Control device for pressing device, pressing device, program, and recording medium

Abstract

A control device of a pressing device according to an aspect of the present disclosure comprises: a FB control unit that controls the position of a contact surface by controlling a drive source; an acquisition unit that acquires operation information of the drive source; and a positional deviation determination unit that determines whether positional deviation of a workpiece has occurred. When it is determined that positional deviation has occurred, the FB control unit changes the position of the contact surface from a first target position of the workpiece that is closer to a support portion side than the pressing surface constituted by the contact surface to a second target position that is closer to the front side than the first target position.

Description

Control device for pressing device, pressing device, program, and recording medium

[0001] The present disclosure relates to a control device for a pressing device, a pressing device program, and a recording medium.

[0002] There are known pressing devices for pressing and holding a workpiece at a desired position when machining the workpiece. For example, Patent Document 1 listed below discloses a configuration in which the workpiece is pressed and held with a predetermined torque, and then a servo motor is controlled in accordance with the displacement of the workpiece to adjust the torque, thereby sandwiching the workpiece from both sides with a constant torque using a face driver.

[0003] Patent No. 3259371

[0004] However, the conventional technology is configured to constantly press the workpiece with a constant torque, and the face driver moves in response to the displacement of the workpiece. In other words, the conventional technology requires a complex torque control means to always clamp the workpiece with a constant torque regardless of the displacement of the workpiece.

[0005] The present disclosure provides a control device for a pressing device, a pressing device program, and a recording medium that can detect positional deviation of a workpiece during positioning using a relatively simple control means and quickly change the target pressing position to prevent excessive pressing of the workpiece by the movable part.

[0006] In order to solve the above problems, the present disclosure employs the following aspects. (1) A control device for a pressing device according to one aspect of the present disclosure is a control device for controlling a pressing device including: a movable section having an abutment surface capable of abutting against a workpiece supported by a support section and pressing the workpiece toward the support section when a driving force of a drive source is applied thereto; and a guide section that transmits the driving force of the drive source to the movable section and guides the movable section so that the abutment surface approaches and moves away from the workpiece, the control device including: an FB control section that controls the drive source to control the position of the abutment surface; an acquisition section that acquires operation information of the drive source; and a positional deviation determination section that determines whether a positional deviation of the workpiece has occurred, and when it is determined that a positional deviation has occurred, the FB control section changes the position of the abutment surface from a first target position that is closer to the support section than a pressing surface of the workpiece held by the abutment surface to a second target position that is closer to the first target position.

[0007] According to this aspect, when the positional deviation determination unit determines that the workpiece is misaligned, the target position of the contact surface is reset to a second target position that is closer to the first target position. In other words, by stopping the contact surface at the second target position regardless of the amount of misalignment of the workpiece, it is possible to prevent the movable part from pressing the workpiece excessively.

[0008] (2) In the control device according to the aspect (1), the second target position is preferably the position of the contact surface at the time when it is determined that the positional deviation has occurred. According to this aspect, when an abnormality in the pressing by the movable part is detected, it is possible to prevent the movable part from continuously pressing the workpiece.

[0009] (3) In the control device according to aspect (2) above, it is preferable that the acquisition unit acquires a speed value of the drive source as the operation information of the drive source, and the positional deviation determination unit determines that the positional deviation has occurred when it determines that the speed value of the drive source is equal to or greater than a set speed value after the workpiece is pressed against the movable part. According to this aspect, it is determined that the workpiece is misaligned when the operating speed of the drive source is equal to or greater than the set speed. Therefore, regardless of the contact status between the workpiece and the movable part, movement of the movable part due to the positional deviation of the workpiece can be detected with high accuracy and quickly. Positional deviation of the workpiece during positioning can be detected with high accuracy and quickly, and the target pressing position can be quickly changed to prevent the movable part from pressing the workpiece excessively.

[0010] (4) In the control device according to the aspect (3), it is preferable that the acquisition unit further acquires a torque value of the drive source as the operation information of the drive source, and the positional deviation determination unit determines that the positional deviation has occurred when the torque value of the drive source is outside a range of set torque values ​​when the workpiece is pressed by the movable part. According to this aspect, by determining the positional deviation of the workpiece based on the torque of the drive source in addition to the speed of the drive source, it is possible to quickly detect abnormal pressing by the movable part with high accuracy.

[0011] (5) In the control device according to the aspect (1) above, it is preferable that the acquisition unit acquires a torque value of the drive source as operation information of the drive source and includes a positioning determination unit that determines whether positioning of the workpiece by the movable unit has been completed, and the positioning determination unit determines that positioning has been completed when the torque value of the drive source is maintained within a set torque value range for a set time while the movable unit is moving to the first target position. According to this aspect, an appropriate load can be applied to the workpiece.

[0012] (6) A pressing device according to one aspect of the present disclosure includes the control device according to any one of the above aspects (1) to (5), the movable part, the guide part, and a support body part to which the guide part is fixed. According to this aspect, since the pressing device includes the control device according to the above aspect, it is possible to provide a pressing device that can suppress excessive pressing of the workpiece by the movable part.

[0013] (7) A program according to one aspect of the present disclosure causes a computer of a pressing device including: a movable part having an abutment surface that can abut against a workpiece supported by a support part, the movable part pressing the workpiece toward the support part under the action of a driving force of a driving source; and a guide part that transmits the driving force of the driving source to the movable part and guides the movable part so that the abutment surface approaches and moves away from the workpiece. The program causes the computer to execute an FB control step of controlling the position of the abutment surface by controlling the driving source; an acquisition step of acquiring operation information of the driving source; and a position deviation determination step of determining whether or not a position deviation of the workpiece has occurred. If it is determined that a position deviation has occurred, the FB control step changes the position of the abutment surface from a first target position that is closer to the support part than a pressing surface of the workpiece held by the abutment surface to a second target position that is closer to the first target position.

[0014] (8) In the program according to the aspect (7) above, it is preferable that the acquisition step acquires a speed value of the driving source as operation information of the driving source, and the positional deviation determination step determines that a positional deviation has occurred when the speed value of the driving source is equal to or greater than a set speed value after the workpiece is pressed against the movable part.

[0015] (9) A recording medium according to one aspect of the present disclosure is readable by a computer that stores the program described in (7) or (8) above.

[0016] According to each of the above aspects, excessive pressing of the workpiece by the movable part can be suppressed.

[0017] FIG. 1 is a schematic configuration diagram of a pressing device according to an embodiment. FIG. 2 is a block diagram of a pressing device according to an embodiment. FIG. 3 is a schematic configuration diagram of a display unit. FIG. 4 is an explanatory diagram of the operation of a pressing device according to an embodiment. FIG. 5 is an explanatory diagram of the operation of a pressing device according to an embodiment. FIG. 6 is an explanatory diagram of the operation of a pressing device according to an embodiment. FIG. 7 is an explanatory diagram of the operation of a pressing device according to an embodiment. FIG. 8 is an explanatory diagram of the operation of a pressing device according to an embodiment. FIG. 9 is an explanatory diagram of the operation of a pressing device according to an embodiment. FIG. 10 is a flowchart for explaining a positioning method. FIG. 11 is a flowchart for explaining a positional deviation determination method. FIG. 12 is a time chart from completion of positioning until occurrence of positional deviation. FIG. 13 is a time chart from completion of positioning until occurrence of positional deviation. FIG. 14 is a flowchart for explaining an abnormality notification method. FIG. 15 is a flowchart for explaining an initial position return method. FIG. 16 is a flowchart for explaining a positional deviation determination method according to a modified example.

[0018] Next, an embodiment of the present disclosure will be described with reference to the drawings. In the embodiments and modifications described below, the same reference numerals will be used to designate corresponding components, and the description thereof may be omitted. In the following description, expressions indicating relative or absolute arrangements, such as "parallel," "orthogonal," "center," and "coaxial," not only strictly indicate such arrangements, but also indicate a state in which there is a relative displacement with an angle or distance to the extent that tolerances or the same function are obtained. In this embodiment, "facing" is not limited to cases in which the orthogonal directions (normal directions) of two surfaces are aligned with each other, but also includes cases in which the orthogonal directions intersect.

[0019] [Pressing Device 1] Fig. 1 is a schematic diagram of the pressing device 1. As shown in Fig. 1, the pressing device 1 presses the workpiece W, such as an electronic component, against a substrate (supporting portion) 3 via a solder paste 4 when mounting the workpiece W on the substrate 3. The substrate 3 is supported by a stage S. In the following description, the direction perpendicular to the support surface 3a of the substrate 3 that supports the workpiece W is referred to as the X direction (first direction), and the direction intersecting the X direction is referred to as the Y direction. In this case, the X direction coincides with the up-down direction.

[0020] The pressing device 1 includes a device main body 10 and a control device 20. <Device Main Body 10> The device main body 10 is disposed facing the substrate 3 supported by the stage S in the X direction. The device main body 10 includes a drive source 11 (see FIG. 2), a guide unit 12, a movable unit 13, a motion detection unit 16 (see FIG. 2), and a main body support unit 17. The device main body 10 also includes a display unit 14 (see FIG. 2) and an input unit 15 (see FIG. 2). The drive source 11 is, for example, a servo motor. Note that the drive source 11 is not limited to a servo motor and may be a linear motor or the like. The guide unit 12 is, for example, an electric slider. The guide unit 12 is configured such that a built-in ball screw is rotated by the drive source 11 to move a slider built into the guide unit 12 in the X direction. In this embodiment, a ball screw-type electric slide is used; however, a linear drive-type electric slider without a ball screw may also be used.

[0021] The movable part 13 is supported by the guide part 12 so as to be movable in the X direction. The movable part 13 includes a base part 13a and an arm part 13b. The base part 13a is supported by a slider of the guide part 12. That is, the movable part 13 moves in the X direction as the slider moves in the X direction. One end of the arm part 13b is connected to the base part 13a and extends cantilevered from the base part 13a. The arm part 13b is formed in an L-shape, for example, extending from the base part 13a to the +Y side and then to the +X side. The tip surface (the surface facing the +X side) provided at the other end of the arm part 13b functions as an abutment surface 13c that can abut against the workpiece W. The abutment surface 13c abuts against the pressing surface Wa of the workpiece W, thereby sandwiching the workpiece W between the abutment surface 13c and the support surface 3a (substrate 3). In other words, the abutment surface 13c is brought into contact with the pressing surface Wa of the workpiece W, and the workpiece W is pressed against the substrate 3 supported at a predetermined position on the stage S, thereby positioning the workpiece W at a predetermined position on the support surface 3a.

[0022] The main body support part 17 extends, for example, from the stage S of the pressing device 1 to the −X side. The drive source 11 and the guide part 12 are fixed to the main body support part 17. The main body support part 17 may be installed on the base of the pressing device 1 or on the ground.

[0023] In the pressing device 1, the drive source 11 is driven with the workpiece W set on the support surface 3a via the paste-like solder 4. The drive force (torque) of the drive source 11 is then transmitted to the base portion 13a via the guide portion 12, causing the movable portion 13 to reciprocate in the X direction. When the movable portion 13 moves toward the +X side (approaching the workpiece W) relative to its initial position, the abutment surface 13c abuts against the workpiece W. As a result, the workpiece W is sandwiched between the support surface 3a and the abutment surface 13c with a predetermined torque acting on the movable portion 13 (positioning state). This allows the workpiece W to be mounted on the board 3 with the solder 4 spread evenly between the support surface 3a and the workpiece W. Meanwhile, when the movable portion 13 is moved toward the -X side (away from the workpiece W) from the positioning state, the abutment surface 13c moves away from the workpiece W. This allows the board 3 with the workpiece W mounted thereon to be removed.

[0024] FIG. 2 is a block diagram of the pressing device 1. FIG. 3 is a configuration diagram of the display unit 14. As shown in FIGS. 2 and 3, the display unit (alert unit) 14 displays the operating status of the pressing device 1. In the example shown in FIG. 3, the display unit 14 includes light-emitting elements 14a to 14c corresponding to the operating statuses of "torque limiting," "positioning completed," and "error." The display unit 14 notifies the user of the operating status of the pressing device 1 by turning on, off, or blinking the various light-emitting elements 14a to 14c. Note that the display unit 14 is not limited to the light-emitting elements 14a to 14c, and may be a display such as a liquid crystal or organic electroluminescence (EL) display, or may be configured to notify by sound or the like. Note that the display unit (alert unit) 14 may be included in the control device 20.

[0025] As shown in FIG. 2 , the input unit 15 accepts various types of information input to the pressing device 1. The input unit 15 outputs an operation signal to the control device 20 based on a user's operation. The input unit 15 may be input via a touch panel, buttons, or the like, or may include an IC card reader, a barcode reader, or the like. The input unit 15 may be included in the control device 20. The motion detection unit 16 detects the rotation speed of the drive source 11. The motion detection unit 16 is configured, for example, by a position (rotation angle) detector such as an optical encoder that outputs a pulse signal. The encoder is attached to the rotation shaft of the drive source 11. The encoder has a disk that rotates together with the rotation shaft of the drive source 11. The disk is positioned between a light-emitting element and a light-receiving element, and outputs a pulse signal corresponding to the amount of light passing through equally spaced slits on the disk. The pulse train of the output pulse signal has a frequency (number of pulses per unit time) proportional to the rotation speed of the drive source 11.

[0026] <Control device 20> The control device 20 comprehensively controls the device main body 10 (the operation of the drive source 11 and the movable part 13). The control device 20 is realized by a hardware processor such as a CPU executing a computer program (software) stored in the storage unit 30.

[0027] The control device 20 includes a torque detection unit 18. The control device 20 also includes a storage unit 30, an acquisition unit 31, a setting unit 32, and a processing unit 33. The torque detection unit 18 calculates the torque value of the drive source 11 from the drive current value of the drive source 11, which is proportional to the torque. The torque detection unit 18 may acquire the pressing force with which the movable unit 13 presses the workpiece W from a pressure sensor (not shown) provided on the movable unit 13, and calculate the torque value of the drive source 11 based on the pressing force. The storage unit 30 stores information necessary for the processing performed by the movable unit 13. The storage unit 30 stores, for example, position data (position in the X direction) of the contact surface 13c, detection results by the motion detection unit 16, detection results by the torque detection unit 18, and tables of various setting values ​​set based on the position data and detection results. The storage unit 30 may be realized by an EEPROM, a ROM, a RAM, or the like, or may be realized by a HDD, flash memory, or the like.

[0028] The calculation unit 34 includes a position calculation unit 34a, a torque calculation unit 34b, and a speed calculation unit 34c. The position calculation unit 34a calculates the position (position information) of the contact surface 13c in the X direction based on the detection results of the motion detection unit 16. For example, the position calculation unit 34a performs calculation processing based on the amount of change between the encoder count value when the movable unit 13 is located at the initial position and the current encoder count value, and position information linked to the count value, to calculate the position (position information) of the movable unit 13 in the X direction. Note that known relative position information between the movable unit 13 and the contact surface 13c may be reflected in the calculation processing to calculate the position (position information) of the contact surface 13c. The torque calculation unit 34b calculates the torque (torque value) of the drive source 11 based on the detection results of the torque detection unit 18. For example, the torque calculation unit 34b calculates the torque (torque value) of the drive source 11 from the drive current value of the drive source 11. The torque calculation unit 34b may calculate the torque (torque value) of the driving source 11 from the pressing force acquired from the pressure sensor. The speed calculation unit 34c calculates the speed (speed value) of the driving source 11 based on the detection result of the motion detection unit 16. For example, the speed calculation unit 34c performs arithmetic processing based on the number of pulses per unit time output by the encoder to calculate the speed (speed value) of the driving source 11.

[0029] The acquisition unit 31 includes a position acquisition unit 31a, a torque acquisition unit 31b, and a speed acquisition unit 31c. The position acquisition unit 31a acquires the position (position information) of the contact surface 13c in the X direction from the position calculation unit 34a. The torque acquisition unit 31b acquires the torque (torque value) of the driving source 11 from the torque calculation unit 34b. The speed acquisition unit 31c acquires the speed (speed value) of the driving source 11 from the speed calculation unit 34c.

[0030] The setting unit 32 sets information necessary for the movable unit 13 to press the workpiece W and for detecting pressing abnormalities of the workpiece W. The information set in the setting unit 32 is set by the user operating the input unit 15. A pressing abnormality is a state in which the positioning state of the workpiece W is released due to vibration, excessive pressing, or the like. In other words, a pressing abnormality is a state in which the movable unit 13, which had been stopped while maintaining a predetermined torque value, moves from the position where the workpiece W was positioned (a state in which the workpiece W is displaced) because the workpiece W moves from the position where it was positioned by the movable unit 13 due to vibration, excessive pressing, or the like. The setting unit 32 includes a position setting unit 32a, a torque setting unit 32b, and a speed setting unit 32c. The setting unit 32 also includes an initial position setting unit (not shown).

[0031] The position setting unit 32a sets a target position (first target position) for the contact surface 13c during the pressing operation. The target position is set on the +X side (toward the substrate 3) of the pressing surface Wa. Setting the target position on the +X side of the pressing surface Wa allows a pressing force to be applied to the workpiece W, but it may be any position where an appropriate pressing force is expected to be applied, and may be arbitrarily set in advance by, for example, an operator. The torque setting unit 32b sets a torque limit value and a torque abnormality threshold value for detecting pressing abnormalities. The torque limit value is a set value (upper limit target value) of the torque generated in the drive source 11 when the movable part 13 is in contact with the pressing surface Wa. The torque abnormality threshold is the torque tolerance of the drive source 11 when the workpiece W is positioned. The torque abnormality threshold is preferably set to, for example, approximately ±3% (absolute value 3%) of the torque limit value. The speed setting unit 32c sets a speed abnormality threshold for detecting pressing abnormalities. That is, the speed abnormality threshold is a threshold for determining whether the movable part 13 has started moving again toward the target position due to an increase in speed from the positioning state (speed of 0 (rpm)). The speed abnormality threshold is preferably set to a value greater than 0 (rpm) and less than 300 (rpm), for example.

[0032] The processing unit 33 includes an FB control unit 33a and a determination unit 33b. The FB control unit 33a performs feedback control (FB control) of the driving source 11 (movable unit 13) by outputting an operation signal to the driving source 11 based on the information acquired by the acquisition unit 31 and the information set by the setting unit 32. Specifically, the FB control unit 33a includes a target position setting unit 33a1 and a stopping unit 33a2.

[0033] The target position setting unit 33a1 stores position information that is the target position of the movable part 13. That is, the FB control unit 33a operates the drive source 11 according to the target position stored in the target position setting unit 33a1. The target position setting unit 33a1 stores a target arrival position (first target position) set in the position setting unit 32a during normal operation. Furthermore, when a pressing abnormality occurs, the target position setting unit 33a1 stores a convergence position (second target position) of the contact surface 13c. The convergence position is, for example, the position of the movable part 13 (contact surface 13c) at the time of the abnormality, which is acquired by the position acquisition unit 31a. That is, the convergence position is the position of the movable part 13 (contact surface 13c) acquired by the position acquisition unit 31a at the time when the judgment unit 33b (position deviation judgment unit 33b3) determines that a pressing abnormality has occurred. The stopping unit 33a2 stops the operation of the driving source 11 (outputs an OFF signal to the driving source 11) when the actual position of the contact surface 13c in the X direction reaches the convergence position.

[0034] The determination unit 33b determines the pressing state of the movable unit 13 based on the information acquired by the acquisition unit 31 and the information set by the setting unit 32. Specifically, the determination unit 33b includes a contact determination unit 33b1, a positioning determination unit 33b2, a positional deviation determination unit 33b3, and a release determination unit 33b4.

[0035] The abutment determination unit 33b1 determines whether the abutment surface 13c has abutted against the pressing surface Wa based on the information acquired by the acquisition unit 31 and the information set by the setting unit 32. Specifically, the abutment determination unit 33b1 determines that the abutment surface 13c has abutted against the pressing surface Wa when the torque value of the drive source 11 acquired by the torque acquisition unit 31b reaches the torque limit value. The positioning determination unit 33b2 determines whether the workpiece W has been positioned based on the information acquired by the acquisition unit 31 and the information set by the setting unit 32. Specifically, the positioning determination unit 33b2 determines that the workpiece W has been positioned when, after the abutment surface 13c has abutted against the workpiece W, the torque value of the drive source 11 acquired by the torque acquisition unit 31b remains within the set torque value range (a range less than the torque abnormality threshold value relative to the torque limit value) for a set time. Note that when the positioning determination unit 33b2 determines that the workpiece W has been positioned, it can also be expressed as the workpiece W transitioning to a positioned state. The positioning determination unit 33b2 outputs a positioning completion signal when it determines that the workpiece W has been positioned. The positioning determination unit 33b2 may determine the positioning state based on the rotation speed of the drive source 11.

[0036] The positional deviation determination unit 33b3 determines whether a pressing abnormality (positional deviation of the workpiece W) has occurred based on the information acquired by the acquisition unit 31 and the information set by the setting unit 32. Specifically, the positional deviation determination unit 33b3 determines a pressing abnormality when the torque value of the drive source 11 acquired by the torque acquisition unit 31b fluctuates from the torque limit value by more than the torque abnormality threshold (absolute value). The positional deviation determination unit 33b3 also determines a pressing abnormality when the speed value of the drive source 11 acquired by the speed acquisition unit 31c is greater than or equal to the speed abnormality threshold. Note that if a pressing abnormality is determined based solely on the torque value of the drive source 11, the determination accuracy of the positional deviation determination unit 33b3 may be degraded. Specifically, the feedback control unit 33a controls the drive source 11 by feedback so that the movable part 13 (contact surface 13c) moves toward the target position (first target position). Therefore, when a pressing abnormality (positional deviation of the workpiece W) has occurred, the drive source 11 is controlled to follow the positional deviation of the workpiece W. In this case, the torque value of the driving source 11 may not fluctuate by more than the torque abnormality threshold (absolute value), and the pressing abnormality may not be determined.

[0037] Furthermore, even when determining whether a pressing abnormality exists based only on the speed value of the drive source 11, the accuracy of the determination by the position deviation determination unit 33b3 may be degraded. For example, this may occur when noise is introduced into the pulse signal output from the encoder used to calculate the speed due to some kind of malfunction. In this case, the noise in the pulse signal makes it impossible to calculate an accurate speed, and even though a pressing abnormality has occurred, the speed abnormality threshold is erroneously detected as being less than the threshold, and the pressing operation continues.

[0038] When a pressing abnormality occurs, it is necessary to reliably stop the pressing operation of the pressing device 1 in order to prevent breakdown of the pressing device 1 and damage to the workpiece W. In view of the above-mentioned problems, it is preferable to determine whether or not a pressing abnormality has occurred based on the detection results of both the torque value of the driving source 11 and the speed value of the driving source 11. As an example of a specific determination method, it is possible to determine that a pressing abnormality has occurred when either or both of the torque value and the speed value of the driving source 11 exceed a threshold value, and to determine that a pressing abnormality has not occurred only when the torque value of the driving source 11 is less than the torque abnormality threshold value and the speed value of the driving source 11 is less than the speed abnormality threshold value.

[0039] As another example of a determination method, a pressing abnormality may be determined to have occurred only when both the torque value of the drive source 11 and the speed value of the drive source 11 exceed a threshold value. Instead of determining that a pressing abnormality has occurred when either the torque value of the drive source 11 or the speed value of the drive source 11 exceeds a threshold value, the pressing operation of the pressing device 1 may be interrupted and the movable part 13 of the pressing device 1 may be moved to its initial position. By determining that a pressing abnormality (i.e., a positional deviation) has occurred only when both the torque value and the speed value of the drive source 11 exceed their threshold values ​​substantially simultaneously, the occurrence of a positional deviation can be detected with higher accuracy. After determining that a pressing abnormality has occurred, the release determination unit 33b4 determines whether a set time has elapsed. If the release determination unit 33b4 determines that the set time has elapsed, the release determination unit 33b4 releases the torque limit on the drive source 11. Furthermore, the control device 20 outputs a signal to light or flash the “error” light-emitting unit 14c based on the determination of the release determination unit 33b4.

[0040] (Control Method of Pressing Device 1) Next, the control method of the pressing device 1 will be described, including the operation from the initial state to the positioned state (positioning method), the operation during positioning (method of determining positional deviation of the workpiece W), the abnormality notification method, and the initial position return method. FIGS. 4 to 11 are explanatory diagrams of the operation of the pressing device 1. FIGS. 4 to 11 show the position of the movable part 13, the changes in torque and speed over time, and the display state on the display unit 14 at each timing. In the following description, X0 corresponds to the initial position of the contact surface 13c, X1 corresponds to the actual position of the contact surface 13c in the positioned state, X2 corresponds to the target position (first target position) of the contact surface 13c until a pressing abnormality occurs, and X2' corresponds to the convergence position (second target position) of the contact surface 13c when a pressing abnormality occurs. It is also assumed that the workpiece W is set so that the pressing surface Wa is located at X1 between X0 and X2.

[0041] FIG. 12 is a flowchart illustrating the positioning method. As shown in FIGS. 4 and 12 , the substrate 3 is prepared on the stage S, which serves as the working section, and the workpiece W is placed on the solder paste 4 provided on the support surface 3 a. When this completes the work preparation, an operation signal for starting the pressing operation (pressing operation start signal) is input to the control device 20. This initiates the pressing operation by the movable unit 13 in step S11 (FB control step). Specifically, a torque limit value is preset in the torque setting unit 32 b. This initiates torque limitation of the drive source 11, and the "torque limiting" light-emitting unit 14 a on the display unit 14 lights up. Furthermore, a target position is preset in the position setting unit 32 a. The target position is set on the +X side (X2 in this embodiment) of the position X1 of the pressing surface Wa. Note that the position X1 of the pressing surface Wa may be set to a different position depending on the type of workpiece W. Based on the processing of the FB control unit 33a, the control device 20 outputs an operation signal to the driving source 11, thereby operating the driving source 11. As a result, the movable portion 13 starts to move to the +X side.

[0042] As shown in FIGS. 5 and 6 , in step S12, the contact determination unit 33b1 determines whether the torque value of the drive source 11 has reached the torque limit value (contact determination). If the determination result in step S12 is "NO," it is determined that the contact surface 13c has not yet contacted the pressing surface Wa, or that the drive source 11 is contacting the pressing surface Wa but is not generating sufficient torque. In this case, the movable unit 13 continues moving toward the +X side (see time t0 to t1). On the other hand, if the determination result in step S12 is "YES," it is determined that the drive source 11 is generating sufficient torque, and the contact surface 13c has contacted the pressing surface Wa (see time t1). Note that "sufficient torque" refers to a torque value that is less than 3% of the torque limit value set in the torque setting unit 32b by absolute value. In this case, the speed value of the drive source 11 is 0 (rpm). When the contact determination unit 33b1 determines that the contact surface 13c has contacted the pressing surface Wa, the display unit 14 may light up an "contact complete" light-emitting unit (not shown).

[0043] 6 and 7, in step S13, the positioning determiner 33b2 determines whether positioning is complete. Specifically, the determination is made based on whether the torque value of the drive source 11 has remained within the range of the set torque value relative to the torque limit value (a state less than the torque abnormality threshold) for a set period of time. If the determination result in step S13 is "NO," step S13 is repeated. On the other hand, if the determination result in step S13 is "YES," the process proceeds to step S14 (see time t2).

[0044] In step S14, a positioning completion signal is output, and the completion of the positioning operation is stored in the memory unit 30. When the positioning operation is completed, the light emitting unit 14b for "positioning completed" lights up in addition to the light emitting unit 14a for "torque limiting" (see FIG. 7). When the positioning operation is completed, the workpiece W is held in a state where it is pressed with the desired pressing force.

[0045] Referring to FIGS. 7 to 9 and 13, a positioning operation (positional deviation determination method) will be described as a control method for the pressing device 1. FIG. 13 is a flowchart for describing the positional deviation determination method. This routine is executed after the positioning operation is completed in step S14. The completion of the positioning operation refers to the time after the workpiece W is pressed by the movable part 13 (after the workpiece W is sandwiched between the movable part 13 and the substrate 3), and after the torque value has remained within the set torque value range with respect to the torque limit value for a set period of time in this embodiment. For example, the set torque value range is ±3% (3% absolute value) of the torque limit value, and the set period of time is 1 second. As shown in FIG. 13, in step S21 (positional deviation determination step), the positional deviation determination unit 33b3 determines whether a torque abnormality has been detected. Specifically, the positional deviation determination unit 33b3 determines whether the torque value of the drive source 11 acquired by the torque acquisition unit 31b fluctuates from the torque limit value by more than the torque abnormality threshold (absolute value) (whether it is outside the set torque value range). If the determination result of step S21 is "YES" (if the torque value fluctuates by more than the torque abnormality threshold (absolute value)), it is determined that a positional deviation of the workpiece W has occurred, and the process proceeds to step S24. On the other hand, if the determination result of step S21 is "NO" (if the torque value does not fluctuate by more than the torque abnormality threshold (absolute value)), the process proceeds to step S22.

[0046] In step S22 (positional deviation determination step), the positional deviation determination unit 33b3 determines whether a speed abnormality has been detected. Specifically, the positional deviation determination unit 33b3 determines whether the speed value of the drive source 11 acquired by the speed acquisition unit 31c is equal to or greater than the speed abnormality threshold. If the determination result of step S22 is "YES" (if the speed value is equal to or greater than the speed abnormality threshold), it is determined that a positional deviation of the workpiece W has occurred, and the process proceeds to step S24. On the other hand, if the determination result of step S22 is "NO" (if the speed value is less than the speed abnormality threshold), the process proceeds to step S23.

[0047] 18, step S21 of step (positional deviation determination step) S21 and step (positional deviation determination step) S22 can be omitted. The positional deviation determination unit 33b3 may be configured to determine that a positional deviation of the workpiece W has occurred based only on the speed value of the drive source 11 acquired by the speed acquisition unit 31c.

[0048] In step S23, it is determined whether or not a work completion signal has been received (for example, whether or not the solder hardening time has elapsed, or whether or not a certain period of time has elapsed during which the workpiece W has been pressed against the substrate 3 with a torque value within the set torque value range). If the determination result in step S23 is "NO", the process returns to step S21. If the determination result in step S23 is "YES", this routine is terminated. The work completion signal may be input to the control device 20 by the user operating the input unit 15.

[0049] In step S24 (when the determination result in either step S21 or step S22 is "YES"), the position acquisition unit 31a acquires the current position as X2'. That is, in the positioning state shown in FIG. 7, the actual position (for example, X1) of the contact surface 13c is located on the -X side of the target position X2. Therefore, as shown in FIG. 8, if the workpiece W is displaced on the +X side, the movement of the movable part 13 toward the +X side is resumed. Therefore, when a torque abnormality or a speed abnormality occurs (see time t3), the position acquisition unit 31a acquires the position of the movable part 13 (contact surface 13c) at the time of the abnormality occurrence as X2'.

[0050] In step S25, the target position setting unit 33a1 newly stores position information of X2' as the convergence position. As shown in FIG. 9, the feedback control unit 33a controls the drive source 11 so that the contact surface 13c moves toward X2'. When the position information of X2' is stored as the convergence position, if the actual position of the contact surface 13c is located on the +X side of X2', the feedback control unit 33a controls the drive source 11 so that the contact surface 13c moves toward the -X side. When the contact surface 13c reaches the convergence position X2', the feedback control unit 33a operates the drive source 11 so that the contact surface 13c remains positioned at the convergence position X2'.

[0051] 14 and 15 are time charts from the completion of positioning to the occurrence of positional deviation, showing the relationship between the position of the movable part 13, the torque of the drive source 11, and the speed of the drive source 11 over time. Furthermore, FIG. 14 shows a case where an abnormality occurs in the torque of the drive source 11 (the torque value fluctuates by more than the torque abnormality threshold (absolute value)), and FIG. 15 shows a case where an abnormality occurs in the speed of the drive source 11 (the speed value exceeds the speed abnormality threshold). As shown in FIG. 14 , during positioning, the movable part 13 presses down on the workpiece W with the target position set to the target arrival position X2. Thereafter, as the workpiece W continues to be pressed down, if the workpiece W begins to deviate from its position, the speed of the drive source 11 increases as the movable part 13 moves, and the torque of the drive source 11 begins to decrease (see time t3′).

[0052] 14, before the speed value reaches the speed abnormality threshold, a fluctuation in the torque value equal to or greater than the torque abnormality threshold (absolute value) occurs (see time t3). In this case, when it is determined that an abnormality has occurred in the torque (movement of the movable part 13) (before the speed value abnormality is detected), the target position setting unit 33a1 stores position information of the convergence position X2' as position information of the target position. As a result, the movable part 13 starts moving toward the convergence position X2'.

[0053] 15, the speed value reaches the speed abnormality threshold (see time t3) before the torque value reaches the torque abnormality threshold (absolute value). In this case, at the time when it is determined that an abnormality has occurred in the speed (movement of the movable part 13) (before the abnormality in the torque value is detected), the position setting unit 33a1 newly stores the position information of the convergence position X2' as the position information of the target position. As a result, the movable part 13 starts moving toward the convergence position X2'.

[0054] 10 and 16, a torque limit release method and an abnormality notification method will be described as a control method for the pressing device 1. FIG. 16 is a flowchart for explaining the torque limit release method and the abnormality notification method. This routine is executed, for example, when the position (X2') of the contact surface 13c at the time when the torque abnormality or speed abnormality occurred is acquired in step S24. In step S31, the elapsed time since the torque abnormality or speed abnormality occurred (the elapsed time after time t3) is read, and in step S32, the duration is added.

[0055] 10, in step S33, it is determined whether the duration has exceeded a set time (time t3 to t4). If the determination result in step S33 is "NO," the process returns to step S31. If the determination result in step S33 is "YES," the process proceeds to step S34. In this embodiment, the set time is the time after the torque abnormality or speed abnormality occurs, and is preferably 500 msec or less.

[0056] In step S34, the torque limit value set by the torque setting unit 32b is cancelled. As a result, the "torque limiting" light-emitting unit 14a and the "positioning completed" light-emitting unit 14b are turned off on the display unit 14. Thereafter, in step S35, an error is signalled. That is, the "error" light-emitting unit 14c on the display unit 14 is turned on. The "error" light-emitting unit 14c may also flash.

[0057] 11 and 17, an initial position return method will be described as a control method for the pressing device 1. FIG. 17 is a flowchart for explaining the initial position return method. This routine is performed when a work completion signal is received in step S23. Alternatively, when an error is reported in step S35, the routine is performed when an operation signal (initial position return instruction signal) for moving the movable part 13 to the initial position is input to the control device 20 in response to operation of the input unit 15 by the user.

[0058] As a result, as shown in FIG. 11 , in step S41, the movable part 13 moves toward the initial position (the position of the abutment surface 13c is X0). In step S42, an initial position return signal is output when the position of the abutment surface 13c reaches X0. Specifically, position information of the initial position set in an initial position setting unit (not shown) included in the setting unit 32 is set in the target position setting unit 33a1, and the movable part 13 moves toward the initial position. Thereafter, the position information of the initial position matches the position information of the position acquisition unit 31a, and the movable part 13 stops at the initial position and waits. As a result, the memory unit 30 stores information that the abutment surface 13c has returned to the initial position.

[0059] As described above, in this embodiment, the configuration includes an FB control unit 33a that changes the position of the contact surface 13c to a convergence position X2' that is closer to the target arrival position X2 when it is determined that the workpiece W is misaligned. According to this configuration, when the misalignment determination unit 33b3 determines that the workpiece W is misaligned, the target position of the contact surface 13c is reset to a convergence position X2' that is closer to the target arrival position X2 (toward the -X side). In other words, by stopping the contact surface 13c at the convergence position X2' regardless of the amount of misalignment of the workpiece W, excessive pressing of the workpiece W by the movable unit 13 can be suppressed. In this embodiment, suppressing excessive pressing of the workpiece W can suppress the solder 4 from spilling out from the joint between the workpiece W and the substrate 3.

[0060] In the control device 20 of this embodiment, the target position setting unit 33a1 is configured to set the position of the contact surface 13c in the X direction at the time when the positional deviation determination unit 33b3 detects a positional deviation of the workpiece W as the convergence position X2'. According to this configuration, when the positional deviation determination unit 33b3 determines that a positional deviation of the workpiece W has occurred, the target position of the contact surface 13c is reset to the convergence position X2', which is the position of the contact surface 13c in the X direction at the time when the positional deviation of the workpiece W was detected. In other words, the workpiece W can be prevented from being continuously pressed by the movable unit 13. Therefore, excessive load can be prevented from being applied to the workpiece W. Therefore, by preventing excessive pressing of the workpiece W, it is possible to prevent the solder 4 from spilling out from the joint portion between the workpiece W and the substrate 3.

[0061] In the control device 20 of this embodiment, the positional deviation determination unit 33b3 is configured to determine that the workpiece W is misaligned if the speed value of the drive source 11 is determined to be equal to or greater than the speed abnormality threshold (set speed value) when the workpiece W is pressed by the movable unit 13. With this configuration, the workpiece W is determined to be misaligned if the speed value of the drive source 11 is equal to or greater than the speed abnormality threshold (set speed value). That is, regardless of the contact status between the workpiece W and the movable unit 13, the movement of the movable unit 13 associated with the misalignment of the workpiece W can be detected with high accuracy and speed, thereby enabling the misalignment of the workpiece W to be detected with high accuracy and speed. As a result, the target position of the contact surface 13c can be quickly changed, preventing the movable unit 13 from excessively pressing the workpiece W. Therefore, by preventing excessive pressing of the workpiece W, it is possible to prevent the solder 4 from spilling out from the joint between the workpiece W and the substrate 3.

[0062] Furthermore, in the control device 20 of this embodiment, the positional deviation determination unit 33b3 is configured to determine that the workpiece W is misaligned when the torque value of the drive source 11 is determined to be outside the range of the set torque value (when there is a fluctuation equal to or greater than the torque abnormality threshold (absolute value)) while the workpiece W is pressed by the movable part 13. With this configuration, the positional deviation of the workpiece W is determined based on the torque value of the drive source 11 in addition to the speed value of the drive source 11. In other words, since pressing abnormalities by the movable part 13 can be detected accurately and quickly, the positional deviation of the workpiece W can be detected accurately and quickly. As a result, the target position of the abutment surface 13c can be quickly changed, preventing excessive pressing of the workpiece W by the movable part 13. Therefore, by preventing excessive pressing of the workpiece W, it is possible to prevent the solder 4 from spilling out from the joint between the workpiece W and the substrate 3.

[0063] In the control device 20 of this embodiment, the positioning determination unit 33b2 is configured to determine that the positioning of the workpiece W by the movable part 13 has been completed if the torque value of the drive source 11 is maintained within a set torque value range for a set time while the movable part 13 is moving to the target position. This configuration allows an appropriate load to be applied to the workpiece W, and in the case of this embodiment, a circuit board in which the workpiece W and the substrate 3 are well bonded can be obtained.

[0064] The pressing device 1 of this embodiment includes the control device 20 described above, and therefore can provide a pressing device 1 that can prevent the movable part 13 from pressing the workpiece W excessively.

[0065] (Other Modifications) While preferred embodiments of the present disclosure have been described above, the present disclosure is not limited to these embodiments. Additions, omissions, substitutions, and other modifications to the configuration are possible without departing from the spirit of the present disclosure. The present disclosure is not limited by the above description, but is limited only by the appended claims. In the above-described embodiment, a configuration was described in which the movable unit 13 starts moving to the convergence position before an error is displayed on the display unit 14. However, this configuration is not limited. The display unit 14 may display an error simultaneously with the start of movement of the movable unit 13 to the convergence position. In the above-described embodiment, a configuration was described in which the actual position of the movable unit 13 at the time the position setting unit 32a determines a positional deviation using the positional deviation determination unit 33b3 is set to the convergence position. However, this configuration is not limited. The convergence position can be set arbitrarily as long as it is set closer to the target position. In this case, it is preferable that the convergence position be set between the position of the pressing surface Wa after the positional deviation and the initial position. Furthermore, the actual position of the contact surface 13c at the time when the torque abnormality or speed abnormality occurs may be estimated as the position of the pressing surface Wa, and a position shifted in a predetermined direction toward the -X side from the actual position of the contact surface 13c may be set as the convergence position. With this configuration, even if the movable part 13 and the workpiece W move together toward the +X side when the position of the workpiece W shifts, the movable part 13 can be stopped with the contact surface 13c and the pressing surface Wa separated from each other.

[0066] In the above-described embodiment, a configuration in which the pressing device 1 is used to mount the workpiece W on the substrate 3 has been described, but the present invention is not limited to this configuration. The pressing device 1 may also be used, for example, when pressing the workpiece W onto a stage to process the workpiece W using another processing device (not shown). In this case, the stage functions as a support unit according to the present disclosure. Furthermore, the X direction is not limited to the vertical direction, and may be, for example, the horizontal direction. In the above-described embodiment, a configuration in which the movable part 13 is moved to the convergence position X2' when a torque abnormality or a speed abnormality occurs has been described, but the present invention is not limited to this configuration. The pressing device 1 may also be configured to shut down when a torque abnormality or a speed abnormality occurs.

[0067] The pressing device according to the present disclosure may be implemented by a computer. In this case, a program for implementing the functions of each functional block is recorded on a computer-readable recording medium. The program recorded on the recording medium may be loaded into a computer system and executed by a CPU. The term "computer system" as used herein includes hardware such as an operating system (OS) and peripheral devices. Furthermore, the term "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs, and CD-ROMs. Furthermore, the term "computer-readable recording medium" also includes storage devices such as hard disks built into a computer system. Furthermore, because a hardware processor such as a CPU included in the control device 20 executes a computer program (software) stored in the storage unit 30, the "storage device" includes the storage unit 30 of the control device 20 according to the present disclosure.

[0068] Furthermore, the term "computer-readable recording medium" may include a medium that dynamically stores a program for a short period of time. An example of a medium that dynamically stores a program for a short period of time is a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. The term "computer-readable recording medium" may also include a medium that stores a program for a certain period of time, such as a volatile memory within a computer system that serves as a server or client. The above-mentioned program may be for realizing part of the above-mentioned functions. The program may also be capable of realizing the above-mentioned functions in combination with a program already stored in the computer system. The program may also be realized using a programmable logic device. An example of a programmable logic device is an FPGA (Field Programmable Gate Array).

[0069] In addition, within the scope of the present disclosure, the components in the above-described embodiments may be replaced with well-known components as appropriate, and the above-described modified examples may be combined as appropriate.

[0070] 1: Pressing device 11: Driving source 12: Guide section 13: Movable section 13c: Contact surface 14: Display section (notification section) 17: Main body support section 20: Control device 31: Acquisition section 32: Setting section 33a: FB control section 33b2: Positioning determination section 33b3: Position deviation determination section 33b4: Release determination section W: Workpiece Wa: Pressing surface X2: Target arrival position (first target position) X2': Convergence position (second target position)

Claims

1. a movable part having a contact surface capable of contacting a work supported by a support part, and pressing the work toward the support part when a driving force of a driving source is applied; a guide unit that transmits a driving force of the driving source to the movable unit and guides the movable unit so that the contact surface approaches and moves away from the workpiece, an FB control unit that controls the position of the contact surface by controlling the drive source; an acquisition unit that acquires operation information of the driving source; a positional deviation determination unit that determines whether or not a positional deviation of the workpiece has occurred, During normal operation, the FB control unit sets the position of the contact surface to a first target position that is closer to the support unit than a pressing surface of the workpiece held down by the contact surface, and when it is determined that the positional deviation has occurred, changes the position of the contact surface from the first target position to a second target position that is closer to the first target position, the movable portion presses the workpiece toward the support portion so that the pressing surface is continuously held at a predetermined position that is closer to the first target position during the normal operation; The positional deviation is a state in which the workpiece moves toward the support portion from a positioning state in which the workpiece is continuously held at the predetermined position.

2. The control device according to claim 1 , wherein the second target position is the position of the contact surface at the time when it is determined that the positional deviation has occurred.

3. the acquisition unit acquires a speed value of the driving source as operation information of the driving source; The control device according to claim 1 , wherein the positional deviation determination unit determines that a positional deviation has occurred when a speed value of the drive source is equal to or greater than a set speed value after the workpiece is pressed against the movable unit.

4. the acquisition unit further acquires a torque value of the driving source as operation information of the driving source; The control device according to claim 3 , wherein the positional deviation determination unit determines that the positional deviation has occurred when the torque value of the drive source is outside a range of set torque values ​​while the workpiece is pressed by the movable part.

5. the acquisition unit acquires a torque value of the driving source as operation information of the driving source; a positioning determination unit that determines whether positioning of the workpiece by the movable unit has been completed; The control device according to claim 1 , wherein the positioning determination unit determines that positioning is complete when the torque value of the drive source is maintained within a range of a set torque value for a set time during the process of the movable part moving to the first target position.

6. The control device according to any one of claims 1 to 5; The movable part; The guide portion; a support body portion to which the guide portion is fixed.

7. a movable part having a contact surface capable of contacting a work supported by a support part, and pressing the work toward the support part when a driving force of a driving source is applied; a guide unit that transmits a driving force of the driving source to the movable unit and guides the movable unit so that the contact surface approaches and moves away from the workpiece, an FB control step of controlling the position of the contact surface by controlling the drive source; an acquisition step of acquiring operation information of the driving source; a positional deviation determination step of determining whether or not a positional deviation of the workpiece has occurred, In the FB control step, during normal operation, the position of the contact surface is set to a first target position that is closer to the support portion than a pressing surface of the workpiece held by the contact surface, and when it is determined that the positional deviation has occurred, the position of the contact surface is changed from the first target position to a second target position that is closer to the first target position, During the normal operation, the movable part presses the workpiece toward the support part so that the pressing surface is continuously held at a predetermined position that is closer to the first target position by the feedback control step; The positional deviation is a state in which the workpiece moves from a positioning state in which it is held at the predetermined position toward the support part.

8. the acquiring step acquires a speed value of the driving source as operation information of the driving source; 8. The program according to claim 7, wherein the positional deviation determination step determines that a positional deviation has occurred when a speed value of the drive source is equal to or greater than a set speed value after the workpiece is pressed against the movable portion.

9. A computer-readable recording medium storing the program according to claim 7 or 8.

10. The control device according to claim 5 , wherein the predetermined position is the position of the contact surface at the time when the positioning determination unit determines that the positioning has been completed.