JP7562274B2 - Circuit board processing machine - Google Patents

Description

The technology disclosed in this specification relates to a circuit board processing machine.

Patent document 1 discloses a circuit that controls the driving of motors. This circuit includes two motors, two drivers that drive each of the motors, two excitation pattern generators that output excitation patterns to each driver, and a CPU that outputs signals to control each motor. In this circuit, one of the excitation pattern generators is selected according to the signal output by the CPU, and the motor corresponding to the selected excitation pattern generator is driven by the corresponding driver.

Japanese Patent Application Laid-Open No. 61-221596

In the field of circuit board working machines, various tasks are performed on circuit boards by driving multiple motors and controlling the operation of each part. Since the drive of each of the multiple motors must be controlled, there is a problem in that the control configuration for this tends to become complicated. This specification provides technology that allows the drive of multiple motors to be controlled with a simple control configuration in a circuit board working machine equipped with multiple motors.

The board working machine disclosed in this specification performs a predetermined operation on a board. The board working machine includes a first motor, a second motor that is not driven simultaneously with the first motor during the predetermined operation, a first drive circuit connected to the first motor, a second drive circuit connected to the second motor, and a first control device that outputs a first control signal to the first drive circuit and the second drive circuit for controlling the driving of the first motor and the second motor. The first drive circuit generates a first drive signal that drives the first motor based on the first control signal. The second drive circuit generates a second drive signal that drives the second motor based on the first control signal. The first drive circuit is configured to be unable to generate the first drive signal when the second drive circuit is generating the second drive signal, while being able to generate the first drive signal when the second drive circuit is not generating the second drive signal. The second drive circuit is configured to be unable to generate the second drive signal when the first drive circuit is generating the first drive signal, but is configured to be able to generate the second drive signal when the first drive circuit is not generating the first drive signal.

In the above-mentioned board working machine, the control device outputs a first control signal to both the first drive circuit and the second drive circuit for controlling the drive of the first motor and the second motor. The first drive circuit is configured to be unable to generate the first drive signal when the second drive circuit is generating the second drive signal, while being able to generate the first drive signal when the second drive circuit is not generating the second drive signal. Also, the second drive circuit is configured to be unable to generate the second drive signal when the first drive circuit is generating the first drive signal, while being able to generate the second drive signal when the first drive circuit is not generating the first drive signal. Here, in the above-mentioned board working machine, the first motor and the second motor are not driven simultaneously during a predetermined operation. That is, in this board working machine, while one motor is being driven in a predetermined operation, the other motor is not driven. Therefore, even if only one of the drive signals is configured to be able to be generated (that is, even if the configuration is such that it is not possible to drive two motors simultaneously), the work on the board is not delayed. In this way, in the above-mentioned board working machine, the drive of two motors that are not driven simultaneously during a given operation is controlled by a single control device. Therefore, with this board working machine, it is not necessary to provide a dedicated control device for each of the two motors, and a simple control configuration can be achieved. In addition, since the control device can be shared by multiple motors, space can be saved and costs can be reduced.

FIG. 2 is a diagram showing the mechanical configuration of the board working machine 10. FIG. 2 is a diagram partially showing the configuration of a control system of the board working machine 10. 5 is a graph showing changes in each value when servo motors 58a and 58b are driven. 5 is a graph showing changes in each value when servo motors 27a, 27b, and 47 are driven. FIG. 13 is a diagram partially showing the configuration of a control system of a modified example of a board working machine.

In one embodiment of the present technology, the device may further include a third motor, a third drive circuit connected to the third motor, and a second control device that outputs a second control signal to the third drive circuit for controlling the drive of the third motor. The third drive circuit may generate a third drive signal for driving the third motor based on the second control signal.

In this configuration, it is possible to output the first drive signal and the third drive signal, or the second drive signal and the third drive signal, at the same timing. In other words, in this configuration, it is possible to drive the third motor simultaneously with the first motor or the second motor.

In one embodiment of the present technology, the device may further include a first operating unit operated by the first motor and a second operating unit operated by the second motor. At least a portion of the operating range of the first operating unit may overlap with at least a portion of the operating range of the second operating unit.

In this configuration, the first operating unit and the second operating unit are positioned in such a way that they may interfere with each other when they are operated simultaneously. That is, if the first motor and the second motor are driven simultaneously, there is a possibility that they may interfere with each other. In such a case, for example, by retracting one of the first operating unit and the second operating unit to a position where it does not interfere with the other, and operating only the other operating unit, it is possible to reliably prevent the two operating units from interfering with each other. Therefore, by controlling the driving of the first motor and the driving of the second motor by a single control device so that they are not driven simultaneously, it is possible to easily prevent the two operating units from interfering with each other, while realizing space saving and low cost.

In one embodiment of the present technology, the specified operation may be a loading operation of loading the substrate to a processing position, a processing operation of performing processing on the substrate, or an unloading operation of unloading the substrate from the processing position.

These operations are not performed simultaneously; the loading operation is performed before the processing operation, and the processing operation is performed before the unloading operation. Furthermore, the operating parts that perform these operations need to access the substrate located at the processing position. In other words, there is a possibility that the operating parts that perform these operations may interfere with each other. For this reason, the present technology can suitably control the drive of the motors that operate each operating part that performs these operations.

In one embodiment of the present technology, the first control signal may be input simultaneously to each of the first drive circuit and the second drive circuit. The first control device may output a first signal to the first drive circuit and output a second signal to the second drive circuit during a period different from the period during which the first signal is output. The first drive circuit may generate the first drive signal when the first signal is input, and the second drive circuit may generate the second drive signal when the second signal is input.

In this configuration, the first control signal is input to the first drive circuit and the second drive circuit simultaneously, while the first drive circuit and the second drive circuit generate each drive signal in response to the input of the first signal and the second signal. That is, the first control device does not output a control signal separately to the first drive circuit and the second drive circuit, but outputs the first control signal simultaneously to each drive circuit, while outputting a first signal and a second signal that indicate the period during which each drive signal should be generated to each drive circuit. Here, the first signal and the second signal can be generated easily because they only indicate the period during which the drive signal should be generated. In this way, in the above configuration, there is no need to output different control signals to each drive circuit, so the drive of the first motor and the second motor can be controlled by simple processing.

(Example)
A board working machine 10 according to an embodiment will be described below with reference to the drawings. The board working machine 10 is a printing device that prints solder on a circuit board C. Typically, the printing device is installed alongside an electronic component mounter or the like to form a mounting line. The circuit board C on which the printing device has printed the solder is sent to the electronic component mounter. The electronic component mounter mounts a plurality of electronic components on the circuit board C on which the solder has been printed.

As shown in FIG. 1, the board working machine 10 includes a main controller 20, an interface device 22, a circuit board positioning device 24, an imaging device 26, a mask 28, and a squeegee device 30. In the following description, in the board working machine 10, the transport direction of the circuit board C is defined as the X direction, the direction perpendicular to the X direction in the horizontal plane is defined as the Y direction, and the direction perpendicular to the X and Y directions is defined as the Z direction.

The main controller 20 is equipped with a storage device that stores programs, etc., a processor that executes the programs stored in the storage device, and a communication device that communicates with a production management computer (not shown) that manages the overall operation of the mounting line. The main controller 20 controls the overall operation of the board work machine 10 according to instructions from the production management computer. The main controller 20 also transmits data indicating the status of the solder printing process in the board work machine 10 to the production management computer.

The interface device 22 displays the setting status and working status of the board working machine 10 to the worker via a monitor or the like, and accepts various inputs from the worker via switches or the like.

The circuit board positioning device 24 includes a Y-direction movement mechanism 40, an X-direction movement mechanism 42, a rotation mechanism 44, a lifting mechanism 46, a transport mechanism 48, a clamping mechanism 50, and a support mechanism 52.

The Y-direction movement mechanism 40 is supported on the base of the board working machine 10. The Y-direction movement mechanism 40 is configured to be movable in the Y direction relative to the base of the board working machine 10. The X-direction movement mechanism 42 is supported on the Y-direction movement mechanism 40. The X-direction movement mechanism 42 is configured to be movable in the X direction relative to the Y-direction movement mechanism 40. The rotation mechanism 44 is supported on the X-direction movement mechanism 42. The rotation mechanism 44 is configured to be rotatable around the Z axis relative to the X-direction movement mechanism 42. The lifting mechanism 46 is supported on the rotation mechanism 44. The lifting mechanism 46 is driven by a servo motor 47 (see FIG. 2) and is configured to be movable in the Z direction relative to the rotation mechanism 44.

The transport mechanism 48, the clamp mechanism 50, and the support mechanism 52 are supported by the lift mechanism 46. The transport mechanism 48 includes a pair of conveyor belts 54 arranged along the X direction. The transport mechanism 48 includes servo motors 58a (see FIG. 2) that drive each of the conveyor belts 54. The circuit board C is transported in the X direction by placing both ends of the circuit board C in the Y direction on the pair of conveyor belts 54 and driving the servo motor 58a. The transport mechanism 48 also includes a servo motor 58b (see FIG. 2) for adjusting the spacing between the pair of conveyor belts 54. By driving the servo motor 58b, the spacing between the pair of conveyor belts 54 is adjusted according to the size of the circuit board C.

The clamp mechanism 50 can clamp the circuit board C from both ends in the Y direction and hold the circuit board C at the desired width. The support mechanism 52 can support the circuit board C from the underside by abutting the tips of multiple support pins 56 against the underside of the circuit board C held by the clamp mechanism 50.

The mask 28 is a rectangular metal plate-like member, and its four sides are supported by a mask support frame 69 whose position is fixed relative to the base of the board working machine 10. An opening is formed in the center of the mask 28 corresponding to the solder pattern to be printed on the circuit board C. Hereinafter, the opening formed in the mask 28 is also referred to as the printing pattern.

The imaging device 26 is disposed to the side of the circuit board positioning device 24. The imaging device 26 includes a camera 26a, a servo motor 27a (see FIG. 2) that drives the camera 26a in the X direction, and a servo motor 27b (see FIG. 2) that drives the camera 26a in the Y direction. By driving the servo motors 27a and 27b, the camera 26a moves in the XY plane and captures images of the upper surface of the circuit board C held by the clamp mechanism 50 and the support mechanism 52, and the lower surface of the mask 28. The images of the circuit board C and mask 28 captured by the camera 26a are used to accurately position both of them.

The squeegee device 30 includes a Y-direction movement mechanism 70, squeegee heads 74a and 74b, and squeegees 76a and 76b.

The Y-direction movement mechanism 70 is supported on the base of the board working machine 10. The Y-direction movement mechanism 70 is configured to be movable in the Y direction relative to the base. The squeegee heads 74a, 74b are supported on the Y-direction movement mechanism 70. The squeegee heads 74a, 74b are configured to be movable in the Z direction relative to the Y-direction movement mechanism 70.

The squeegees 76a and 76b are supported by the squeegee heads 74a and 74b, respectively. The squeegees 76a and 76b are configured to be tiltable relative to the squeegee heads 74a and 74b. The squeegees 76a and 76b squeeze the solder supplied from a solder supply device (not shown) onto the upper surface of the mask 28 over the print pattern.

The board working machine 10 further includes a carry-in device and an unloading device, not shown. The carry-in device receives the circuit board C sent to the board working machine 10 from the upstream side of the mounting line, and sends the received circuit board C to the transport mechanism 48 of the circuit board positioning device 24. The unloading device receives the circuit board C sent from the transport mechanism 48 of the circuit board positioning device 24, and sends it out to the downstream side of the mounting line.

Next, the operation of the board working machine 10 will be described. When the circuit board C is sent from the upstream side of the mounting line, the main controller 20 drives the carry-in device to receive the circuit board C. Then, the main controller 20 drives the Y-direction movement mechanism 40, the X-direction movement mechanism 42, the rotation mechanism 44, and the lifting mechanism 46 so that the transport mechanism 48 is in a position where it can receive the circuit board C from the carry-in device. Then, the main controller 20 drives the carry-in device and the transport mechanism 48 to transfer the circuit board C from the carry-in device to the transport mechanism 48.

When the circuit board C is transferred to the transport mechanism 48, the main controller 20 drives the transport mechanism 48 to transport the circuit board C to a position in the X direction corresponding to the printing pattern of the mask 28. Next, the main controller 20 drives the clamp mechanism 50 and the support mechanism 52 to hold the circuit board C. Then, the main controller 20 uses the camera 26a to capture images of the upper surface of the circuit board C and the lower surface of the mask 28. The main controller 20 processes the image data captured by the camera 26a to detect misalignment between the circuit board C and the mask 28. When a misalignment is detected, the main controller 20 drives the Y direction movement mechanism 40, the X direction movement mechanism 42, and the rotation mechanism 44 to finely adjust the position of the circuit board C. Then, the main controller 20 drives the lift mechanism 46 to lift the circuit board C and bring the circuit board C into contact with the lower surface of the mask 28.

In parallel with positioning the circuit board C as described above, the main controller 20 supplies solder to the upper surface of the mask 28 using a solder supplying device. When the circuit board C abuts against the lower surface of the mask 28 and solder is supplied to the upper surface of the mask 28, the main controller 20 drives one of the squeegee heads (e.g., squeegee head 74a) to bring one of the squeegees (e.g., squeegee 76a) into contact with the upper surface of the mask 28, and then drives the Y-direction movement mechanism 70 to perform squeegeeing against the printed pattern of the mask 28. As a result, solder is printed in a pattern corresponding to the printed pattern on the circuit board C that is held in contact with the lower surface of the mask 28.

When solder printing on the circuit board C is completed, the main controller 20 drives the squeegee heads 74a, 74b and the Y-direction movement mechanism 70 to return the squeegee device 30 to the standby position. The main controller 20 also drives the lifting mechanism 46, the clamping mechanism 50 and the support mechanism 52 to transfer the circuit board C back to the transport mechanism 48. Furthermore, the main controller 20 drives the Y-direction movement mechanism 40, the X-direction movement mechanism 42 and the rotation mechanism 44 so that the transport mechanism 48 is in a position where it can transfer the circuit board C to the unloading device.

Next, the main controller 20 drives the transport mechanism 48 and the unloading device to transfer the circuit board C from the transport mechanism 48 to the unloading device. After that, the main controller 20 drives the unloading device to send out the circuit board C downstream of the mounting line.

Next, the configuration of the control system of the board working machine 10 will be described with reference to FIG. 2. FIG. 2 is a block diagram partially showing the configuration of the control system of the board working machine 10. Therefore, the actual control system configuration of the board working machine 10 includes one or more elements (e.g., interface device 22, squeegee device 30, etc.) that are not shown. As shown in FIG. 2, in addition to the main controller 20 and servo motors 27a, 27b, 47, 58a, 58b described above, the board working machine 10 also includes motor controllers 60a-60c and motor drive circuits 62a-62e.

As shown in FIG. 2, the servo motor 58a is connected to the motor controller 60a via a motor drive circuit 62a. The servo motor 58b is connected to the motor controller 60a via a motor drive circuit 62b. In other words, the two servo motors 58a and 58b that drive the conveyor belt 54 are connected in parallel to the motor controller 60a.

The servo motor 27a is connected to the motor controller 60b via a motor drive circuit 62c. The servo motor 27b is connected to the motor controller 60c via a motor drive circuit 62d. The servo motor 47 is connected to the motor controller 60c via a motor drive circuit 62e. That is, the two servo motors 27a and 27b that drive the camera 26a are connected to separate motor controllers 60b and 60c, respectively. On the other hand, the servo motor 47 that drives the lifting mechanism 46 is connected in parallel with the servo motor 27b to the motor controller 60c.

Each of the motor controllers 60a to 60c is connected to the main controller 20. Signals Sa, Sb, and Sc indicating command values such as the movement amount, speed, and acceleration of each servo motor are input from the main controller 20 to each of the motor controllers 60a to 60c. The motor controller 60a generates a pulse signal Pa for controlling the drive of the servo motors 58a and 58b based on the input signal Sa. The pulse signal Pa is a signal that controls the current flowing through the servo motors 58a and 58b based on the output signal of an encoder (not shown) so that the current is equal to the command value of the signal Sa. The motor controller 60a outputs the generated pulse signal Pa to the motor drive circuits 62a and 62b. That is, the same pulse signal Pa is input to the motor drive circuits 62a and 62b at the same time. The motor controller 60b generates a pulse signal Pb for controlling the drive of the servo motor 27a based on the input signal Sb. The motor controller 60b outputs the generated pulse signal Pb to the motor drive circuit 62c. The motor controller 60c generates a pulse signal Pc for controlling the drive of the servo motors 27b and 47 based on the input signal Sc. The motor controller 60c outputs the generated pulse signal Pc to the motor drive circuits 62d and 62e. That is, the same pulse signal Pc is input to the motor drive circuits 62d and 62e at the same time.

Motor controller 60a also outputs enable signals Ea and Eb to motor drive circuits 62a and 62b, respectively. Enable signals Ea and Eb are signals that change between HIGH, which indicates that input pulse signal Pa is valid, and LOW, which indicates that input pulse signal Pa is invalid. During the period when enable signal Ea is HIGH, enable signal Eb is controlled to LOW. During the period when enable signal Eb is HIGH, enable signal Ea is controlled to LOW. Motor controller 60a controls enable signals Ea and Eb so that there is no period when they are both HIGH at the same time. Similarly to motor controller 60a, motor controller 60c also outputs enable signals Ed and Ee to motor drive circuits 62d and 62e, respectively.

When the enable signal Ea is HIGH, the motor drive circuit 62a determines that the input pulse signal Pa is valid, and generates a drive signal Da for driving the servo motor 58a based on the pulse signal Pa. The motor drive circuit 62a then drives the servo motor 58a based on the generated drive signal Da. The same applies to the motor drive circuits 62b, 62d, and 62e. On the other hand, no enable signal is input to the motor drive circuit 62c. When the motor drive circuit 62c receives the pulse signal Pb, it generates a drive signal Dc for driving the servo motor 27a based on the pulse signal Pb. The motor drive circuit 62c then drives the servo motor 27a based on the generated drive signal Dc.

Figure 3 shows the changes in each value when the motor controller 60a drives the servo motors 58a and 58b based on the signal Sa input from the main controller 20. In other words, it is assumed that the servo motor 58b for adjusting the gap between the pair of conveyor belts 54 and the servo motor 58a for transporting the circuit board C placed on the conveyor belt 54 are driven.

As described above, the pulse signal Pa is input to both motor drive circuits 62a and 62b. Based on the input signal Sa, the motor controller 60a controls the pulse signal Pa to a value for driving the servo motor 58b in period T1, and to a value for driving the servo motor 58a in period T2.

The motor controller 60a changes the enable signal Eb from LOW to HIGH at timing t1, which is slightly earlier than the arrival of the period T1 in which the pulse signal Pa periodically changes between high and low potentials. During the period T1, the enable signal Eb input to the motor drive circuit 62b is controlled to be HIGH. Therefore, the motor drive circuit 62b determines that the input pulse signal Pa is valid and generates a drive signal Db. Therefore, at the start timing t2 of the period T1, the current Ib flowing through the servo motor 58b begins to rise. That is, the servo motor 58b is driven, and the interval between the pair of conveyor belts 54 begins to change. On the other hand, during the period T1, the enable signal Ea input to the motor drive circuit 62a is controlled to be LOW. Therefore, the motor drive circuit 62a determines that the input pulse signal Pa is invalid and does not generate a drive signal Da. Therefore, the current Ia flowing through the servo motor 58a is maintained at zero. Then, at timing t3 when period T1 ends, the current Ib flowing through servo motor 58b begins to decrease. Also, at timing t4, which is slightly later than timing t3, motor controller 60a changes enable signal Eb from HIGH to LOW.

Then, at timing t5, a predetermined time after timing t4, the motor controller 60a changes the enable signal Ea from LOW to HIGH. The motor controller 60a changes the enable signal Ea at timing t5, which is slightly earlier than timing t6 when the period T2 arrives. Between timing t4 and timing t5, the circuit board C is placed on the conveyor belt 54.

During the period T2, the enable signal Ea input to the motor drive circuit 62a is controlled to HIGH. Therefore, the motor drive circuit 62a judges that the input pulse signal Pa is valid and generates the drive signal Da. Therefore, at the start timing t6 of the period T2, the current Ia flowing through the servo motor 58a begins to rise. That is, the servo motor 58a is driven, the conveyor belt 54 begins to rotate, and the circuit board C is transported. On the other hand, during the period T2, the enable signal Eb input to the motor drive circuit 62b is controlled to LOW. Therefore, the motor drive circuit 62b judges that the input pulse signal Pa is invalid and does not generate the drive signal Db. Therefore, the current Ib flowing through the servo motor 58b is maintained at zero. After that, at the end timing t7 of the period T2, the current Ia flowing through the servo motor 58a begins to decrease. Furthermore, at timing t8, which is slightly later than timing t7, the motor controller 60a changes the enable signal Ea from HIGH to LOW.

As described above, in this embodiment, the driving of the servo motor 58b for changing the width of the pair of conveyor belts 54 and the driving of the servo motor 58a for transporting the circuit board C by the conveyor belt 54 are controlled by a single motor controller 60a. The width change of the conveyor belt 54 and the transport of the circuit board C by the conveyor belt 54 are not performed simultaneously. That is, the servo motors 58a and 58b are not driven simultaneously. In this embodiment, a single motor controller 60a outputs the same pulse signal Pa to the motor drive circuits 62a and 62b that drive the two servo motors 58a and 58b in this relationship. Then, the motor controller 60a outputs enable signals Ea and Eb to the motor drive circuits 62a and 62b, respectively, to select the servo motor to be actually driven. In this way, in this embodiment, the servo motors 58a and 58b that are not driven simultaneously are controlled by a single motor controller 60a, so there is no need to provide a dedicated motor controller for each of the servo motors 58a and 58b. This simplifies the control configuration, saves space, and reduces costs.

In addition, in this embodiment, the motor controller 60a outputs the same pulse signal Pa to each motor drive circuit 62a, 62b at the same time. Therefore, there is no need to output different pulse signals to each motor drive circuit 62a, 62b, and the drive of each servo motor 58a, 58b can be controlled by simple processing.

Motor controller 60a also controls enable signal Eb to be HIGH for a period longer than period T1 during which servo motor 58b should be driven (i.e., the period from timing t1 to timing t4), and controls enable signal Ea to be HIGH for a period longer than period T2 during which servo motor 58a should be driven (i.e., the period from timing t5 to timing t8). In this way, by providing a margin for pulse signal Pa in enable signals Ea and Eb, it is possible to perform accurate operation according to pulse signal Pa.

(Correspondence)
In the above description, the servo motor 58a and the servo motor 58b are examples of a "first motor" and a "second motor", respectively. The motor drive circuit 62a and the motor drive circuit 62b are examples of a "first drive circuit" and a "second drive circuit", respectively. The motor controller 60a is an example of a "first control device". The pulse signal Pa is an example of a "first control signal". The drive signals Da and Db are examples of a "first drive signal" and a "second drive signal", respectively. The enable signal Ea controlled to HIGH and the enable signal Eb controlled to HIGH are examples of a "first signal" and a "second signal", respectively.

Next, a case will be described in which, in the substrate working machine 10 of the embodiment, the motor controller 60b drives the servo motor 27a based on the input signal Sb, and the motor controller 60c drives the servo motors 27b and 47 based on the input signal Sc. That is, a situation is assumed in which the servo motors 27a and 27b for driving the camera 26a and the servo motor 47 for driving the lifting mechanism 46 are driven. Figure 4 shows the changes in each value in this case. As described above, the pulse signal Pc is input to both the motor drive circuits 62d and 62e.

Based on the input signal Sb, the motor controller 60b controls the pulse signal Pb to a value for driving the servo motor 27a in the period T3. Based on the input signal Sc, the motor controller 60c controls the pulse signal Pc to a value for driving the servo motor 27b in the period T3, and to a value for driving the servo motor 47 in the period T4.

The motor controller 60c changes the enable signal Ed from LOW to HIGH at timing t11, which is slightly earlier than the arrival of period T3, during which the pulse signal Pc periodically changes between high and low potentials. During period T3, the enable signal Ed input to the motor drive circuit 62d is controlled to be HIGH. Therefore, the motor drive circuit 62d determines that the input pulse signal Pc is valid and generates a drive signal Dd. Therefore, at start timing t12 of period T3, the current Id flowing through the servo motor 27b begins to increase. That is, the servo motor 27b is driven, and the camera 26a is driven in the Y direction.

In addition, during period T3, the pulse signal Pb input to the motor drive circuit 62c periodically changes between high and low potentials. For this reason, the motor drive circuit 62c generates a drive signal Dc. Therefore, at the start timing t12 of period T3, the current Ic flowing through the servo motor 27a also begins to increase. That is, the servo motor 27a is driven, and the camera 26a is driven in the X direction. In this way, during period T3, the camera 26a is simultaneously driven in the X and Y directions, and moves to a predetermined position on the XY plane (i.e., above the circuit board C).

Meanwhile, during period T3, the enable signal Ee input to the motor drive circuit 62e is controlled to be LOW. Therefore, the motor drive circuit 62e determines that the input pulse signal Pc is invalid and does not generate the drive signal De. Therefore, the current Ie flowing through the servo motor 47 is maintained at zero. Thereafter, at timing t13 when period T3 ends, the currents Ic and Id flowing through the servo motors 27a and 27b begin to decrease. Also, at timing t14, which is slightly later than timing t13, the motor controller 60c changes the enable signal Ed from HIGH to LOW.

Then, at timing t15, a predetermined time after timing t14, the motor controller 60c changes the enable signal Ee from LOW to HIGH. The motor controller 60c changes the enable signal Ee at timing t15, which is slightly earlier than timing t16 at which period T4 arrives. Although not shown in FIG. 4, the camera 26a moves to the standby position between timing t14 and timing t15.

During the period T4, the enable signal Ee input to the motor drive circuit 62e is controlled to be HIGH. Therefore, the motor drive circuit 62e determines that the input pulse signal Pc is valid and generates a drive signal De. Therefore, at the start timing t16 of the period T4, the current Ie flowing through the servo motor 47 begins to rise. That is, the servo motor 47 is driven, the lifting mechanism 46 begins to rise, and the circuit board C is abutted against the lower surface of the mask 28. On the other hand, during the period T4, the enable signal Ed input to the motor drive circuit 62d is controlled to be LOW. Therefore, the motor drive circuit 62d determines that the input pulse signal Pc is invalid and does not generate a drive signal Dd. Therefore, the current Id flowing through the servo motor 27b is maintained at zero. Also, during the period T4, the pulse signal Pb is maintained at a low potential. Therefore, the motor drive circuit 62c does not generate a drive signal Dc, and the current Ic flowing through the servo motor 27a is maintained at zero. Then, at timing t17 when period T4 ends, the current Ie flowing through the servo motor 47 begins to decrease. Also, at timing t18, which is slightly later than timing t17, the motor controller 60c changes the enable signal Ee from HIGH to LOW.

As described above, in this embodiment, the drive of the servo motor 27b for moving the camera 26a in the Y direction and the drive of the servo motor 47 for raising and lowering the lifting mechanism 46 are controlled by a single motor controller 60c. That is, as in the above example, the servo motors 27b and 47 for driving the camera 26a and the lifting mechanism 46, which are not operated simultaneously, are controlled by a single motor controller 60c.

On the other hand, the drive of servo motor 27a for moving camera 26a in the X direction is controlled by a motor controller 60b that is different from the control of the drive of servo motor 27b. By moving camera 26a in the X direction and Y direction simultaneously, the movement distance is shorter compared to when movement in the X direction and movement in the Y direction are performed separately. Thus, in this embodiment, the motors (servo motors 27a, 27b) that improve work efficiency when driven simultaneously are controlled by separate motor controllers 60b, 60c, thereby shortening the work time.

As shown in FIG. 1, the camera 26a does not interfere with other components when moving in the X direction, but may interfere with other components when moving in the Y direction. For example, if the camera 26a is moved in the Y direction to be positioned above the lifting mechanism 46, when the lifting mechanism 46 rises, the camera 26a and the lifting mechanism 46 interfere with each other. That is, a part of the operating range of the camera 26a overlaps with a part of the operating range of the lifting mechanism 46. In this embodiment, the driving of the operating parts in such a positional relationship (i.e., the camera 26a and the lifting mechanism 46) is controlled by a single motor controller 60c. The operating parts in such a positional relationship can be easily prevented from interfering with each other by not operating them at the same time, for example, by operating only the lifting mechanism 46 while the camera 26a is retracted to a position where it does not interfere with the lifting mechanism 46. In addition, if a motor controller is provided for each operating part, it is necessary to generate a program to prevent the two from interfering with each other, which makes the control complicated, and therefore the technology disclosed in this specification is useful.

(Correspondence)
In the above description, the servo motor 27b, the servo motor 47, and the servo motor 27a are examples of the "first motor", the "second motor", and the "third motor", respectively. The motor drive circuit 62d, the motor drive circuit 62e, and the motor drive circuit 62c are examples of the "first drive circuit", the "second drive circuit", and the "third drive circuit", respectively. The motor controller 60c and the motor controller 60b are examples of the "first control device", the "second control device", respectively. The pulse signal Pc and the pulse signal Pb are examples of the "first control signal", the "second control signal", respectively. The drive signal Dd, the drive signal De, and the drive signal Dc are examples of the "first drive signal", the "second drive signal", and the "third drive signal", respectively. The enable signal Ed controlled to HIGH, and the enable signal Ee controlled to HIGH are examples of the "first signal", the "second signal", respectively. The camera 26a and the lifting mechanism 46 are examples of a "first operating unit" and a "second operating unit", respectively.

In the above-described embodiment, the servo motor to be driven is selected based on the value of the enable signal. However, for example, as shown in FIG. 5, it is also possible to provide switching elements 110a and 110b in the wiring connecting the motor controller 60a and the motor drive circuits 62a and 62b, respectively, and to selectively input the pulse signal Pa to one of the motor drive circuits 62a and 62b by alternately switching the switching elements 110a and 110b.

In the above embodiment, the motor controllers 60a to 60c output pulse signals Pa to Pc, but the signals output by the motor controllers 60a to 60c may be, for example, analog signals. In this case, each of the motor drive circuits 62a to 62e may be provided with an AD conversion circuit that converts the analog signals input from the motor controllers 60a to 60c into digital signals. The motor drive circuit 62a may also feed back to the motor controller 60a the amount of movement of the servo motor 58a based on the digital signals converted by the AD converter. The motor controller 60a may generate an analog signal based on this feedback. The same applies to the motor drive circuits 62b to 62e.

In the above-described embodiment, the motor controller 60a that controls the drive of the servo motors 58a and 58b and the motor controller 60b that controls the drive of the servo motor 27a are configured separately. However, the drive of the servo motors 58a, 58b, and 27a may be controlled by a single motor controller. The same applies to the servo motors 58a, 58b, 27b, and 47. In other words, the drive of multiple servo motors that are not driven simultaneously may be controlled by a single motor controller without any particular limit on the number.

In the above-described embodiment, the board work machine 10 is a printing device that prints solder on the circuit board C. However, the board work machine 10 may be any device that performs a predetermined task on a board, such as an electronic component mounter that mounts electronic components on the board.

The technical elements described in this specification or drawings have technical utility either alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. In addition, the technologies illustrated in this specification or drawings achieve multiple objectives simultaneously, and achieving any one of those objectives is itself technically useful.

10: Circuit board working machine 20: Main controller 22: Interface device 24: Circuit board positioning device 26: Imaging device 26a: Cameras 27a, 27b: Servo motor 28: Mask 30: Squeegee device 40: Y-direction movement mechanism 42: X-direction movement mechanism 44: Rotation mechanism 46: Lifting mechanism 47: Servo motor 48: Transport mechanism 50: Clamping mechanism 52: Support mechanism 54: Conveyor belt 58a, 58b: Servo motor 60a, 60b, 60c: Motor controllers 62a to 62e: Motor drive circuit

Claims (1)

A printing device that prints solder on a substrate through an opening formed in a mask as a predetermined operation,
a first motor for driving a camera for imaging the upper surface of the substrate and the lower surface of the mask so as to move the camera in a first direction in a horizontal plane;
a second motor that drives a lifting mechanism that moves the substrate in a vertical direction and is not driven simultaneously with the first motor during the predetermined operation;
a third motor for driving the camera to move the camera in a second direction orthogonal to the first direction in a horizontal plane; and
a first drive circuit connected to the first motor;
a second drive circuit connected to the second motor;
a third drive circuit connected to the third motor;
a first control device that outputs a first control signal for controlling driving of the first motor and the second motor to the first drive circuit and the second drive circuit;
a second control device that outputs a second control signal to the third drive circuit for controlling the drive of the third motor;
It is equipped with
the first drive circuit generates a first drive signal for driving the first motor based on the first control signal;
the second drive circuit generates a second drive signal for driving the second motor based on the first control signal;
the third drive circuit generates a third drive signal for driving the third motor based on the second control signal;
the first drive circuit is configured to be unable to generate the first drive signal when the second drive circuit is generating the second drive signal, and is configured to be able to generate the first drive signal when the second drive circuit is not generating the second drive signal;
the second drive circuit is configured to be unable to generate the second drive signal when the first drive circuit is generating the first drive signal, and is configured to be able to generate the second drive signal when the first drive circuit is not generating the first drive signal;
at least a part of a movement range in the first direction of the camera operated by the first motor overlaps with at least a part of a movement range of the lifting mechanism operated by the second motor;
the first control signal is input to the first drive circuit and the second drive circuit simultaneously;
the first control device outputs a first signal indicating that the input first control signal is valid to the first drive circuit, and outputs a second signal, different from the first signal, indicating that the input first control signal is valid to the second drive circuit during a period different from a period for outputting the first signal;
the first drive circuit generates the first drive signal when the first signal is input;
the second drive circuit generates the second drive signal when the second signal is input;
the first drive circuit retracts the camera to a position where the camera does not interfere with the lift mechanism before the second drive circuit generates the second drive signal;
Printing device.

Images