Feeder control device and feeder control method

Abstract

A bulk feeder according to the present invention comprises a track member that is provided to a feeder body so as to be capable of vibration, communicates with a component transport path, and has a supply region that opens upward, a shutter that closes the supply region when in a closed state and opens the supply region when in an open state, and a vibration application device that applies vibration to the track member to transport components. A feeder control device according to the present invention comprises an estimation unit that estimates an operation completion time at which residual vibration at the track member will expire and the shutter will be in the open state on the basis of the time elapsed from the end of vibration application by the vibration application device or the amplitude of the residual vibration and the time required for the shutter to transition to being in the open state.

Description

Feeder control apparatus and feeder control method

[0001] The present invention relates to a feeder control apparatus and a feeder control method.

[0002] The feeder control apparatus is applied to a bulk feeder that is set in a component mounter and supplies components. As disclosed in Patent Document 1, the bulk feeder has a component case that accommodates a large number of components in a bulk state set therein, and conveys the components discharged from the component case to a predetermined supply area, thereby supplying the components to the component mounter in a pickable manner. For the component supply operation of the bulk feeder, a vibration excitation device that applies predetermined vibration to a track member supporting the components can be employed. After the components are supplied by the bulk feeder, the component mounter performs a supply state recognition process and a component picking process based on the result of the recognition process.

[0003] International Publication No. WO 2021 / 095219

[0004] The bulk feeder is provided with a shutter that opens and closes the supply area in order to prevent components from jumping out and foreign matter from entering the supply area. Here, even if the shutter has completed shifting to the open state, if residual vibration of the vibrated track member has not disappeared, there is a risk that it will affect subsequent recognition processing and picking processing.

[0005] It is an object of the present specification to provide a feeder control apparatus and a feeder control method that enable control according to the opening operation of the shutter and the state of residual vibration of the track member in production using a bulk feeder, and can improve production efficiency.

[0006] This specification applies to a bulk feeder that is set in a parts mounting machine and supplies parts, the bulk feeder comprising: a track member that is vibrably provided with respect to the feeder body and has a supply area that communicates with the transport path of the parts and opens upward; a shutter that closes the supply area in a closed state and opens the supply area in an open state; and a vibration device that vibrates the track member to transport the parts, the feeder control device disclosed comprising an estimation unit that estimates the time when the residual vibration disappears and the shutter is in the open state, based on the elapsed time from the end of the vibration by the vibration device or the amplitude of the residual vibration of the track member, and the time required until the shutter moves to the open state.

[0007] This specification applies to a bulk feeder that is set in a parts mounting machine and supplies parts, wherein the bulk feeder comprises a track member that is vibrably mounted relative to the feeder body and has a supply area that communicates with the transport path of the parts and opens upward, a shutter that closes the supply area in a closed state and opens the supply area in an open state, and a vibration device that vibrates the track member to transport the parts, and discloses a feeder control method comprising an estimation step of estimating the time when the residual vibration disappears and the shutter is in the open state, based on the elapsed time from the end of the vibration by the vibration device or the amplitude of the residual vibration of the track member, and the time required until the shutter moves to the open state.

[0008] This specification also discloses the technical idea behind changing "the feeder control device described in any one of claims 1-3" to "the feeder control device described in any one of claims 1-5" in claim 6 of the original application, the technical idea behind changing "the feeder control device described in any one of claims 1-3" to "the feeder control device described in any one of claims 1-6" in claim 7 of the original application, and the technical idea behind changing "the feeder control device described in any one of claims 1-3" to "the feeder control device described in any one of claims 1-7" in claim 8 of the original application.

[0009] With this configuration, the completion of the operation, when residual vibrations disappear and the shutter is open, can be estimated and determined, allowing subsequent processing to be executed at a more optimal timing. This can lead to improved production efficiency.

[0010] This is a schematic plan view of a parts mounting machine. This is a perspective view showing the external appearance of a bulk feeder. This is a schematic side view showing the main parts of the bulk feeder, the transport unit removed from the feeder body, and the parts case. This is a plan view seen from direction IV in Figure 3. This is a side view showing the closed state of the shutter and the open state of the vibration suppression device. This is a side view showing the open state of the shutter and the damped state of the vibration suppression device. This is a flowchart of the parts supply process. This is an enlarged side view showing the relationship between each state of the shutter and the position of the damping member of the vibration suppression device. This is a time chart showing the vibration state of the movable body in the parts supply process. This is a graph showing the relationship between the elapsed time from the cessation of vibration and the estimated completion time of the operation. This is a block diagram of a bulk feeder to which a feeder control device has been applied. This is a flowchart of the shutter opening operation process. This is a time chart showing an example of the execution timing of each step in maintenance priority mode. This is a time chart showing an example of the execution timing of each step in production priority mode.

[0011] 1. Overview of the Feeder Control Device 60 The feeder control device 60 is applied to a bulk feeder 10 that is set in a component mounting machine 3 and supplies components. In this embodiment, as shown in Figure 1, the feeder control device 60 is incorporated into the bulk feeder 10 and performs control for various operations of the bulk feeder 10. The component mounting machine 3 performs the mounting process of mounting components onto a substrate as a predetermined substrate-to-substrate operation. Multiple substrate-to-substrate operation machines are installed, for example, in the direction of substrate transport to constitute a production line.

[0012] As shown in Figure 11, production system 1 consists of the production line, host computer 2, and a parts warehouse (not shown). The host computer 2 controls the production line. Each of the multiple board-to-board work machines is connected to the host computer 2 for communication. The production line includes multiple board-to-board work machines such as solder printing machines, multiple component mounting machines 3, a reflow oven, and an inspection machine.

[0013] In this embodiment, the product substrate factory may have multiple production lines. The configuration of each of the multiple production lines may be added or changed as appropriate, for example, depending on the type of substrate product to be produced. Specifically, the multiple production lines may be appropriately equipped with substrate handling equipment such as buffer devices for temporarily holding the substrates being transported, substrate supply devices, substrate inversion devices, various inspection devices, shielding devices, adhesive application devices, and ultraviolet irradiation devices.

[0014] 2. As shown in Figure 1, the component mounting machine 3 includes a substrate transport device 91 that sequentially transports the substrate 99 in the transport direction and positions the substrate 99 at a predetermined position within the machine. The component supply device 92 of the component mounting machine 3 supplies the components to be mounted on the substrate 99. The component supply device 92 has feeders 922 set in each of the multiple slots 921.

[0015] The component transfer device 93 of the component mounting machine 3 transfers components supplied by the component supply device 92 to predetermined mounting positions on the substrate 99. The head drive device 931 of the component transfer device 93 moves the mobile table 932 horizontally (X and Y directions) by a linear motion mechanism. The mounting head 933, which is detachably fixed to the mobile table 932, supports a plurality of suction nozzles 934 that are rotatable and vertically movable. The suction nozzles 934 suction components supplied by the feeder 922 using supplied negative pressure air.

[0016] The component camera 94 and the substrate camera 95 of the component mounting machine 3 perform imaging based on control signals and transmit the image data acquired through such imaging. The component camera 94 is configured to be able to image components held by the suction nozzle 934 from below. The substrate camera 95 is mounted on a movable table 932 so as to be able to move horizontally integrally with the mounting head 933. The substrate camera 95 is configured to be able to image the substrate 99 from above.

[0017] Furthermore, in addition to imaging the surface of the substrate 99, the substrate camera 95 can also image various devices and other objects as long as they are within the movable range of the mobile stand 932. For example, the substrate camera 95 can capture images of the supply area As where the bulk feeder 10 supplies components, or a reference mark provided on the top of the bulk feeder 10, within its camera field of view. In this way, the substrate camera 95 can be used to image different objects in order to acquire image data that can be used for various image processing tasks.

[0018] The control device 96 of the component mounting machine 3 is mainly composed of a CPU, various memories, and control circuits. The control device 96 stores various data, such as control programs used to control the mounting process. The control program indicates the mounting position, mounting angle, and type of components to be mounted on the substrate 99 in the planned mounting order during the mounting process. The control device 96 has a state recognition unit 97 that recognizes the supply status of components in the supply area As based on image data acquired by the substrate camera 95.

[0019] 3. Configuration of the Bulk Feeder 10 As shown in Figure 2, the bulk feeder 10 is mounted on the parts mounting machine 3 and functions as part of the parts supply device. The bulk feeder 10 supplies parts that are not aligned like carrier tapes (in a loose state with irregular orientations). Therefore, unlike tape feeders, the bulk feeder 10 does not use carrier tapes, which has the advantage of eliminating the need for loading carrier tapes and collecting used tapes.

[0020] Some bulk feeders 10 supply parts in irregular positions to a planar supply area. However, if the parts are so close together in the supply area that they are touching each other, or if they are piled up (overlapping vertically), or if they are in a horizontal position with their width oriented vertically, the parts mounting machine 3 cannot pick up these parts. Therefore, in order to increase the proportion of parts that can be picked up, some bulk feeders 10 supply parts in an aligned state within the supply area. In this embodiment, a bulk feeder 10 of the type that aligns parts will be described as an example.

[0021] 3-1. Feeder body 11, bracket 12, support base 13 The bulk feeder 10 includes a feeder body 11, as shown in Figure 3. The feeder body 11 is formed in a flat, box-like shape. A connector 111 and two pins 112 are provided at the front of the feeder body 11 (the right end in Figure 3). When the feeder body 11 is set in the slot of the component supply device, it is powered via the connector 111 and becomes capable of communicating with the control device of the component mounting machine 3. The two pins 112 are inserted into guide holes provided in the slot and are used for positioning when the feeder body 11 is set in the slot.

[0022] As shown in Figure 3, the bulk feeder 10 includes a bracket 12. The bracket 12 is vibrably mounted relative to the feeder body 11. The bracket 12 is formed in a block shape that extends in the front-rear direction of the feeder body 11 and supports the track member 31 of the transport unit 20 which is attached to the upper surface. The bracket 12 is subjected to a predetermined vibration by the vibration excitation device 50. The track member 31 supported by the bracket 12 is fixed by a locking device 15.

[0023] The locking device 15 connects the track member 31 to the bracket 12 while the track member 31 is placed on top of the bracket 12. When the track member 31 is connected by the locking device 15, it vibrates integrally with the bracket 12 relative to the feeder body 11. The track member 31 becomes removable from the bracket 12 when the locking device 15 is unlocked.

[0024] As shown in Figure 3, the bulk feeder 10 includes a support base 13. The support base 13 is vibrably mounted relative to the feeder body 11 and supports the parts case 25 via the case holder 21 of the transport unit 20. The support base 13 is formed in a block shape that extends in the front-rear direction of the feeder body 11 and supports the case holder 21 attached to its upper surface. The support base 13 is subjected to a predetermined vibration by a discharge vibration device (not shown). In this embodiment, the case holder 21 supported by the support base 13 is fixed by a locking member (not shown).

[0025] 3-2. Conveying Unit 20 The bulk feeder 10 includes a conveying unit 20, as shown in Figure 3. The conveying unit 20 is detachably attached to the feeder body 11. In this embodiment, the conveying unit 20 supports the set parts case 25. The conveying unit 20 is a unit for conveying parts from a receiving area (receiving section 211) that receives parts 26 discharged from the parts case 25 to a supply area As.

[0026] After being used for a predetermined loading process, the bulk feeder 10 undergoes a removal operation as a type of maintenance, in which all parts inside the feeder are removed in preparation for the next use. The transport unit 20 is designed to accommodate such a removal operation and is modularized so that the part that functions as a flow path for the parts can be removed from the feeder body 11 in order to improve workability. In this embodiment, the transport unit 20 comprises a case holder 21, a track unit 22, and a connecting member 23.

[0027] 3-2-1. Case Holder 21 The case holder 21 is vibrably mounted relative to the feeder body 11. The case holder 21 is attached to the feeder body 11 via a support base 13. As a result, the case holder 21 is subjected to vibration via the support base 13. The case holder 21 supports the set parts case 25. The case holder 21 has a receiving portion 211 for receiving parts discharged from the parts case 25. In this embodiment, the part receiving portion of the case holder 21 has an inclined surface that is tilted forward with respect to the horizontal plane. The case holder 21 forms a flow path for parts that extends upward from the lower end of the inclined surface.

[0028] The parts case 25 is an external device that houses multiple parts in bulk. The parts case 25 is detachably (replaceable) set in the case holder 21 of the transport unit 20 of the bulk feeder 10. The parts case 25 is formed in a flat, box-like shape, similar to the feeder body 11. The parts case 25 is set in the case holder 21 and is in a state where parts can be discharged from an outlet formed at the bottom.

[0029] 3-2-2. Track Unit 22 The track unit 22 includes a track member 31 that is detachably attached to the feeder body 11. The track member 31 is attached to the feeder body 11 via a bracket 12. As a result, the track member 31 is subjected to vibration by the vibration exciter 50 via the bracket 12. The track member 31 forms a transport path R through which multiple parts are transported, and a supply area As that is connected to the transport path R and opens upward so that multiple parts can be picked up.

[0030] Here, "supply area As" refers to the area where parts are supplied in bulk and where parts can be picked up by the parts mounting machine 3. Also, "transport path R" refers to the path through which parts that have flowed from the case holder 21 side along the track member 31 are transported to supply area As.

[0031] The track member 31 is formed so as to extend in the front-to-back direction (left-to-right direction in Figure 3) of the feeder body 11. In this embodiment, an alignment member 32 is interchangeably attached to the track member 31. This alignment member 32 is, for example, one or more plate-shaped members. Thus, the track unit 22 is unitized by attaching one of several types of alignment members 32, selected according to the shape of several types of parts, to a common track member 31.

[0032] As shown in Figure 4, the alignment member 32 constitutes a plurality of cavities 35 arranged in a predetermined pattern (staggered in this embodiment). Each of the plurality of cavities 35 is rectangular in shape, slightly larger than the outer shape of the parts supplied by the bulk feeder 10. In this way, the bulk feeder 10 has a plurality of cavities 35 that accommodate parts in a supply area As where parts are supplied in a collectible manner, with the thickness direction of the parts being in the vertical direction. A pair of side walls 36 projecting upward are formed on both edges of the track unit 22 in the width direction (vertical direction in Figure 4). The pair of side walls 36, together with the tip portion 37 of the track unit 22, surround the periphery of the transport path R, preventing leakage of parts being transported along the transport path R.

[0033] The track unit 22 has a shutter 38 provided on the front end side of the track member 31. The shutter 38 is provided on the track member 31 so as to be openable and closable, closing the opening of the supply area As when closed and opening the supply area As when open. When the track unit 22 is attached to the feeder body 11, the shutter 38 is connected to a slider 72 of the shutter drive device 70. The opening and closing operation of the shutter 38 is controlled by the shutter drive device 70. The bulk feeder 10 can prevent parts from flying out and foreign matter from entering the supply area As by opening and closing the shutter 38.

[0034] 3-2-3. Connecting Member 23 The connecting member 23 connects the case holder 21 and the track unit 22 in a way that allows multiple components to flow through it. The connecting member 23 is tubular in shape, allowing multiple components to flow through its interior. The connecting member 23 is flexible and absorbs vibrations by deforming in response to vibrations of the case holder 21 and the track unit 22. As a result, the connecting member 23 reduces or blocks vibrations transmitted between the case holder 21 and the track unit 22, which vibrate independently of each other.

[0035] 3-3. Vibration Exciter 50 The bulk feeder 10 is equipped with a vibration exciter 50, as shown in Figure 3. The vibration exciter 50 is a conveying device that conveys parts on the conveying path R by applying vibration to the track member 31. In this embodiment, the vibration exciter 50 applies vibration to the bracket 12 to which the track member 31 is integrally fixed, thereby applying vibration to the track member 31 that forms the conveying path R.

[0036] In detail, the vibration device 50 includes a plurality of support members 51, a plurality of piezoelectric elements 52, and a power supply device 53. The plurality of support members 51 are flexible and directly or indirectly connect the feeder body 11 and the bracket 12 to support the bracket 12. In this embodiment, the plurality of support members 51 include forward support members 51A used for forward transport of parts and backward support members 51B used for rearward transport. The forward support members 51A and the backward support members 51B each have different inclination directions with respect to the vertical.

[0037] The multiple piezoelectric elements 52 are vibrators that vibrate at a frequency corresponding to the power supplied by the power supply device 53. The multiple piezoelectric elements 52 are forward-moving piezoelectric elements 52A (forward-moving vibrators) attached to the forward-moving support member 51A and backward-moving piezoelectric elements 52B (backward-moving vibrators) attached to the backward-moving support member 51B. When at least some of the multiple piezoelectric elements 52 vibrate, vibration is applied to the track member 31 via the bracket 12. In addition, the amplitude of the track member 31 fluctuates according to the voltage applied to the piezoelectric elements 52.

[0038] The vibration sensor 55 is installed in the vibration excitation device 50 and detects vibration values ​​that indicate the vibration state of the vibrating track member 31. The vibration values ​​that indicate the vibration state can include amplitude, frequency, decay time, vibration trajectory (the movement trajectory of a specific part associated with the vibration), etc. In this embodiment, the vibration sensor 55 detects the actual amplitude of vibration of the track member 31 when the piezoelectric element 52 is powered and vibrates.

[0039] Furthermore, the vibration sensors 55 are provided on each of the multiple support members 51 that support the bracket 12, which vibrates integrally with the track member 31. More specifically, the multiple vibration sensors 55 are a forward vibration sensor 55A provided on the forward support member 51A and a backward vibration sensor 55B provided on the backward support member 51B. The forward vibration sensor 55A detects the actual amplitude as a vibration value when the forward piezoelectric element 52A is powered and vibration is applied to the track member 31 via the bracket 12. Similarly, the backward vibration sensor 55B detects the actual amplitude as a vibration value when the backward piezoelectric element 52B is powered and vibration is applied to the track member 31 via the bracket 12.

[0040] When the vibration device 50 applies vibration to the track member 31, the track member 31 undergoes elliptical motion when viewed from the side. As a result, the multiple parts on the transport path R are subjected to an external force either forward and upward, or backward and upward, depending on the rotational direction of the elliptical motion of the track member 31. This causes the multiple parts to be transported either to the front or rear of the track member 31.

[0041] The power supply device 53 varies the frequency and voltage of the power supplied to the piezoelectric element 52 based on commands from the feeder control device 60, which will be described later. This adjusts the frequency and amplitude of the vibrations applied to the track member 31, and determines the rotational direction of the elliptical motion of the track member 31. When the frequency and amplitude of the vibrations of the track member 31, and the rotational direction of the elliptical motion caused by the vibrations, change, the transport speed of the transported parts, the degree of dispersion of the parts, and the transport direction also change.

[0042] 3-4. Shutter driving device 70 The shutter driving device 70 is a driving device that opens and closes the shutter 38 in a state where the conveying unit 20 is attached to the feeder main body 11. The shutter driving device 70 switches the shutter 38 between a closed state and an open state based on a command from the feeder control device 60. The closed state of the shutter 38 is, as shown in FIG. 5, a state in which the shutter 38 is in contact with the track member 31 and the opening of the supply area As is completely closed.

[0043] Further, the open state of the shutter 38 is, as shown in FIG. 6, a state in which the opening of the supply area As is not blocked, and the main range of the supply area As (the range where the plurality of cavities 35 are provided in the present embodiment) is exposed. At this time, the component mounter 3 can perform a component picking operation on any of the cavities 35. Note that the shutter driving device 70 can place the shutter 38 in an intermediate state between the closed state and the open state by controlling the opening degree of the shutter 38. The shutter driving device 70 may place the shutter 38 in an intermediate opening degree state where the shutter 38 does not interfere with the vibrating track member 31, and the shutter 38 is separated from the track member 31 to such an extent that components do not leak from the gap between the track member 31 and the shutter 38.

[0044] Here, the shutter 38 has an overall U-shaped shape that opens downward when viewed in the front-rear direction. In the present embodiment, as shown in FIGS. 5 and 6, the shutter 38 has an upper wall portion 381 and a pair of side wall portions 382. The upper wall portion 381 contacts the track member 31 in the closed state to close the opening of the supply area As, and is separated from the track member 31 in the intermediate state.

[0045] The pair of side wall portions 382 are located on the outer side in the left-right direction of the track member 31, extend downward from both end edges of the upper wall portion 381, and together with the upper wall portion 381 in the intermediate state restrict the popping-out of components from the opening of the supply area As. The shutter 38 is connected to the track member 31 via a spring 39. In this embodiment, the spring 39 is a coiled tension spring. The spring 39 constantly exerts an elastic force to bias the shutter 38 toward the rear side (the left side in FIG. 5 and FIG. 6). The shutter 38 is maintained in a closed state (a state where it is located at the rear end of the movable range and biased downward by the track member 31) by the elastic force of the spring 39.

[0046] As shown in FIG. 5 and FIG. 6, the shutter driving device 70 includes a rail 71, a slider 72, a pin 73, an arm 74, and a motor 75 as its constituent components. The rail 71 extends in the front-rear direction and the up-down direction of the feeder main body 11. The rail 71 is formed in a straight line shape that gently slopes upward as it goes from the rear to the front. The extending direction of the rail 71 corresponds to the opening-closing direction of the shutter 38.

[0047] The slider 72 is slidably provided on the feeder main body 11, and slides the connected shutter 38 in the opening-closing direction. In this embodiment, the slider 72 is a movable member provided movably in the extending direction of the rail 71. The slider 72 is connected to the shutter 38 via a predetermined connecting mechanism. As the above-mentioned connecting mechanism, in addition to a mechanism using a fixing member such as a bolt, a mechanism that connects by magnetic attraction via a magnet provided on at least one of the shutter 38 and the slider 72 can be adopted.

[0048] When the slider 72 moves in the front-rear direction along the rail 71, the connected shutter 38 moves integrally with the slider 72 in the front-rear direction (the opening-closing direction). At this time, due to the inclination of the rail 71, the shutter 38 moves in the up-down direction according to the movement amount in the front-rear direction (that is, the shutter 38 rises). Thereby, in the up-down direction, a gap corresponding to the opening degree of the shutter 38 can be formed between the shutter 38 and the track member 31.

[0049] The shutter drive device 70 can employ various configurations as the mechanism for moving the slider 72. In this embodiment, the shutter drive device 70 employs a configuration using a pin 73, an arm 74, and a motor 75. The pin 73 extends in the left-right direction (front-rear direction in Figures 5 and 6) of the feeder body 11 and locks onto the slider 72 in the front-rear direction. In this embodiment, the pin 73 locks onto a downwardly opening notch 721 formed in the slider 72. The arm 74 supports the pin 73 and is rotatable around a horizontal axis that extends in the left-right direction relative to the feeder body 11. As a result, when the arm 74 rotates, the pin 73 moves along an arc trajectory centered on the rotation axis of the arm 74.

[0050] The motor 75 rotates the arm 74. The motor 75 is controlled by the feeder control device 60. The motor 75 is configured to rotate the arm 74 by a predetermined angle around the horizontal axis in response to the power supply. Here, the spring 39 acts an elastic force in the direction of closing the shutter 38, so when the power supply to the motor 75 is cut off, the shutter 38 is biased to the rear by the spring 39 and closes.

[0051] The upper wall portion 381 of the shutter 38 comes into contact with the upper edge of the track member 31, causing the slider 72 to stop at the rear end position (the lower end position, which is the initial position of the slider 72). When power is supplied to the motor 75, as shown in Figure 6, the arm 74 rotates, and the slider 72 moves forward along the rail 71 against the biasing force of the spring 39. As a result, the shutter 38, supported by the slider 72, moves forward and opens. At this time, the shutter 38 moves upward (rises) by the amount of the inclination of the rail 71.

[0052] Furthermore, the shutter drive device 70 supplies a predetermined power to the motor 75, causing the arm 74 to rotate by a certain angle from its initial angle, thereby bringing the shutter 38 to an intermediate state. At this time, the shutter 38 moves slightly forward and upward by the amount of upward movement. The amount of upward movement is set to be greater than the amplitude of vibration of the track member 31. As a result, the shutter 38 in the intermediate state maintains a non-interference state with respect to the vibrating track member 31.

[0053] Furthermore, it is preferable that the amount of upward movement described above is set so that the gap between the track member 31 and the shutter 38 is smaller than the minimum dimension of the outer shape of the component (for example, the thickness of the component). This allows the shutter 38 to move away from the track member 31 in the intermediate state while preventing the component from flying out.

[0054] The shutter drive unit 70 has an opening / closing sensor (not shown). The opening / closing sensor detects a specific opening degree of the shutter 38 (for example, an opening degree corresponding to a fully open state or an intermediate state) by detecting the position of a dock that moves integrally with the slider 72, for example. The shutter drive unit 70 sends the opening degree of the shutter 38 detected by the opening / closing sensor, in addition to the rotation angle of the motor 75, to the feeder control device 60.

[0055] 3-5. Vibration Suppression Device 80 In this embodiment, the bulk feeder 10 is equipped with a vibration suppression device 80. Here, even when the vibration applied to the track member 31 by the vibration exciter 50 stops during the parts transport process, vibration remains in the track member 31 for a predetermined damping period. When the parts mounting machine 3 performs the supply status recognition process or parts picking operation, it can adopt a control mode that waits until the residual vibration disappears (damped to the extent that the effect of the residual vibration is eliminated).

[0056] However, the occurrence of waiting time can contribute to a decrease in production efficiency. Therefore, the bulk feeder 10 is configured to include a vibration suppression device 80 that suppresses and dampens residual vibration of the track member 31 after the excitation by the excitation device 50 is completed. In this embodiment, the vibration suppression device 80 has a braking member 81 and a moving mechanism 82, as shown in Figure 5.

[0057] 3-5-1. Braking Member 81 The braking member 81 is provided so as to be movable between a retracted position Pv and a contact position Pc relative to the feeder body 11. The braking member 81 is located in the retracted position Pv when the vibration suppression device 80 is in a released state where it does not suppress residual vibration, and is spaced apart from the movable body Vb which vibrates together with the track member 31 due to the excitation of the excitation device 50, including the track member 31. More specifically, the movable body Vb includes the track member 31, the bracket 12, the locking device 15, the vibrating body including the cover attached to the track member 31, as well as the support member 51 of the excitation device 50, the piezoelectric element 52, and the vibration sensor 55 provided on the support member 51.

[0058] Furthermore, the braking member 81 is located at the contact position Pc and contacts the movable body Vb when the vibration suppression device 80 is in a braking state that suppresses residual vibration. The part of the movable body Vb that the braking member 81 contacts is set to one of the track member 31, bracket 12, locking device 15, or support member 51. In this embodiment, the part of the movable body Vb that the braking member 81 contacts is set to the support member 51 of the vibration exciter 50, as shown in Figure 6.

[0059] The braking member 81 is made of an elastic material. This allows the vibration suppression device 80 to suppress residual vibrations by pressing the braking member 81 against the movable body Vb. Various materials can be used for the elastic material. For example, the braking member 81 is made of rubber or silicone. The braking member 81 is detachably mounted on the moving mechanism 82 and can be selected from multiple types with different materials and shapes.

[0060] 3-5-2. Moving Mechanism 82 The moving mechanism 82 reciprocates the braking member 81 between a retracted position Pv and a contact position Pc. In this embodiment, the moving mechanism 82 includes a rotating member 821 and a coil spring 832. The rotating member 821 is rotatably mounted on the feeder body 11 and supports the braking member 81. In this embodiment, as shown in Figure 5, the arm 74 and the rotating member 821 are mounted coaxially and rotatably independently of each other.

[0061] In detail, the rotating member 821 is rotatably mounted around the rotation axis Sr. The rotating member 821 extends horizontally from the rotation axis Sr toward the vibration device 50, and supports the braking member 81 at its end. The rotating member 821 extends upward from the rotation axis Sr, and in a side view, its overall shape is L-shaped. The upwardly extending portion of the rotating member 821 is provided with a locking claw 821A that engages with the edge of the arm 74. When the arm 74 rotates so that it returns to its initial angle (counterclockwise in Figure 5), the rotating member 821 rotates in the same direction as the arm 74 by engaging the locking claw 821A with the arm 74.

[0062] The coil spring 832 is a connecting member that connects the arm 74 and the rotating member 821 so that the rotating member 821 rotates in conjunction with the rotation of the arm 74. In this embodiment, the connecting member is a coil spring 832, which acts as an elastic member that transmits the rotational force of the arm 74 to the rotating member 821 with a predetermined elastic force. One end of the coil spring 832 is inserted into a window portion 741 formed in the arm 74 and locked to the inner circumferential surface of the window portion 741. In the rotational direction of the arm 74, a gap corresponding to the width of the window portion 741 is provided between one end of the coil spring 832 and the window portion 741. The other end of the coil spring 832 is fixed to a retaining hole 821B of the rotating member 821. As shown in Figure 5, in its initial state, both ends of the coil spring 832 are at a predetermined angle.

[0063] When the arm 74 rotates and one end of the coil spring 832 engages with the window portion 741 and moves to one side (the right side in Figure 5), the moving mechanism 82 rotates the rotating member 821 with a predetermined elastic force. As a result, the braking member 81 supported by the rotating member 821 moves from the retracted position Pv toward the contact position Pc. When the arm 74 rotates further and the shutter 38 reaches a predetermined opening degree DpS, the braking member 81 moves to the contact position Pc. At this time, the braking member 81 comes into contact with a part of the support member 51. In this way, the braking member 81 remains in a non-contact state with respect to the movable body Vb until the shutter 38 reaches a predetermined opening degree DpS.

[0064] As the arm 74 rotates further, the braking member 81 is pressed against the support member 51 by the biasing force exerted by the twisting of the coil spring 832. In this embodiment, the contact position Pc is set above the retracted position Pv. The moving mechanism 82 then moves the braking member 81 so as to press it upward against the movable body Vb.

[0065] When the rotation of the arm 74 causes the shutter 38 to open fully, as shown in Figure 6, the vibration suppression device 80 enters a braking state where the rotating member 821 of the arm 74 expands beyond its initial angle and the braking member 81 presses against the movable body Vb. When the braking member 81 makes contact in this biasing manner, the residual vibration of the movable body Vb, including the track member 31, is dampened, and the elimination of residual vibration can be accelerated.

[0066] 3-6. Feeder Control Device 60 The bulk feeder 10 is equipped with a feeder control device 60. In this embodiment, the feeder control device 60 is incorporated into the bulk feeder 10 and controls various operations performed by the bulk feeder 10. The feeder control device 60 mainly consists of a CPU, various memories, and control circuits. When the bulk feeder 10 is set in the slot of the component mounting machine 3, the feeder control device 60 is powered via the connector 111 and becomes capable of communicating with the control device 96 of the component mounting machine 3.

[0067] The storage unit 61 of the feeder control device 60 stores various data such as programs and transport parameters used to control the parts supply process. The transport control unit 62 of the feeder control device 60 controls the operation of the vibration device 50 and the shutter drive device 70 to transport the parts. The above-mentioned "transport parameters" are parameters used to control the operation of the vibration device 50 so that the vibration applied to the track unit 22 is appropriate when transporting parts in the parts supply process, and are set in advance, for example, associated with each type of part.

[0068] 4. Parts Supply Process of Bulk Feeder 10 The parts supply process by the bulk feeder 10, which has the above configuration, will be explained with reference to Figures 7-9. The feeder control device 60 includes an initialization process performed when power is supplied to the bulk feeder 10 as part of the preparation process for the parts supply process, and a calibration process to set the initial drive voltage and drive frequency. The above preparation process also includes a process to set the opening degree of the shutter 38 (transport opening degree DpC) in the intermediate state. The above transport opening degree DpC is an opening degree that is greater than the amplitude of the vibration of the track member 31 and is a small opening amount that prevents parts from leaking out during the transport of parts when the vibration device 50 vibrates the track member 31.

[0069] The transport control unit 62 appropriately performs the process of supplying parts to the transport path R formed on the track member 31, and determines whether or not there is a supply command from an external source (S11). If there is no supply command (S11: No), the transport control unit 62 suspends the execution of the parts transport process. This maintains the current supply status of parts in the supply area As, and the system remains in a state of waiting for a supply command.

[0070] When a supply command is received (S11: Yes), the transport control unit 62 executes the transport process for the parts. It drives the vibration device 50 to transport the parts. In detail, in the transport process for the parts, the transport control unit 62 first moves the shutter 38 from the closed state to an intermediate state (S12). As a result, the shutter 38 opens to a preset intermediate transport opening degree DpC, as shown in Figure 8, and is separated from the track member 31 by an upward amount Ls.

[0071] Furthermore, when the shutter drive device 70 operates to open the shutter 38 to an intermediate position as described above, the moving mechanism 82 of the vibration suppression device 80 causes one end of the coil spring 832 to move relative to the inside of the window portion 741 of the arm 74, and the rotating member 821 does not rotate. As a result, the braking member 81 maintains its initial retracted position Pv.

[0072] Next, the transport control unit 62 performs excitation control by applying vibration to the track member 31 via the bracket 12 using the excitation device 50 (S13). As a result, the multiple parts supported by the track member 31 move forward and are transported to the supply area As side. The transport control unit 62 also applies forward vibration to the track member 31 and backward vibration to the parts, depending on the amount of parts to be supplied in the supply area As.

[0073] Some of the multiple parts transported to the supply area As are placed in the cavity 35. Parts that are not placed in the cavity 35 are moved back to the transport path R by vibrations applied by the vibration device 50 and removed from the supply area As. The feeder control device 60 maintains the shutter 38 in its current state unless a command to open the shutter 38 is input from the parts mounting machine 3 (S14: No).

[0074] When the feeder control device 60 receives a command to open the shutter 38 (S14: Yes), it executes an opening operation process to open the shutter 38 (S15). When the shutter 38 is open, the parts housed in the multiple cavities 35 become available for pickup by the parts mounting machine 3. Details of the shutter opening operation process will be described later.

[0075] Furthermore, when the shutter drive device 70 operates to open the shutter 38 from the intermediate state to the open state as described above, the coil spring 832 transmits rotational force to the rotating member 821 as the arm 74 rotates, causing the rotating member 821 to rotate around the rotation axis Sr. As a result, the braking member 81 rises from the retracted position Pv and approaches the support member 51. As shown by the solid line in Figure 8, when the arm 74 rotates until the shutter 38 reaches a predetermined opening degree DpS, the braking member 81 moves to a contact position Pc where it contacts the support member 51. At this time, if there is residual vibration in the movable body Vb including the track member 31, damping begins due to the contact of the braking member 81.

[0076] Furthermore, when the shutter drive device 70 operates until the shutter 38 is fully open from a predetermined opening degree DpS, the rotating member 821 expands beyond its initial angle relative to the arm 74, creating a braking state where the braking member 81 is pressed against the movable body Vb. As a result, the braking member 81 maintains its contact position Pc during the period from when it contacts the support member 51, which is the movable body Vb, until the shutter 38 reaches the open state. Figure 8 shows the open shutter 38 and shutter drive device 70 with dashed lines. In this way, the vibration suppression device 80 starts operating at the predetermined opening degree DpS of the shutter 38 and suppresses residual vibration of the track member 31 in conjunction with the opening operation of the shutter 38.

[0077] Here, Figure 9 shows the vibration state of the movable body Vb during the parts supply process. Figure 9(a) shows the vibration state in a configuration without the vibration suppression device 80, or in a configuration where the vibration suppression device 80 does not perform damping processing. In detail, as shown by the standard line StN, at time T10 the forward vibration BF is switched to the backward vibration BR, and even when the backward vibration BR is stopped at time T20, vibration remains in the movable body Vb including the track member 31 for a predetermined damping period PdN. The residual vibration BS dampens after the excitation by the excitation device 50 stops, and the amplitude becomes 0 (including an amount where the amplitude can be considered 0) at time T40 after the damping period PdN has elapsed. Note that the dashed line in Figure 9 shows the vibration present during that period and does not accurately represent the amplitude or frequency.

[0078] Figure 9(b) shows the vibration state in a configuration in which the vibration suppression device 80 performs damping processing. Specifically, assuming that the recoil vibration BR stops at time T20 and the shutter 38 begins to open from an intermediate state, as shown in the transition line St1, at time T21 the braking member 81 comes into contact with the movable body Vb, and the residual vibration BS begins to be damped. When the shutter 38 is in the open state and the braking member 81 is pressed against the movable body Vb, the residual vibration BS is damped and disappears at time T31. In this way, due to the damping processing of the vibration suppression device 80, the amplitude of the residual vibration BS becomes 0 at time T31 after the damping period Pd1 has elapsed. Thus, the disappearance time is advanced by the period D1 between the normal disappearance time T40 and time T31, i.e., the difference in the damping period (PdN - Pd1).

[0079] The feeder control device 60 may notify the system that the shutter 38 has moved to the open state and that the residual vibration BS has disappeared, based on the detection result of the opening / closing sensor. The component mounting machine 3 can prevent interference caused by malfunctions of the shutter 38 and prevent residual vibration BS from affecting the imaging process and collection operation by first recognizing that the shutter 38 is open and that the residual vibration BS has disappeared, and then imaging the supply area As or lowering the holding member (e.g., suction nozzle) to hold the component. This makes it possible to improve the efficiency of production using the bulk feeder 10.

[0080] The feeder control device 60 maintains the open state of the shutter 38 until the parts picking operation by the parts mounting machine 3 is completed. After the picking operation is completed, the feeder control device 60 closes the shutter 38. As a result, the vibration suppression device 80, in conjunction with the closing operation of the shutter drive device 70, moves the braking member 81 from the movable body Vb to the retracted position Pv, ​​transitioning from a braking state to a released state. In the above operation, even if the braking member 81 is attached to the support member 51, the locking claw 821A engages with the rotating arm 74, forcing the rotating member 821 to rotate and separating the braking member 81 from the support member 51.

[0081] The transport control unit 62 maintains the open state of the shutter 38 if the part picking operation by the part mounting machine 3 has not been completed (S16: No). When the picking operation is completed (S16: Yes), the transport control unit 62 closes the shutter 38 (S17). The transport control unit 62 closes the shutter 38 upon receiving a command from the part mounting machine 3 to close the shutter 38 or notification of the completion of the picking operation. The feeder control device 60 then performs, as necessary, vibration adjustment processing to be applied to the track member 31 in subsequent part transport processing and part replenishment processing to the transport path R, and returns to the state of waiting for a supply command again.

[0082] 5. Detailed Configuration of the Feeder Control Device 60 The feeder control device 60 controls the drive of the shutter drive device 70 as described above during the parts supply process. As a result, the feeder control device 60 operates the vibration suppression device 80 in conjunction with the shutter drive device 70 to expedite the elimination of residual vibrations. The parts mounting machine 3 recognizes, for example, that the shutter 38 is open and that residual vibrations BS have disappeared, through a completion notification from the feeder control device 60, and proceeds to the imaging step and recognition step for recognizing the supply status.

[0083] The feeder control device 60 can employ various methods for determining the timing of sending a completion notification. For example, it is assumed that the time required for the damping process of the vibration suppression device 80 (hereinafter referred to as damping time TB) is always longer than the time required to open the shutter 38, and that the completion notification is sent after the damping process is completed. Here, as shown in Figure 9(b), the damping time TB is maximum when the opening operation of the shutter 38 begins at the end of the excitation by the excitation device 50 (time T20) (damping time TB1). This is because the amplitude of the movable body Vb is at its maximum at the end of the excitation.

[0084] The damping period Pd1, which includes the braking time TB1, can be considered to be approximately constant if the amplitude of the vibration applied by the vibration exciter 50 during the parts supply process is constant, and can be measured in advance. Therefore, when the feeder control device 60 receives a request from the parts mounting machine 3 to open the shutter 38, for example, it sends a completion notification when the time elapsed from the start of the shutter opening operation of the shutter 38 to the above-mentioned damping period Pd1 plus a buffer time. This allows the parts mounting machine 3 to execute the imaging step, recognition step, and parts collection step at an appropriate timing.

[0085] On the other hand, as shown in Figure 9(c), consider the case where the shutter 38 opens after a predetermined elapsed time TL2 from the end of the vibration excitation by the excitation device 50, and the residual vibration BS is eliminated by the vibration suppression device 80 in conjunction with this. In this case, the damping period Pd2, which is the time required for this damping process, is shorter than the damping period Pd1 when the shutter 38 opens at the end of the excitation (time T20). This is thought to be because the residual vibration BS has naturally damped up during the period before the damping process begins, resulting in a shorter damping time TB2.

[0086] Consequently, if the feeder control device 60 starts opening the shutter 38 at a predetermined time (for example, time T22), and sends a completion notification after a certain period of time has elapsed from the start (the damping period Pd1 plus a buffer time, the straight line SC in Figure 10), the sending of the completion notification will be delayed by the difference in the damping period (Pd1 - Pd2). As shown in Figure 9(d), this delay in the completion notification increases as the elapsed time TL3 from the end of the vibration by the vibration device 50 increases. The damping period Pd3 and the braking period TB3 will each become even shorter.

[0087] In detail, as shown in Figure 10, the time from the start of the shutter 38 opening operation to the completion of the operation decreases as the elapsed time TL from the end of the vibration ends increases. When the elapsed time TL exceeds a predetermined damping period PdN in which the movable body Vb naturally dampens and disappears, the time until completion of the operation becomes constant (the time required to open the shutter 38). At a predetermined elapsed time TL, the difference between the piecewise line SR, which shows the time until completion of the operation, and the straight line SC corresponds to the delay time for the completion notification.

[0088] In this embodiment, the feeder control device 60 is configured with consideration for the fact that a delay in completion notification may occur as described above, and that it would be useful if the time of completion of the operation, when residual vibration BS disappears and the shutter 38 is open, could be estimated according to the operating state of the bulk feeder 10. Specifically, as shown in Figure 11, the feeder control device 60 includes an estimation unit 63. The estimation unit 63 performs an estimation step to estimate the time of completion Wm. In this embodiment, the feeder control device 60 further includes a notification unit 64.

[0089] 5-1. Estimation Unit 63 The estimation unit 63 estimates the operation completion time Wm based on the elapsed time TL from the end of the excitation by the excitation device 50 and the time TSp required until the shutter 38 transitions to the open state. Here, there is a correlation between the elapsed time TL and the amplitude Mb of the residual vibration BS of the track member 31. Therefore, the estimation unit 63 may estimate the operation completion time Wm based on the amplitude Mb of the residual vibration BS of the track member 31 and the time TSp required until the shutter 38 transitions to the open state, instead of the elapsed time TL.

[0090] The time TSp required for the shutter 38 to transition to the open state corresponds to the transition time from the current opening degree of the shutter 38 to the fully open state. For example, when the shutter 38 transitions from an intermediate state to an open state, the required time TSp varies depending on the size of the transport opening degree DpC in the intermediate state. The larger the transport opening degree DpC in the intermediate state, the shorter the required time TSp. Thus, the time TSp required for the shutter 38 to transition to the open state is calculated based on the difference between the current opening degree of the shutter 38 (fully closed, transport opening degree DpC, etc.) and the opening degree of the open state.

[0091] In this embodiment, the estimation unit 63 estimates the time Wm at the completion of the operation based on the braking time TB. The estimation unit 63 calculates the braking time TB from the start of operation of the vibration suppression device 80 until the residual vibration BS is eliminated. In this embodiment, the estimation unit 63 calculates the braking time TB to be longer the larger the amplitude Mb of the residual vibration BS at the start of operation Wb of the vibration suppression device 80. The amplitude Mb of the residual vibration BS is an estimated value calculated based on the elapsed time TL, or a value detected by the vibration sensor 55 that detects the amplitude of vibration of the track member 31.

[0092] The estimation unit 63 calculates the braking time TB by taking the time when the shutter 38 opens to a predetermined degree DpS and the braking member 81 moves to the contact position Pc as the start time Wb of operation of the vibration suppression device 80. In other words, the braking time TB corresponds to the period obtained by subtracting the time it takes for the braking member 81 to move from the retracted position Pv to the contact position Pc from the damping period Pd.

[0093] The estimation unit 63 performs the process of estimating the completion time Wm as described above, for example, when the component mounting machine 3 sends a command to the bulk feeder 10 to open the shutter 38, and the estimation unit 63 receives this command. At this time, the estimation unit 63 considers the elapsed time TL to be the time from the end of the vibration by the vibration device 50 to the time when the above command was received.

[0094] Here, the parts mounting machine 3 can operate in various operating modes and sends necessary commands to external equipment such as the bulk feeder 10 at appropriate timings according to the various operating modes. The above operating modes include a maintenance priority mode and a production priority mode. The maintenance priority mode is an operating mode that prioritizes the maintenance of the supply area As by preventing foreign matter from entering the supply area As of the bulk feeder 10. Specifically, in the maintenance priority mode, the parts mounting machine 3 shortens the period during which the shutter 38 is open as much as possible, and in particular restricts the mounting head 933 from performing actions such as approaching while the shutter 38 is open.

[0095] Therefore, in maintenance priority mode, when the component mounting machine 3 performs an imaging step to image the supply area As, it moves the camera to the imaging position and then sends a command to the bulk feeder 10 to open the shutter 38. The component mounting machine 3 then waits for a completion notification from the bulk feeder 10 and performs the imaging step after receiving the completion notification.

[0096] Furthermore, the production priority mode is an operating mode that prioritizes suppressing the occurrence of waiting time for one of the mounting heads 933 and bulk feeder 10 in operations that require cooperation between the two. Specifically, in production priority mode, the parts mounting machine 3 controls the operations of the mounting head 933 and bulk feeder 10 to overlap in time. Therefore, in production priority mode, when executing the imaging step, the parts mounting machine 3 sends a command to the bulk feeder 10 to start opening the shutter 38 while moving the camera to position it at the imaging location. This allows the completion time Wm to be brought forward, and the start time of the imaging step to be brought forward.

[0097] The estimation unit 63 estimates the Wm at the time of operation completion in response to the various operating modes of the component mounting machine 3 as described above. For example, when the component mounting machine 3 is in production priority mode and a command is input to open the shutter 38 at a predetermined timing along with the scheduled arrival time of the camera at the imaging position, the estimation unit 63 estimates the Wm at the time of operation completion taking these factors into account. Details of the estimation process for the Wm at the time of operation completion according to the operating mode will be described later.

[0098] 5-2. Notification Unit 64 The notification unit 64 sends a completion notification to the component mounting machine 3 based on the operation completion time Wm estimated by the estimation unit 63. In this embodiment, since the estimation unit 63 of the feeder control device 60 is incorporated into the bulk feeder 10, the notification unit 64 is responsible for sending the completion notification. The notification unit 64 sends a completion notification to the component mounting machine 3 when the current time reaches the operation completion time Wm, or when the current time reaches a time obtained by adding a preset period to the operation completion time Wm.

[0099] 6. Shutter 38 Opening Operation Process The details of the shutter 38 opening operation process will be explained with reference to Figures 12-14. In the opening operation process, if the operating mode of the component mounting machine 3 is the maintenance priority mode (S21: Yes), the bulk feeder 10 first starts the opening operation of the shutter 38 (S22). Next, the estimation unit 63 acquires the elapsed time TL1 from the end of the vibration by the vibration device 50 to the time when a command to open the shutter 38 is input (S23). Next, the estimation unit 63 estimates the time Wm1 when the operation is completed based on the acquired elapsed time TL1 and the required time TSp until the shutter 38 transitions to the open state (S24).

[0100] Specifically, as shown in Figure 13, the estimation unit 63 estimates the time of operation completion Wm1 as the later of the braking time TB1 corresponding to the elapsed time TL1 and the required time TSp when added to the current time. The dashed line in Figure 13 shows the case where the required time TSp is later than the braking time TB1. Note that the braking time TB1 may be calculated based on the amplitude Mb of the residual vibration of the track member 31 at the time (time TC1) when the command to open the shutter 38 is input, instead of the elapsed time TL1. Subsequently, the notification unit 64 sends a completion notification to the component mounting machine 3 when the current time reaches the time of operation completion Wm1 (S25).

[0101] Thus, in maintenance priority mode, as shown in Figure 13, the component mounting machine 3 moves the camera (substrate camera 95) to a position where it can image the supply area As (movement step Cm). At time TC1, when the camera movement is complete, the component mounting machine 3 sends a command to the bulk feeder 10 to open the shutter 38 (command step Cc). Then, when the estimated operation completion time Wm1 arrives, a completion notification is sent. The component mounting machine 3 receives the completion notification and, after the operation completion time Wm1 has elapsed, takes an image with the substrate camera 95 (imaging step Cg). The state recognition unit 97 of the component mounting machine 3 recognizes the supply status of components in the supply area As based on the image data acquired by the camera (recognition step Cr).

[0102] On the other hand, if the operating mode of the component mounting machine 3 is not the maintenance priority mode (S21: No), the feeder control device 60 assumes that the operating mode is the production priority mode. The operating mode may be notified in advance from the component mounting machine 3, or it may be assumed to be the production priority mode when the expected arrival time Wp of the camera is input along with a command to open the shutter 38. The estimation unit 63 acquires the elapsed time TL2 from the end of the vibration by the vibration device 50 (time T20) to the time when the command was input (time TC1) (S31). If the command is input before the end of the vibration, the elapsed time TL2 is set to 0.

[0103] Next, the estimation unit 63 estimates a provisional completion time WmP, assuming that the shutter 38 has started opening, based on the acquired elapsed time TL2 and the time TSp required for the shutter 38 to transition to the open state, from the later of the time the command was input (time TC1) or the end of the vibration (time T20) (S32). As shown by the dashed line in Figure 14(a), if the provisional completion time WmP1 is earlier than the scheduled arrival time Wp (S33: Yes), the bulk feeder 10 waits for a waiting time Tw corresponding to the time difference Tf between the provisional completion time WmP1 and the scheduled arrival time Wp from the time the command was input (time TC1) before starting the shutter 38 opening operation (S34). If the command is input before the end of the vibration, the bulk feeder 10 starts the shutter 38 opening operation at the end of the vibration.

[0104] The estimation unit 63 then estimates the time Wm2 at the completion of the operation based on the elapsed time TL2 from the end of the excitation by the excitation device 50 (time T20) to the start of the opening operation of the shutter 38 and the required time TSp until the shutter 38 transitions to the open state (S35). Specifically, as shown in Figure 14(a), the estimation unit 63 estimates the time Wm2 at the completion of the operation to be the longer of the braking time TB2 corresponding to the elapsed time TL2 and the required time TSp, added at the start of the opening operation. Note that the above braking time TB2 may be calculated based on the amplitude Mb of the residual vibration of the track member 31 at the start of the opening operation of the shutter 38, instead of the elapsed time TL2.

[0105] Furthermore, as shown by the dashed line in Figure 14(b), if the provisional completion time WmP2 is later than the scheduled arrival time Wp (S33: No), the bulk feeder 10 immediately starts opening the shutter 38 (S36). The estimation unit 63 then sets the provisional completion time WmP2 as the confirmed completion time Wm2 (S37). Subsequently, the notification unit 64 sends a completion notification to the component mounting machine 3 when the current time reaches the completion time Wm2 (S25).

[0106] With this shutter 38 opening process, in maintenance priority mode, the shutter 38 opens only after the mounting head 933, which moves integrally with the substrate camera 95, has finished moving. This prevents foreign matter from entering the supply area As. In production priority mode, the movement of the mounting head 933 and the opening of the shutter 38 overlap, enabling efficient cooperation between the mounting head 933 and the bulk feeder 10, thereby shortening the production time.

[0107] Furthermore, regardless of the operating mode, the Wm at the time of operation completion, when residual vibration BS disappears and the shutter 38 is open, can be estimated and determined. Then, by providing a notification corresponding to the Wm at the time of operation completion, subsequent processing (imaging step Cg and recognition step Cr) can be executed at a more optimal timing. This can improve production efficiency.

[0108] 7. Feeder Control Method The matters described regarding the feeder control device 60 can be similarly applied to the feeder control method applied to the bulk feeder 10. The processing performed by the estimation unit 63 corresponds to the estimation step in the feeder control method. Also, the processing performed by the notification unit 64 corresponds to the notification step. The same effects as in the embodiment can be achieved in such a feeder control method as well.

[0109] 8. Modified Embodiments In one embodiment, the estimation method for the completion of operation is switched according to the operating mode of the parts mounting machine 3 (maintenance priority mode, production priority mode). However, if the operating mode of the parts mounting machine 3 is fixed to a specific operating mode, the estimation unit 63 may be configured to estimate the completion of operation using an estimation method corresponding to the specific operating mode without switching the estimation method.

[0110] In another embodiment, the estimation unit 63 calculates the required time TSp for opening the shutter 38 by taking into account the current opening degree of the shutter 38 (for example, the transport opening degree DpC). However, since the transport opening degree DpC is often only slightly different from fully closed, a fixed value may be adopted for the required time TSp, which is essentially equal to the time required for the shutter 38 to go from fully closed to fully open.

[0111] In this embodiment, the braking time TB is calculated based on the elapsed time TL. This braking time TB can be calculated using the elapsed time TL and the amplitude of the vibration (in this embodiment, the reversal vibration BR) that was last applied to the track member 31 during the excitation control (estimated value based on the drive voltage, or measured value by the vibration sensor 55). In contrast, if the estimation unit 63 can obtain the amplitude of the current residual vibration BS of the movable body Vb including the track member 31 from the measured value by the vibration sensor 55, it can calculate the braking time TB based on that measured value.

[0112] The estimation unit 63 may switch between or combine the estimation method using the elapsed time TL and the estimation method using the measured value of the residual vibration amplitude, as described above. This allows for efficient estimation processing depending on the situation and improves the estimation accuracy.

[0113] Furthermore, in this embodiment, the vibration suppression device 80 is configured to operate in conjunction with the opening and closing operations of the shutter 38. However, the vibration suppression device 80 may be configured to operate independently without being linked to the opening operation of the shutter 38. This allows the damping process for residual vibrations to be performed at any desired timing. In such a configuration, the estimation unit 63 can estimate the time Wm at the completion of the operation, similar to the embodiment, by calculating the time TSp required for the opening operation of the shutter 38 by the shutter drive device 70 and the damping time TB required for the elimination of residual vibrations BS by the vibration suppression device 80.

[0114] In this embodiment, the feeder control device 60 is configured to be integrated into the bulk feeder 10. In contrast, the estimation unit 63 of the feeder control device 60 may be integrated into an external device of the bulk feeder 10, provided that it can acquire the necessary information (such as elapsed time and measured values ​​from the vibration sensor 55). For example, the estimation unit 63 of the feeder control device 60 may be integrated into the control device of the component mounting machine 3 or the host computer 2.

[0115] 1: Production system, 3: Parts mounting machine, 10: Bulk feeder, 11: Feeder body, 20: Conveying unit, 21: Case holder, 22: Track unit, 23: Connecting member, 31: Track member, 38: Shutter, 50: Vibration device, 51: Support member, 52: Piezoelectric element (vibrator), 60: Feeder control device, 63: Estimation unit, 64: Notification unit, 70: Shutter drive device, 80: Vibration suppression device, 81: Braking member, 82: Moving mechanism, As: Supply area, R: Conveying path

Claims

1. A feeder control device applicable to a bulk feeder that is set in a parts mounting machine and supplies parts, wherein the bulk feeder comprises a track member that is vibrably provided with respect to the feeder body and has a supply area that communicates with the transport path of the parts and opens upward, a shutter that closes the supply area in a closed state and opens the supply area in an open state, and a vibration device that applies vibration to the track member to transport the parts, and an estimation unit that estimates the time when the residual vibration disappears and the shutter is in the open state, based on the elapsed time from the end of the vibration by the vibration device or the amplitude of the residual vibration of the track member, and the time required until the shutter moves to the open state.

2. The feeder control device according to claim 1, wherein the bulk feeder is equipped with a vibration suppression device that suppresses the residual vibration of the track member and dampens it at an early stage, and the estimation unit calculates the damping time from the start of operation of the vibration suppression device until the residual vibration is eliminated, and estimates the time of completion of the operation based on the damping time.

3. The feeder control device according to claim 2, wherein the estimation unit calculates that the damping time becomes longer the larger the amplitude of the residual vibration at the start of operation of the vibration suppression device.

4. The feeder control device according to claim 2 or 3, wherein the vibration suppression device starts operating at a predetermined opening of the shutter and suppresses the residual vibration of the track member in conjunction with the opening operation of the shutter.

5. The feeder control device according to claim 4, wherein the vibration suppression device comprises a braking member that is movable between a contact position in contact with a movable body including the track member and a retracted position in which it is not in contact with the movable body, and a moving mechanism that moves the braking member in accordance with the opening degree of the shutter, and the estimation unit calculates the braking time by taking the time when the shutter opens to a predetermined degree and the braking member moves to the contact position as the start of operation of the vibration suppression device.

6. The feeder control device according to any one of claims 1 to 3, wherein the amplitude of the residual vibration is an estimated value calculated based on the elapsed time, or a value detected by a vibration sensor that detects the amplitude of vibration of the track member.

7. The feeder control device according to any one of claims 1 to 3, wherein the shutter is opened to an extent that is greater than the amplitude of vibration of the track member and is small enough to prevent leakage of the part during transport of the part while the vibration device is vibrating the track member, and the time required for the shutter to transition to the open state is calculated based on the difference between the current opening of the shutter and the opening of the open state.

8. The feeder control device according to any one of claims 1 to 3, wherein the component mounting machine comprises: a mounting head provided to be movable horizontally within the machine for picking up the components supplied by the bulk feeder and mounting them onto a substrate; a camera provided to be movable integrally with the mounting head and capable of imaging the supply area; and a state recognition unit that recognizes the supply status of the components in the supply area based on image data acquired by imaging by the camera after the estimated completion time of the operation has elapsed.

9. The feeder control device according to claim 8, wherein the component mounting machine performs a movement step of moving the camera to a position for imaging the supply area; a command step of sending a command to the bulk feeder to open the shutter; an imaging step of performing imaging with the camera after the estimated completion time of the operation has elapsed; and a recognition step of recognizing the supply state based on the image data acquired by imaging with the camera, and the estimation unit estimates the completion time of the operation based on the elapsed time from the end of the excitation by the excitation device to the time when the command is input, or the amplitude of the residual vibration of the track member at the time when the command is input.

10. The feeder control device according to claim 8, wherein the component mounting machine performs a command step of sending a command to the bulk feeder to open the shutter at a predetermined timing when the camera is scheduled to arrive at a position for imaging the supply area, and when the shutter is opened at a predetermined timing; a movement step of moving the camera to a position for imaging the supply area; an imaging step of performing imaging with the camera after the movement step is completed; and a recognition step of recognizing the supply state based on the image data acquired by imaging with the camera, and the estimation unit estimates a provisional completion time of the operation, assuming that the shutter opening operation started from the later of the time the command was input or the time the vibration ended, based on the elapsed time from the end of the vibration by the vibration device to the time the command was input, or the amplitude of the residual vibration of the track member at the time the command was input.

11. The feeder control device according to claim 10, wherein if the provisional completion time of the operation is earlier than the scheduled arrival time, the bulk feeder waits from the time the command is input for a waiting time corresponding to the time difference between the provisional completion time of the operation and the scheduled arrival time before starting the shutter opening operation, and the estimation unit estimates the completion time of the operation based on the elapsed time from the end of the excitation by the excitation device to the start of the shutter opening operation, or the amplitude of the residual vibration of the track member at the start of the shutter opening operation.

12. The feeder control device according to claim 10, wherein the bulk feeder immediately starts opening the shutter when the provisional completion time of the operation is later than the scheduled arrival time, and the estimation unit sets the provisional completion time of the operation to the confirmed completion time of the operation.

13. A feeder control method applicable to a bulk feeder that is set in a parts mounting machine and supplies parts, wherein the bulk feeder comprises a track member that is vibrably provided with respect to the feeder body and has a supply area that communicates with the transport path of the parts and opens upward, a shutter that closes the supply area in a closed state and opens the supply area in an open state, and a vibration device that vibrates the track member to transport the parts, and the method comprising an estimation step of estimating the time when the residual vibration disappears and the shutter is in the open state, based on the elapsed time from the end of the vibration by the vibration device or the amplitude of the residual vibration of the track member, and the time required until the shutter moves to the open state.

Images