temporary blockage of foreign matter. Furthermore, the component mounting device C1 can detect signs of abnormality in the holding part 52 even when the load value applied to the holding part 52 does not exceed the threshold Th used in conventional abnormality detection.

[0077] (Technology 6) The difference time between the recorded load waveform (load graphs GP12~GP14) and the normal waveform (normal graph GP11) is measured. Based on whether the difference time is equal to or greater than a predetermined time (second threshold), it is determined whether there is a sign of abnormality in the holding unit 52. The determination method described in (Technical 5). As a result, the component mounting device C1 can more effectively suppress false detections indicating that the holding section 52 is abnormal, even when the load value applied to the holding section 52 temporarily (partially) increases, as in the time period T12A, due to temporary blockage of foreign matter.

[0078] (Technology 7) The aforementioned difference time is the longest period of time during which the difference between the recorded load waveform (load graphs GP12~GP14) and the normal waveform (normal graph GP11) is continuous. The determination method described in (Technical 6). As a result, the component mounting device C1 can more effectively suppress false detections indicating that the holding part 52 is abnormal, even when the load value applied to the holding part 52 temporarily (partially) increases during time periods T12A and T12B.

[0079] (Technology 8) The cumulative difference (cumulative area AR12~AR14) is calculated by accumulating the difference between the aforementioned load value and the aforementioned normal load value (normal value). The difference time between the recorded load waveform (load graphs GP12~GP14) and the normal waveform (normal graph GP11) is measured. The cumulative difference (cumulative area AR12~AR14) is weighted based on the difference time to determine whether or not there is an indication of an abnormality in the holding unit 52. The determination method described in (Technical 5). As a result, the component mounting device C1 can more effectively suppress false detections indicating that the holding part 52 is abnormal, even when the load value applied to the holding part 52 temporarily (partially) increases during time periods T12A and T12B.

[0080] (Technology 9) A component mounting device C1 for mounting component 2 onto a substrate 1, The drive unit 36 ​​and A lifting unit 38 that moves up and down by the drive unit 36, A mounting unit 34 is supported by the lifting section 38 in a state where it can move up and down by a predetermined distance along the lifting direction of the lifting section 38, and has a holding section 52 that suctions and holds the part 2, A measuring unit 64 measures the load value applied to the holding unit 52 that performs the lifting and lowering operation, A recording unit (memory C12) records the measured load values ​​in a time series, The system includes a determination unit (processor C11) that compares the recorded time-series load values ​​with previously recorded time-series normal load values ​​(normal values) to determine whether or not there are signs of an abnormality in the holding unit 52 and outputs the result. Component mounting device C1. As a result, the component mounting device C1 can more effectively suppress false detections indicating that the holding part 52 is abnormal, even when the load value applied to the holding part 52 temporarily increases due to temporary blockage of foreign matter. Furthermore, the component mounting device C1 can detect signs of abnormality in the holding part 52 even when the load value applied to the holding part 52 does not exceed the threshold Th used in conventional abnormality detection.

[0081] (Technology 10) The determination unit (processor C11) accumulates the difference between the load value and the normal load value (normal value), and determines that there is an indication of an abnormality in the holding unit 52 when it determines that the accumulated difference (accumulated area AR12~AR14) is equal to or greater than a predetermined value (first threshold). (Technical 9) Component mounting device C1. As a result, the component mounting device C1 can detect signs of an abnormality in the holding part 52 even if the load value applied to the holding part 52 does not exceed the threshold Th used in conventional abnormality detection.

[0082] (Technology 11) If the determination unit (processor C11) determines that the holding unit 52 is abnormal, it notifies the user (worker) using the component mounting device C1 that there are signs of an abnormality in the holding unit 52. (Technical 10) Component mounting device C1. As a result, if the component mounting device C1 detects signs of an abnormality in the holding section 52, it can notify the operator that signs of an abnormality in the holding section 52 have been detected.

[0083] (Technology 12) The aforementioned component mounting device C1 is Measurement and recording of the load value applied to the holding portion 52, A comparison of the aforementioned load value with the aforementioned normal load value (normal value), The determination of whether or not there is an indication of an abnormality in the holding unit 52 is performed periodically. (Technical 9) Component mounting device C1. As a result, the component mounting device C1 can detect whether or not there are any signs of an abnormality in the holding part 52 before an abnormality in the holding part 52 is detected.

[0084] (Technology 13) The determination unit (processor C11) determines whether or not there is an indication of an abnormality in the holding unit 52 based on the load waveform (load graphs GP12 to GP14) based on the load value recorded in time series and the normal waveform (normal graph GP11) based on the normal load value (normal value) recorded in time series. (Technical 9) Component mounting device C1. As a result, the component mounting device C1 can more effectively suppress false detections indicating that the holding part 52 is abnormal, even when the load value applied to the holding part 52 temporarily increases due to temporary blockage of foreign matter. Furthermore, the component mounting device C1 can detect signs of abnormality in the holding part 52 even when the load value applied to the holding part 52 does not exceed the threshold Th used in conventional abnormality detection.

[0085] (Technology 14) The determination unit (processor C11) measures the difference time between the recorded load waveform (load graphs GP12~GP14) and the normal waveform (normal graph GP11), Based on whether the difference time is equal to or greater than a predetermined time (second threshold), it is determined whether there is a sign of abnormality in the holding unit 52. (Technical 13) Part mounting device C1. As a result, the component mounting device C1 can more effectively suppress false detections indicating that the holding section 52 is abnormal, even when the load value applied to the holding section 52 temporarily (partially) increases, as in the time period T12A, due to temporary blockage of foreign matter.

[0086] (Technology 15) The aforementioned difference time is the longest period of time during which the difference between the recorded load waveform (load graphs GP12~GP14) and the normal waveform (normal graph GP11) is continuous. (Technical 14) Part mounting device C1. As a result, the component mounting device C1 can more effectively suppress false detections indicating that the holding part 52 is abnormal, even when the load value applied to the holding part 52 temporarily (partially) increases during time periods T12A and T12B.

[0087] (Technology 16) The determination unit (processor C11) calculates the cumulative difference (cumulative area AR12~AR14) by accumulating the difference between the load value and the normal load value (normal value), The difference time between the recorded load waveform (load graphs GP12~GP14) and the normal waveform (normal graph GP11) is measured. The cumulative difference (cumulative area AR12~AR14) is weighted based on the difference time to determine whether or not there is an indication of an abnormality in the holding unit 52. (Technical 13) Part mounting device C1. As a result, the component mounting device C1 can more effectively suppress false detections indicating that the holding part 52 is abnormal, even when the load value applied to the holding part 52 temporarily (partially) increases during time periods T12A and T12B.

[0088] Although various embodiments have been described above with reference to the attached drawings, this disclosure is not limited to such examples. It will be clear to those skilled in the art that various modifications, alterations, substitutions, additions, deletions, and equivalents can be conceived within the scope of the claims, and these will also be understood to fall within the technical scope of this disclosure. Furthermore, the components of the various embodiments described above can be combined arbitrarily without departing from the spirit of the invention. [Industrial applicability]

[0089] This disclosure is useful as a determination method and component mounting device that more effectively suppresses false detection of nozzle holder abnormalities and supports the early detection of nozzle holder abnormalities. [Explanation of symbols]

[0090] 1 circuit board 2 parts 20. Parts Supply Department 26 Hochi Department 30 Component mounting section 34 Mounting Unit 36 Drive unit 38 Lifting section 42 Lifting shaft section 52 Holding part 54 Suction nozzle 60 Elastic members 62 Servo Control Unit 64 Measurement Unit AR12,AR13,AR14 Cumulative area C1 Component mounting device C11 processor C12 Memory C13 Mechanism GP11 Normal Graph GP12, GP13, GP14 Load Graph

Claims

1. A determination method performed by a component mounting device that mounts components onto a circuit board, The aforementioned component mounting device is The mounting unit comprises a drive unit, a lifting unit that is raised and lowered by the drive unit, and a mounting unit that is supported by the lifting unit in a state that allows it to be raised and lowered by a predetermined distance along the lifting direction of the lifting unit, and has a holding unit that suctions and holds the component. The load value applied to the holding part that performs the lifting and lowering operation is measured, The measured load values ​​are recorded in chronological order. The system compares the recorded time-series load values ​​with the previously recorded time-series normal load values ​​to determine whether or not there are signs of an abnormality in the holding unit and outputs the result. Judgment method.

2. The difference between the load value and the normal load value is accumulated, If it is determined that the accumulated cumulative difference is greater than or equal to a predetermined value, it is determined that there is a sign of an abnormality in the holding unit. The determination method according to claim 1.

3. If it is determined that there is a sign of abnormality in the holding part, the user of the component mounting device will be notified that there is a sign of abnormality in the holding part. The determination method according to claim 2.

4. The following are periodically performed: measurement and recording of the load value applied to the holding part, comparison of the load value with the normal load value, and determination of whether or not there are signs of an abnormality in the holding part. The determination method according to claim 1.

5. Based on the load waveform based on the load values ​​recorded in time series and the normal waveform based on the normal load values ​​recorded in time series, it is determined whether or not there are signs of an abnormality in the holding part. The determination method according to claim 1.

6. The difference time between the recorded load waveform and the normal waveform is measured. Based on whether the difference time is greater than or equal to a predetermined time, it is determined whether there is any indication of an abnormality in the holding part. The determination method according to claim 5.

7. The aforementioned difference time is the longest period of time during which the difference between the recorded load waveform and the normal waveform is continuous. The determination method according to claim 6.

8. The cumulative difference is calculated by accumulating the difference between the load value and the normal load value. The difference time between the recorded load waveform and the normal waveform is measured. The cumulative difference is weighted based on the difference time to determine whether or not there is an indication of an abnormality in the holding unit. The determination method according to claim 5.

9. A component mounting device for mounting components onto a circuit board, The drive unit and A lifting unit that moves up and down by the aforementioned drive unit, A mounting unit is supported by the lifting section in a state that allows it to move up and down by a predetermined distance along the lifting direction of the lifting section, and has a holding section that suctions and holds the component, A measuring unit that measures the load value applied to the holding part that performs the lifting and lowering operation, A recording unit that records the measured load values ​​in a time series, The system includes a determination unit that compares the recorded time-series load values ​​with previously recorded time-series normal load values ​​to determine whether or not there are signs of an abnormality in the holding unit and outputs the result. Component mounting device.

10. The determination unit accumulates the difference between the load value and the normal load value, and if it determines that the accumulated difference is greater than or equal to a predetermined value, it determines that there is a sign of an abnormality in the holding unit. The component mounting device according to claim 9.

11. If the determination unit determines that the holding unit is abnormal, it notifies the user of the component mounting device that there are signs of an abnormality in the holding unit. The component mounting device according to claim 10.

12. The aforementioned component mounting device is Measurement and recording of the load value applied to the holding portion, A comparison of the load value and the normal load value, The determination of whether or not there are signs of abnormality in the holding part is performed periodically. The component mounting device according to claim 9.

13. The determination unit determines whether or not there is an indication of an abnormality in the holding unit based on the load waveform based on the load value recorded in time series and the normal waveform based on the normal load value recorded in time series. The component mounting device according to claim 9.

14. The determination unit measures the difference time between the recorded load waveform and the normal waveform, Based on whether the difference time is greater than or equal to a predetermined time, it is determined whether there is any indication of an abnormality in the holding part. The component mounting device according to claim 13.

15. The aforementioned difference time is the longest period of time during which the difference between the recorded load waveform and the normal waveform is continuous. The component mounting device according to claim 14.

16. The determination unit calculates an accumulated difference by accumulating the difference between the load value and the normal load value, The difference time between the recorded load waveform and the normal waveform is measured. The cumulative difference is weighted based on the difference time to determine whether or not there is an indication of an abnormality in the holding unit. The component mounting device according to claim 13.

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