Work apparatus and method for controlling the work apparatus

Abstract

To provide a working device capable of improving working efficiency by shortening time required for preparation work to be conducted before a main work, and a control method of the working device.SOLUTION: In a working device including a working unit executing a main work to an object after having conducted a prescribed preparation work, it is determined (ST1) whether there has been a state change after the previous main work has completed and before the next preparation work has started on the basis of detection information from a detection unit for detecting a state change of a specific element constituting the working unit. When it is determined there is no change in the specific element, a first pattern is elected (ST2) which is obtained by abbreviating a part of the normal working pattern. When it is determined there is a change in the specific element, a second pattern being the normal working pattern is elected (ST3). After conducting the preparation work with the selected first pattern or the second pattern, the working unit executes the main work (ST4, 5).SELECTED DRAWING: Figure 11

Description

Technical Field

[0001] The present invention relates to a working device including a working unit that performs a main operation on a work target after performing a predetermined preparation operation, and a control method for the working device.

Background Art

[0002] Conventionally, as a working device including a working unit that performs an operation on a work target, for example, a component mounting device that performs an operation (component mounting operation) of picking up and mounting a component on a substrate positioned at a working position by a substrate transfer unit is known. The component mounting device can detachably attach a nozzle for adsorbing a component to the lower end of a shaft member (nozzle shaft) extending downward from the mounting head, and can replace the nozzle according to the type of the component to be adsorbed (for example, Patent Document 1 below).

[0003] In such a component mounting device, a predetermined preparation operation is performed before performing the component mounting operation as the main operation on the work target. As the preparation operation, for example, in addition to the nozzle reattachment operation of removing the nozzle from the nozzle shaft, imaging an identification mark provided on the nozzle, identifying the nozzle, and then reattaching it to the nozzle shaft, there are a width alignment operation of adjusting the distance between conveyors constituting the substrate transfer unit according to the width direction dimension of the substrate, a substrate position confirmation operation of reconfirming the position of the substrate positioned by the substrate transfer unit, a thermal correction operation of correcting an error due to thermal deformation of a head movement mechanism that moves the mounting head, and the like. By performing such a preparation operation before the main operation, even if the nozzle is manually replaced by an operator or some nozzles are removed from the mounting head during the operation stop period between the end of the previous component mounting operation and the start of the next preparation operation, it becomes possible to continuously perform the component mounting operation according to the production program.

Prior Art Documents

Patent Documents

[0004] [Patent Document 1] Japanese Patent Publication No. 2010-67743 [Overview of the project] [Problems that the invention aims to solve]

[0005] However, as mentioned above, performing all preparatory work before carrying out the main task of parts installation, even during the downtime between the completion of the previous main task and the start of the next preparatory work, when the operator has not accessed the inside of the parts installation device at all, results in a waste of time and a decrease in work efficiency.

[0006] Therefore, the present invention aims to provide a work device and a control method for the work device that can improve work efficiency by shortening the time required for preparatory work performed before the actual work. [Means for solving the problem]

[0007] The present invention provides a work apparatus comprising: a work unit that performs main work on a work object after performing predetermined preparatory work; and a control unit that controls the work unit, the work apparatus further comprising: a detection unit that detects a change in the state of a specific element constituting the work unit; and a determination unit that determines, based on the detection information from the detection unit, whether or not there has been a change in the state of the specific element between the end of the previous main work and the start of the next preparatory work, and the control unit controls the work unit to perform preparatory work in a first pattern, which is a work pattern in which a part of the original work pattern as preparatory work is omitted, when the determination unit determines that there has been no change in the state of the specific element.

[0008] The present invention relates to a control method for a work apparatus, comprising a work unit that performs a main work on a work object after performing predetermined preparatory work, and includes: a determination step of determining whether or not there has been a change in the state of a specific element constituting the work unit between the end of the previous main work and the start of the next preparatory work, based on detection information from a detection unit that detects a change in the state of a specific element constituting the work unit; a selection step of selecting a first pattern, which is a work pattern in which a part of the original work pattern as preparatory work is omitted, if the determination step determines that there has been a change in the state of the specific element, and selecting a second pattern, which is the original work pattern as preparatory work, if the determination step determines that there has been a change in the state of the specific element; and a control step of operating the work unit to perform the main work after the work unit has performed preparatory work using the first pattern or the second pattern selected in the selection step. [Effects of the Invention]

[0009] According to the present invention, the time required for preparatory work performed before the actual work can be reduced, thereby improving work efficiency. [Brief explanation of the drawing]

[0010] [Figure 1] (a)(b) Perspective view of a component mounting device in one embodiment of the present invention [Figure 2] Plan view of a component mounting device in one embodiment of the present invention. [Figure 3] Front view of a component mounting device in one embodiment of the present invention. [Figure 4] Front view of the mounting head of a component mounting device according to one embodiment of the present invention. [Figure 5] Perspective view of a mounting head and tape feeder included in a component mounting device according to one embodiment of the present invention [Figure 6] A perspective view of a nozzle attached to the nozzle shaft of a mounting head in a component mounting device according to one embodiment of the present invention. [Figure 7](a)(b) Side view showing how a trolley is connected to the base of a component mounting device according to one embodiment of the present invention. [Figure 8] Block diagram showing the control system of a component mounting device in one embodiment of the present invention. [Figure 9] Perspective view of a nozzle changer included in a component mounting device according to one embodiment of the present invention. [Figure 10] (a)(b) Plan view of a nozzle changer included in a component mounting device according to one embodiment of the present invention. [Figure 11] Flowchart showing the flow of production work performed by a component mounting device in one embodiment of the present invention. [Modes for carrying out the invention]

[0011] The embodiments of the present invention will now be described with reference to the drawings. Figures 1(a), (b), 2, and 3 show a component mounting device 1 as a work device in Embodiment 1 of the present invention. The component mounting device 1 is a device that performs component mounting work, mounting components BH onto a substrate KB brought in from the outside. In this embodiment, for the sake of explanation, the horizontal direction in which the substrate KB is transported is defined as the X direction, and the horizontal direction perpendicular to the X direction is defined as the Y direction. The vertical direction is defined as the Z direction.

[0012] In Figures 1(a), (b) and 2, the component mounting device 1 is equipped with a substrate transport unit 12 on a base 11 installed on the floor. The substrate transport unit 12 consists of a pair of conveyors 12a that extend in the X direction and are arranged side by side in the Y direction. The substrate transport unit 12 receives substrates KB supplied from the outside, transports them in, and positions them at a working position near the center of the base 11. The substrate transport unit 12 also transports the substrates KB that have been positioned at the working position to the outside.

[0013] In FIGS. 1(a), 1(b) and FIG. 2, a base cover 13 as a cover member is provided on a base 11. The base cover 13 covers the entire base 11 so that a work space 11S is formed above the base 11. Loading openings 13a and unloading openings 13b facing both ends of the substrate transfer unit 12 are provided on both side surfaces of the base cover 13 in the X direction. A substrate KB transferred by the substrate transfer unit 12 is drawn into the work space 11S through the loading opening 13a and discharged from the work space 11S through the unloading opening 13b.

[0014] In FIGS. 1(a), 1(b), FIG. 2 and FIG. 3, carts 14 are connected to both end portions of the base 11 in the Y direction. Each cart 14 includes a block-shaped feeder base 14F, and a plurality of tape feeders 15 are attached side by side in the X direction to the feeder base 14F.

[0015] The tape feeder 15 pulls out a carrier tape CT from a reel RL held by the cart 14 and conveys it, and supplies a component BH enclosed in the carrier tape CT to a component supply port 15K. Thus, in this embodiment, the tape feeder 15 functions as a component supply unit in the component mounting apparatus 1.

[0016] In FIGS. 1(b) and FIG. 2, a head movement mechanism 16 including a fixed beam 16a extending in the Y direction and a movable beam 16b extending in the X direction is provided on the base 11. The fixed beam 16a is fixed to the base 11, and the movable beam 16b is movable in the Y direction with respect to the fixed beam 16a.

[0017] In FIGS. 1(b) and FIG. 2, a mounting head 17 is provided on the movable beam 16b so as to be movable in the X direction (that is, the direction along the movable beam 16b). As shown in FIGS. 4 and FIG. 5, a plurality of nozzle shafts 17S extend downward from the mounting head 17, and a nozzle 18 is detachably attached to the lower end of each nozzle shaft 17S.

[0018] In Figure 6, the nozzle 18 comprises a base 18a, a tube portion 18b, and a flange portion 18c. The base 18a is a cylindrical portion fitted onto the lower end of the nozzle shaft 17S. The tube portion 18b is a tubular portion having an internal conduit that communicates with the inside of the base 18a. The flange portion 18c is a disc-shaped portion located between the base 18a and the tube portion 18b. An identification mark 18M is attached to the upper surface of the flange portion 18c to distinguish that nozzle 18 from other nozzles 18.

[0019] The mounting head 17 generates a vacuum suction force below the tubular portion 18b of the nozzle 18, thereby allowing the component BH supplied by the tape feeder 15 to be attracted to the nozzle 18. The mounting head 17 can also attach the component BH to the substrate KB by releasing the component BH attracted to the nozzle 18 at the substrate KB. Thus, in this embodiment, the mounting head 17 is equipped with a nozzle 18 that receives the component BH supplied by the tape feeder 15, which acts as a component supply unit, and attaches it to the substrate KB.

[0020] In Figures 2 and 5, the mounting head 17 is equipped with a substrate camera 21. The substrate camera 21 has its imaging field of view facing downwards and moves in conjunction with the mounting head 17. The substrate camera 21 images the substrate KB, which has been positioned at the work position by the substrate transport unit 12, from above. The image obtained by the substrate camera 21 is used to recognize the substrate KB.

[0021] In Figures 1(b) and 2, a component camera 22 is provided on the base 11. The component camera 22 has its imaging field of view facing upward. The component camera 22 images the component BH that is attracted to the nozzle 18 of the mounting head 17 from below. The image obtained by the component camera 22 is used to recognize the component BH.

[0022] In Figures 1(b) and 2, a nozzle changer 23 is provided on the base 11. The nozzle changer 23 has the function of removing the nozzle 18 from the nozzle shaft 17S of the mounting head 17 and leaving the removed nozzle 18 in place, and the function of leaving the nozzle 18 that will be attached to the nozzle shaft 17S in place.

[0023] Next, the tape feeder 15 and the trolley 14 will be described using Figures 5 and 7(a) and (b). In Figure 5, the tape feeder 15 comprises a main body 31 and a tape holder 32. The main body 31 is horizontally inserted and mounted on the feeder base 14F of the trolley 14. Inside the main body 31 is a sprocket 33 with feed pins 33P on its outer circumference. The sprocket 33 rotates and engages the feed pins 33P with the feed holes KH of the carrier tape CT, thereby transporting the carrier tape CT.

[0024] The tape holder 32 is pivotally connected to the main body 31 at its rear end by a pivot member 32S (Figure 5). The tape holder 32 can be moved (oscillated) between a closed position where it is horizontal (the position shown in Figure 5) and an open position where its front end is raised (the position shown by the dashed line in Figure 7(a)). When in the closed position, the tape holder 32 has the function of pressing down on the carrier tape CT that is transported by the sprocket 33 and passes near the parts supply port 15K from above.

[0025] When loading the carrier tape CT into the tape feeder 15, the operator engages the feed hole KH of the carrier tape CT with the feed pin 33P of the sprocket 33 while the tape retainer 32 is in the open position. After loading the carrier tape CT into the tape feeder 15, the operator lowers the tape retainer 32 back to the closed position.

[0026] In Figures 1(a), (b), Figure 2, and Figures 7(a), (b), the trolley 14 is equipped with a pair of handles 14H. By operating these handles 14H, the worker can move the trolley 14 on the floor and connect it to the base 11. When the trolley 14 is connected to the base 11, a connector provided on the trolley 14 side (trolley-side connector 14C) is connected to a connector provided on the base 11 side (base-side connector 11C) (Figure 7(a) → Figure 7(b)).

[0027] When the trolley-side connector 14C is connected to the base-side connector 11C, the control unit 40 (Figures 7(a), (b)) provided on the base 11 detects this (Figure 8). At this time, the base-side connector 11C functions as a trolley detection sensor that detects that the trolley 14 has been connected to the base 11 (a change in state). When the trolley-side connector 14C is connected to the base-side connector 11C, the control unit 40 becomes able to control each tape feeder 15 through the trolley 14.

[0028] Next, the nozzle changer 23 will be described. As shown in Figure 9, the nozzle changer 23 comprises a table-shaped base portion 41 and a horizontal, flat shutter portion 42 positioned on the upper surface of the base portion 41. The base portion 41 is fixed to the base 11, and the shutter portion 42 is slidable horizontally (in this case, in the X direction) relative to the base portion 41.

[0029] In Figures 9 and 10(a) and (b), the base portion 41 is provided with a matrix of multiple nozzle insertion holes 41H opening on its upper surface. The inner diameter of each nozzle insertion hole 41H is slightly larger than the outer diameter of the tubular portion 18b of the nozzle 18. The shutter portion 42 is provided with a shutter groove 43, which consists of multiple circular holes 42C arranged in the same configuration as the multiple nozzle insertion holes 41H in the base portion 41, connected by a connecting passage 42R extending in the sliding direction (X direction) of the shutter portion 42.

[0030] The inner diameter 42D of the circular hole 42C (enlarged view on the right in Figure 9) is slightly larger than the outer diameter of the flange portion 18c of the nozzle 18, and the groove width 42W of the communication passage 42R (enlarged view on the right in Figure 9) is slightly larger than the outer diameter of the base portion 18a of the nozzle 18. The shutter portion 42 is driven in the X direction by a shutter drive unit (not shown) and slides, switching its position between an insertion / removal restricted position (Figure 10(a)) where the communication passage 42R coincides with the nozzle insertion hole 41H in a plan view, and an insertion / removal permitted position (Figure 10(b)) where the center of the circular hole 42C coincides with the nozzle insertion hole 41H of the base portion 41 in a plan view.

[0031] To remove the nozzle 18 attached to the mounting head 17 (nozzle shaft 17S) and place it on the nozzle changer 23, first, the shutter drive unit is activated to position the shutter unit 42 in the insertion / removal allowable position (Figure 10(b)). Then, the mounting head 17 is moved above the nozzle changer 23 so that the tubular portion 18b of the nozzle 18 is positioned above the nozzle insertion hole 41H, and then the nozzle shaft 17S is lowered. This inserts the nozzle 18 attached to the nozzle shaft 17S into the nozzle insertion hole 41H.

[0032] Once the nozzle 18 is inserted into the nozzle insertion hole 41H, the shutter drive unit is activated to switch the position of the shutter unit 42 from the insertion / removal permitted position to the insertion / removal restricted position (Figure 10(b) → Figure 10(a)). From this state, when the mounting head 17 pulls the nozzle shaft 17S upward, the flange portion 18c of the nozzle 18 interferes with the shutter unit 42, preventing it from moving upward. As a result, the nozzle 18 remains in the nozzle changer 23, and only the nozzle shaft 17S rises. This removes the nozzle 18 from the nozzle shaft 17S (nozzle removal operation).

[0033] When attaching a nozzle 18 mounted on the nozzle changer 23 to the nozzle shaft 17S, first, the mounting head 17 is moved to allow the substrate camera 21 to capture an image of the identification mark 18M of the nozzle 18 to be attached. Then, the nozzle 18 is identified based on the image obtained from the capture (nozzle identification operation).

[0034] Once the nozzle 18 is identified, the mounting head 17 is moved so that the nozzle shaft 17S is positioned above the nozzle 18, and then the nozzle shaft 17S is lowered. This causes the base 18a of the nozzle 18 to fit onto the lower end of the nozzle shaft 17S, and the nozzle 18 is connected to the nozzle shaft 17S. Once the nozzle 18 is connected to the nozzle shaft 17S, the shutter drive unit is activated to position the shutter unit 42 in the insertion / removal allowable position (Figure 10(b)). In this state, when the mounting head 17 pulls the nozzle shaft 17S upward, the nozzle 18 rises together with the nozzle shaft 17S, and the nozzle 18 is attached to the nozzle shaft 17S (nozzle installation operation).

[0035] The series of operations described above, consisting of nozzle removal, nozzle identification, and nozzle installation, is performed in nozzle replacement operations to replace the nozzle 18 attached to the nozzle shaft 17S, as well as when resuming armament operations after a period of interruption in parts installation (nozzle re-installation operation). However, in nozzle replacement operations, the nozzle 18 removed from the nozzle shaft 17S and the nozzle 18 attached to the nozzle shaft 17S are different nozzles 18, whereas in nozzle re-installation operations, the nozzle 18 removed from the nozzle shaft 17S and the nozzle 18 attached to the nozzle shaft 17S are the same nozzle 18.

[0036] The control unit 40 controls the operation of each part of the component mounting device 1 (Figure 8). Specifically, the control unit 40 controls the transport and positioning of the substrate KB by the substrate transport unit 12, the component supply operation by each tape feeder 15, the movement operation of the mounting head 17 by the head movement mechanism 16, and the position switching operation of the shutter unit 42 in the nozzle changer 23. The control unit 40 also controls the suction operation (and release operation) of component BH to the lower end of the nozzle 18 by the mounting head 17, and controls the imaging operation of the substrate camera 21 and component camera 22, respectively. The control unit 40 also performs various recognitions based on the image data sent from the substrate camera 21 and the image data sent from the component camera 22, respectively.

[0037] In Figure 2, each of the loading opening 13a and the unloading opening 13b is provided with an intrusion detection sensor 61 that detects when a worker's hand or other foreign object enters the loading opening 13a or the unloading opening 13b (see also Figure 1(a)). In this embodiment, the intrusion detection sensor 61 is composed of an optical sensor consisting of a light emitter 61a that emits inspection light and a light receiver 61b that receives the inspection light emitted by the light emitter 61a. When a foreign object (including a worker's hand, etc.) enters the loading opening 13a or the unloading opening 13b and the inspection light is blocked, the sensor outputs an intrusion detection signal to the control unit 40 (Figure 8). In other words, the intrusion detection sensor 61 detects a change in the state of the loading opening 13a or the unloading opening 13b.

[0038] In Figures 1(a) and 7(a) and 7(b), the base cover 13 is provided with cover doors 13T at each end in the Y direction. Each cover door 13T can be opened and closed vertically using a hinge 13H provided on the top surface of the base cover 13 as a pivot point (Figure 7(a)).

[0039] As can be seen in Figure 7(b), when the trolley 14 is connected to the base 11 with the cover door 13T closed, the parts supply port 15K of the tape feeder 15 attached to the trolley 14 is located within the workspace 11S. Therefore, with the cover door 13T closed, the operator cannot touch the mounting head 17, nor can they operate the tape holder 32 of the tape feeder 15 (i.e., load the carrier tape CT onto the tape feeder 15). For this reason, the operator needs to open and close the cover door 13T when accessing the mounting head 17 and the nozzle changer 23.

[0040] In Figures 1(a) and 2, the base cover 13 is provided with a door sensor 62 that detects whether or not the cover door 13T is closed. When the control unit 40 detects that the cover door 13T has been opened during the component mounting process, the door sensor 62 outputs a door open / closed signal to the control unit 40. In other words, the door sensor 62 detects a change in the state of the cover door 13T.

[0041] In Figures 2 and 3, a feeder sensor 63 is provided on the base cover 13. The feeder sensor 63 consists of a light-emitting unit 63a that emits inspection light in the X direction to a position slightly above the tape holder 32 of the tape feeder 15 within the work space 11S, and a light-receiving unit 63b that receives the inspection light.

[0042] The feeder sensor 63 detects when the tape retainer 32 is not completely closed to the tape feeder 15 or when the tape feeder 15 is lifted away from the feeder base 14F (i.e., an abnormal state of the tape feeder 15) by blocking the inspection light with the main body 31 or tape retainer 32 of the tape feeder 15. When the inspection light is blocked and the feeder sensor 63 detects an abnormal state of the tape feeder 15, it outputs a feeder abnormal state detection signal to the control unit 40. In other words, the feeder sensor 63 detects changes in the state of the tape feeder 15 relative to the feeder base 14F and changes in the state of the tape retainer 32 relative to the main body 31 of the tape feeder 15.

[0043] In Figures 1(a) and 2, emergency stop buttons 64 are provided on the front and rear of the base cover 13. When an emergency stop button 64 is operated by an operator, the emergency stop button 64 outputs an emergency stop signal to the control unit 40.

[0044] The control unit 40 will emergency stop the operation of the work unit 70 if an intrusion detection signal is output from the intrusion detection sensor 61, a door opening / closing signal is output from the door sensor 62, a feeder abnormal state detection signal is output from the feeder sensor 63, or an emergency stop signal is output from the emergency stop button 64 during the component mounting operation. Here, "work unit 70" refers to the operating unit related to the component mounting operation in the component mounting device 1, and in this embodiment, it refers to the substrate transport unit 12, the tape feeder 15, and the head moving mechanism 16 (Figure 8).

[0045] In Figure 8, the control unit 40 includes a program storage unit 71, an operation control unit 72, a sensor monitoring unit 73, a determination unit 74, a pattern storage unit 75, and a pattern selection unit 76. The program storage unit 71 stores a production program containing the operation sequence of each part, including the work unit 70, when the component mounting device 1 performs component mounting work, as well as data for the circuit board KB and component BH. The operation control unit 72 is a functional unit that operates the work unit 70 according to the production program recorded in the program storage unit 71, and the sensor monitoring unit 73 is a functional unit that constantly monitors the output from the detection unit 80. Here, the "detection unit 80" detects changes in the state of specific elements that constitute the work unit 70, and in this embodiment, it refers to the base-side connector 11C, the intrusion detection sensor 61, the door sensor 62, the feeder sensor 63, and the emergency stop button 64 (Figure 8).

[0046] When the component mounting device 1 performs component mounting work, it first performs preparatory work. "Preparatory work" refers to work performed before the main component mounting work is performed on the work object (in this case, the substrate KB), and includes various tasks such as the nozzle reattachment work mentioned above, width adjustment work to adjust the distance between the conveyors 12a of the substrate transport unit 12 to match the width dimension of the substrate KB, substrate position confirmation work to reconfirm the position of the substrate KB by imaging the substrate KB positioned by the substrate transport unit 12 with the substrate camera 21, and thermal correction work to correct errors due to thermal deformation of the head movement mechanism 16.

[0047] As mentioned above, the nozzle reattachment work among the preparation work consists of nozzle removal, nozzle identification, and nozzle attachment, and the nozzle 18 removed from the nozzle shaft 17S and the nozzle 18 attached to the nozzle shaft 17S are the same nozzle 18. By performing this nozzle reattachment work in the preparation work, even if the nozzle 18 has been manually replaced by an operator or some of the nozzles 18 have been removed from the mounting head 17 between the previous main work (parts mounting work) and the next main work, it is possible to continue the parts mounting work according to the production program.

[0048] The control unit 40 has the work unit 70 perform preparatory work, including reattaching the nozzle, and then has the work unit 70 perform the main work, which is component mounting. In the component mounting work, first the substrate transport unit 12 receives the substrate KB sent from upstream of the component mounting device 1, transports it, and positions it at the work position. Once the substrate transport unit 12 has positioned the substrate KB at the work position, the head moving mechanism 16 moves the mounting head 17 back and forth between the tape feeder 15 and the substrate KB, repeatedly performing the mounting turn.

[0049] The mounting turn by the mounting head 17 consists of the operation of picking up the component BH supplied by the tape feeder 15 to the component supply port 15K with the nozzle 18, the operation of moving above the component camera 22 while holding the picked-up component BH by suction to the lower end of the nozzle 18, allowing the component camera 22 to recognize the component BH, and then moving above the substrate KB, and the operation of mounting the component BH to the target mounting position above the substrate KB. When performing the operation of mounting the component BH to the target mounting position, the control unit 40 corrects the position of the nozzle 18 based on the recognition information of the component BH obtained by the component camera 22 imaging the component BH.

[0050] As the mounting head 17 repeatedly performs the above mounting turns, once all the components BH to be mounted on the circuit board KB have been mounted on the circuit board KB, the circuit board transport unit 12 operates to transport the circuit board KB out of the component mounting device 1. This completes the component mounting work for one circuit board KB.

[0051] As described above, the component mounting device 1 performs preparatory work consisting of various tasks such as nozzle reattachment, width adjustment, substrate position confirmation, and thermal compensation before performing the main component mounting operation. However, in this embodiment, as will be explained below, if certain conditions are met, the nozzle reattachment operation, which is part of the preparatory work, is omitted.

[0052] As mentioned above, the control unit 40 includes a determination unit 74, a pattern storage unit 75, and a pattern selection unit 76 (Figure 8). The determination unit 74 is a functional unit that determines whether or not there has been a change in the state of a specific element constituting the work unit 70 during the period between the completion of the main work, which is the parts mounting work, and the start of the next preparation work (during the downtime). This determination unit is based on the output (detection information) from the detection unit 80 acquired through the sensor monitoring unit 73.

[0053] The determination unit 74 determines whether there has been a change in the state of a specific element by determining whether (1) the trolley 14 was separated from the base 11 during the downtime, (2) foreign objects (including workers' hands, etc.) entered the loading opening 13a or the unloading opening 13b, (3) the cover door 13T was opened, (4) the tape feeder 15 was removed from the feeder base 14F, or (5) the tape holder 32 of the tape feeder 15 was operated. Here, the determination unit 74 makes the determination for (1) based on detection information from the base-side connector 11C, and for (2) based on detection information from the intrusion detection sensor 61. The determination unit 74 also makes the determination for (3) based on detection information from the door sensor 62, and for (4) and (5) based on detection information from the feeder sensor 63.

[0054] If the determination unit 74 determines that all of the above (1) to (5) are "no," that is, if it determines that during the shutdown period the parts mounting device 1 maintained the state in which the trolley 14 was not separated from the base 11, no foreign matter entered the loading opening 13a or the unloading opening 13b, the cover door 13T was not opened, the tape feeder 15 was not removed from the feeder base 14F, and the tape holder 32 of the tape feeder 15 was not operated, then it determines that "there was no change in the state of any particular element." On the other hand, if at least one of the above (1) to (5) is not "no," then the determination unit 74 determines that "there was a change in the state of any particular element."

[0055] In Figure 8, the pattern memory unit 75 stores a first pattern 75a and a second pattern 75b. Here, the "first pattern 75a" is the original work pattern as a preparatory work, that is, a work pattern that performs all of the aforementioned preparatory work, with the nozzle reattachment work, which is one of the tasks, omitted, and the "second pattern 75b" is the original work pattern as a preparatory work that performs all of the preparatory work.

[0056] The pattern selection unit 76 selects one of two work patterns stored in the pattern storage unit 75, namely the first pattern 75a and the second pattern 75b, based on the determination result of the determination unit 74. Specifically, the pattern selection unit 76 selects the first pattern 75a if the determination unit 74 determines that "there was no change in the state of a specific element," and selects the second pattern 75b if the determination unit 74 determines that "there was a change in the state of a specific element." The control unit 40 then controls the work unit 70 to perform preparatory work using the work pattern selected by the pattern selection unit 76 (either the first pattern or the second pattern), and then controls the work unit 70 to perform the main work, which is the component mounting work.

[0057] The first pattern described above is a work pattern in which some parts are omitted from the original work pattern as a preparatory work. The omitted tasks are: the work of the mounting head 17 placing the nozzle 18 on the nozzle changer 23 (nozzle removal work); the work of imaging the identification mark 18M of the nozzle 18 placed on the nozzle changer 23 with the substrate camera 21, which is an imaging means, and identifying the nozzle 18 based on the results obtained from the imaging (nozzle identification work); and the work of attaching the identified nozzle 18 to the nozzle changer 23 with the mounting head 17 (nozzle attachment work).

[0058] As described above, the component mounting device 1 in this embodiment includes a detection unit 80 that detects changes in the state of a specific element constituting the work unit 70, and a determination unit 74 that determines, based on the detection information from the detection unit 80, whether or not there has been a change in the state of that specific element between the end of the previous main work (component mounting work) and the start of the next preparation work (during the downtime). The control unit 40 controls the work unit 70 to perform the preparation work in a first pattern, which is a partial omission of the original work pattern for preparation work, if the determination unit 74 determines that there has been a change in the state of the specific element. If the determination unit 74 determines that there has been a change in the state of the specific element, the control unit 40 controls the work unit 70 to perform the preparation work in a second pattern, which is the original work pattern for preparation work.

[0059] In this embodiment, if the determination unit 74 determines that "there was no change in the state of a specific element," this means that there is no evidence that an operator accessed the inside of the component mounting device 1, and it is guaranteed that the nozzle 18 was not replaced manually by an operator during the downtime. Therefore, even if the determination unit 74 determines that "there was no change in the state of a specific element," it would be wasteful and time-consuming to perform the nozzle reattachment work again in the subsequent preparation work. For this reason, in this embodiment, if no change in the state of a specific element constituting the work unit 70 is detected during the downtime, and the determination unit 74 determines that "there was no change in the state of a specific element," the work unit 70 will perform the preparation work in a first pattern in which some of the work (in this case, the nozzle reattachment work) is omitted from the original work pattern as preparation work, thereby shortening the time required for preparation work.

[0060] Figure 11 shows the flow of production work (including preparation work for parts mounting) by the parts mounting device 1 (control method of the work device). In production work, the control unit 40 first determines, in the determination unit 74, whether or not there has been a change in the state of a specific element during the period between the end of the previous parts mounting work and the start of the next preparation work (during the downtime) based on the detection information from the detection unit 80 (step ST1).

[0061] In step ST1, if the determination unit 74 determines that there was no change in the state of a specific element, the control unit 40 selects the first pattern using the pattern selection unit 76, assuming that there was no access to the inside of the component mounting device 1 during the downtime (step ST2). On the other hand, if the determination unit 74 determines in step ST1 that there was a change in the state of a specific element, the control unit 40 selects the second pattern (step ST3).

[0062] If the control unit 40 selects a first pattern in step ST2, or a second pattern in step ST3, it controls the work unit 70 to perform preparatory work according to the selected work pattern (step ST4), and then controls the work unit 70 to perform the main work, which is the parts mounting work (step ST5).

[0063] In the flowchart of the control method for the work device shown in Figure 11, step ST1 corresponds to a determination step, in which, based on detection information from a detection unit 80 that detects changes in the state of a specific element constituting the work unit 70, it is determined whether or not there has been a change in the state of that specific element between the end of the previous main work and the start of the next preparatory work. Steps ST2 and ST3 correspond to selection steps, in which, if the determination step determines that there has been no change in the state of the specific element, a first pattern, which is a work pattern that is a part of the original work pattern as preparatory work, is selected, and if the determination step determines that there has been a change in the state of the specific element, a second pattern, which is the original work pattern as preparatory work, is selected. Steps ST4 and ST5 correspond to control steps, in which the work unit 70 is operated to perform the main work after the work unit 70 has performed the preparatory work using the first or second pattern selected in the selection step.

[0064] By controlling the component mounting device 1 in this manner, the above-mentioned effects can be achieved, namely, by reducing the time required for preparatory work performed before the actual work (component mounting work), thereby improving work efficiency.

[0065] As described above, in the component mounting device 1 as a work device and its control method in this embodiment, based on detection information from the detection unit 80 which detects changes in the state of specific elements constituting the work unit 70, it is determined whether or not there has been a change in the state of a specific element between the completion of the main work (component mounting work) by the work unit 70 and the start of the next preparatory work (during the downtime). If it is determined that there has been no change in the state of the specific element, the work unit 70 performs the preparatory work using a first pattern, which is a partial omission of the original preparatory work pattern, before executing the main work. If it is determined that there has been a change in the state of the specific element, the work unit 70 performs the preparatory work using a second pattern, which is the original preparatory work pattern, before executing the main work. Therefore, by omitting a part of the work in the original preparatory work pattern that is guaranteed not to be touched by an operator during the downtime, the time required for preparatory work can be shortened, thereby improving the work efficiency of the component mounting device 1.

[0066] While embodiments of the present invention have been described above, the present invention is not limited to those described above, and various modifications are possible. For example, in the above-described embodiment, the tasks omitted from the original work pattern as preparatory work in the first pattern were nozzle removal, nozzle identification, and nozzle installation, but the tasks to be omitted are not limited to these tasks. Also, in this embodiment, the work device was a parts mounting device, but this is just one example, and the work device to which the present invention is applied is not limited to a parts mounting device, as long as it has a work unit that performs the main work on the work object after the preparatory work has been performed. [Industrial applicability]

[0067] This invention provides a work device and a control method for the work device that can improve work efficiency by reducing the time required for preparatory work performed before the actual work. [Explanation of symbols]

[0068] 1. Parts mounting device (working device) 15 Tape feeder (parts supply unit) 17 Mounting Head 18 nozzles 18M Identification Mark 21. Circuit board camera (imaging means) 23 Nozzle Changer 40 Control Unit 61 Intrusion Detection Sensor 62 Door Sensor 63 Feeder Sensor 70 Work Unit 74 Judgment section 75 Pattern Memory Unit 75a Pattern 1 75b Second pattern 76 Pattern Selection Section 80 Detection unit BH parts KB circuit board (target of work)

Claims

1. A work apparatus comprising a work unit that performs the main work on the work object after performing predetermined preparatory work, and a control unit that controls the work unit, A detection unit for detecting changes in the state of specific elements constituting the work unit, Based on the detection information from the detection unit, the system includes a determination unit that determines whether or not there has been a change in the state of the specific element between the end of the previous main operation and the start of the next preparatory operation. The control unit controls the work unit to perform the preparation work in a first pattern, which is a work pattern in which a part of the original work pattern as preparation work is omitted, when the determination unit determines that there has been no change in the state of the specific element.

2. The work apparatus according to claim 1, wherein the control unit controls the work unit to perform the preparation work in the second pattern, which is the original work pattern for preparation work, when the determination unit determines that there has been a change in the state of the specific element.

3. The work unit comprises a mounting head equipped with a nozzle for receiving parts supplied by a parts supply unit and mounting them onto a substrate as the work target, and a nozzle changer on which the nozzle is placed, wherein the omitted work is the work of the mounting head placing the nozzle on the nozzle changer, according to claim 1 or 2.

4. The work apparatus according to claim 3, comprising: an imaging means provided on the mounting head with an imaging field of view directed downward; and an identification mark provided on the nozzle, wherein the omitted work is the work of imaging the identification mark of the nozzle placed on the nozzle changer with the imaging means, and identifying the nozzle based on the result obtained from the imaging.

5. The work apparatus according to claim 4, wherein the omitted work is the work of attaching the identified nozzle to the nozzle changer using the mounting head.

6. A control method for a work apparatus equipped with a work unit that performs the main work on the work object after performing predetermined preparatory work, A determination step, based on detection information from a detection unit that detects changes in the state of specific elements constituting the work unit, determines whether or not there has been a change in the state of the specific element between the end of the previous main work and the start of the next preparatory work. If the determination step determines that there has been no change in the state of the specific element, a first pattern is selected, which is a work pattern in which a part of the original work pattern as a preparatory work is omitted. If the determination step determines that there has been a change in the state of the specific element, a second pattern is selected, which is the original work pattern as a preparatory work. A control step which causes the work unit to perform the main work after the work unit has performed preparatory work according to the first pattern or the second pattern selected in the selection step, A method for controlling a work device, including a work apparatus.

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