JP2020150101A - Working machine and diagnostic method of working machine - Google Patents

Abstract

To provide a work machine and a diagnostic method for the work machine that can accurately grasp the cause when a work erroneous detection occurs by an optical sensor and can quickly take measures to eliminate the erroneous detection.SOLUTION: A light receiving amount Q of a light receiving element is monitored, and the abnormality of an optical sensor and the abnormality of a belt are detected on the basis of the value of the light receiving amount Q to be monitored and the change of the light receiving amount Q (step ST3, step ST5, and step ST7). When the abnormality of the optical sensor or the abnormality of the belt is detected, the abnormality of the optical sensor and the abnormality of the belt are distinguished and notified to an operator (step ST4, step ST6, and step ST8).SELECTED DRAWING: Figure 13

Description

The present invention relates to a work machine provided with a transport mechanism for carrying a work by running a belt, and a method for diagnosing the work machine.

Conventionally, there is known a working machine provided with a transport mechanism for transporting a work by running a belt, and performing a predetermined work on a workpiece transported and positioned by the transport mechanism. An example of such a working machine is a component mounting device in which a substrate as a work is transported and positioned by a transport mechanism, and a component supplied by a component supply unit is picked up by a mounting head and mounted on the board. .. Such a work machine is equipped with an optical sensor that detects the position of the substrate on the belt, and the position of the workpiece is controlled by operating the belt while detecting the position of the workpiece with the optical sensor. (For example, see Patent Document 1 below).

The optical sensor is a light projecting element that projects inspection light from one end side in the width direction of the belt toward the other end side, and an inspection light that is projected by the light projecting element on the other end side. It is equipped with a light receiving element that receives light. Then, when the inspection light is blocked by the work, the amount of light received by the light receiving element (light receiving amount) decreases, and the state where the work is located at the position where the inspection light is blocked (light blocking position) is detected. ing.

JP-A-2010-87136

However, in a conventional working machine, not only when the operation of the light emitting element or the light receiving element is not normal, but also when the light receiving surface of the light receiving element is dirty and the amount of light received is reduced, or when the light emitting element emits light. If the optical axis of the inspection light is deviated from the normal optical path, or if there is an abnormality in the optical sensor, the amount of received light may fall below the threshold value and the workpiece may be erroneously detected. Even if there is no abnormality in the optical sensor, if there is an abnormality in the belt, for example, if the surface of the belt is worn and fluffed, the fluff on the surface of the belt blocks the inspection light. There was a possibility that the work was erroneously detected.

If the work is erroneously detected by the optical sensor, the belt operation control becomes inaccurate and the position control of the work becomes abnormal. When a false detection of a work occurs, the operator needs to investigate and eliminate the cause, but it is difficult to determine whether the cause of the false detection is the optical sensor or the belt. There was a problem that it was difficult to take prompt action.

Therefore, the present invention provides a work machine and a method for diagnosing the work machine, which can accurately grasp the cause when an erroneous detection of a work by an optical sensor occurs and can quickly take measures to eliminate the erroneous detection. The purpose is to do.

The working machine of the present invention includes a transport mechanism for traveling a belt to transport a work, a light projecting element for projecting inspection light from one end side in the width direction of the belt toward the other end side, and a light projecting element. It consists of a light receiving element that receives the inspection light projected by the light projecting element on the other end side, and detects a state in which the work is located at a light-shielding position that blocks the inspection light, and the light receiving element receives light. An abnormality detection unit that monitors the amount of light received, which is the amount of light to be received, and an abnormality detection that detects an abnormality in the optical sensor and the belt based on the value of the amount of light received and the change in the amount of light received monitored by the light receiving amount monitoring unit. The unit and the detection result notification means for distinguishing between the abnormality of the optical sensor and the abnormality of the belt when the abnormality of the optical sensor or the abnormality of the belt is detected by the abnormality detecting unit.

The method for diagnosing a working machine of the present invention includes a transport mechanism that runs a belt to transport a work, and casts inspection light from one end side in the width direction of the belt toward the other end side. It is composed of an optical element and a light receiving element that receives the inspection light emitted by the light projecting element on the other end side, and includes an optical sensor that detects a state in which the work is located at a light-shielding position that blocks the inspection light. A method for diagnosing a working machine, in which a light receiving amount, which is the amount of light received by the light receiving element, is monitored, and an abnormality of the optical sensor and an abnormality of the belt are found based on the value of the monitored light receiving amount and the change in the light receiving amount. An abnormality detection step for detecting an abnormality, and a detection result notification step for separately notifying the abnormality of the optical sensor and the abnormality of the belt when the abnormality of the optical sensor or the abnormality of the belt is detected in the abnormality detection step. And include.

According to the present invention, when an erroneous detection of a work by an optical sensor occurs, the cause can be accurately grasped, and measures for eliminating the erroneous detection can be swiftly taken.

Top view of the working machine according to the embodiment of the present invention Perspective view of the transport mechanism included in the working machine according to the embodiment of the present invention. Top view of the transport mechanism included in the working machine according to the embodiment of the present invention. A block diagram showing a control system of a working machine according to an embodiment of the present invention. (A) (b) A graph showing an example of a change in the amount of light received by a light receiving element of an optical sensor included in a working machine according to an embodiment of the present invention with time. (A) (b) (c) The figure which shows the situation which the transport mechanism provided in the working machine in one Embodiment of this invention conveys a substrate. A graph showing an example of a change in the amount of light received by a light receiving element of an optical sensor included in a working machine according to an embodiment of the present invention. (A) (b) (c) (d) The figure explaining the transfer procedure of the substrate by the transfer mechanism provided in the working machine in one Embodiment of this invention. (A) (b) A graph showing an example of a change in the amount of light received by a light receiving element of an optical sensor included in a working machine according to an embodiment of the present invention. (A) (b) A graph showing an example of a change in the amount of light received by a light receiving element of an optical sensor included in a working machine according to an embodiment of the present invention. (A) Side view (b) Enlarged side view of the transport mechanism when the belt of the transport mechanism provided in the working machine according to the embodiment of the present invention is fluffed. A graph showing an example of a change in the amount of light received by a light receiving element of an optical sensor included in a working machine according to an embodiment of the present invention. A flowchart showing an execution procedure of a diagnostic work performed by a working machine according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows an example of a working machine 1 according to an embodiment of the present invention. The working machine 1 shown here is a component mounting device that carries in a substrate KB as a work from the upstream process side, positions it, mounts a component (not shown) on the substrate KB, and carries it out to the downstream process side. In the present embodiment, the transport direction of the substrate KB is the X-axis direction (the left-right direction seen from the worker OP in FIG. 1), and the horizontal in-plane direction orthogonal to the X-axis direction (the front-back direction seen from the worker OP). Is the Y-axis direction. Further, the vertical direction is the Z-axis direction.

In FIG. 1, the working machine 1 includes a base 11, a transport mechanism 12, a component supply unit 13, a mounting head 14, and a head moving mechanism 15. The transport mechanism 12 is provided so as to extend on the base 11 in the X-axis direction, receives the substrate KB sent from the upstream side, and positions the substrate KB at a predetermined position.

In FIGS. 2 and 3, the conveyor 12 has a configuration in which two front and rear conveyors 22 are provided between two front and rear frames 21 extending in the X-axis direction and arranged to face each other in the Y-axis direction. There is. Each conveyor 22 has an upstream drive pulley 31a located on the left side as seen from the operator OP, a downstream driven pulley 31b located on the right side, and a ring-shaped belt spanned between the driving pulley 31a and the driven pulley 31b. It is configured to include 32.

In FIG. 2, a drive motor 33 for driving the conveyor 22 is attached to each of the front and rear frames 21. The drive motor 33 causes the belt 32 to travel in the X-axis direction by rotating the drive pulley 31a of the conveyor 22. The front and rear drive motors 33 drive the front and rear drive pulleys 31a so that the two front and rear belts 32 travel at the same speed. As a result, the substrate KB is transported in the transport direction of the belt 32 (direction of arrow A shown in FIGS. 1, 2 and 3) with both ends in the Y-axis direction supported from below by the front and rear belts 32. Will be done. The operation control of the belt 32 in the transport mechanism 12 will be described later.

In FIG. 1, the component supply unit 13 is configured to include a plurality of component feeders 13F for supplying components to a predetermined component supply position 13K. The mounting head 14 includes a nozzle (not shown) extending downward, and the head moving mechanism 15 moves the mounting head 14 in a horizontal plane. A vacuum suction force can be generated at the lower end of the nozzle to suck parts.

In FIG. 4, each operation of each conveyor 22 of the transport mechanism 12, each part feeder 13F of the parts supply unit 13, the mounting head 14, and the head moving mechanism 15 is controlled by the control device 40 included in the work machine 1. The control device 40 operates the front and rear conveyors 22 to convey and position the substrate KB, and operates each part feeder 13F to supply parts to the part supply position 13K. Further, the control device 40 operates the head moving mechanism 15 to move the mounting head 14, and operates the mounting head 14 to attract the parts to the nozzle.

As shown in FIG. 1, a touch panel 41 is attached to the base 11. The touch panel 41 is electrically connected to the control device 40 (FIG. 4), and functions as an input means for the worker OP to input to the work machine 1. In addition, the touch panel 41 also functions as a display means for the work machine 1 to display necessary instructions and various work results to the worker OP, and also as a notification means for giving necessary notification to the worker OP. To do.

The working machine 1 moves the mounting head 14 by the head moving mechanism 15 while supplying the parts from the component supply unit 13, and repeatedly executes the mounting turn on the substrate KB. In the mounting turn, the component supplied by the component supply unit 13 is attracted (picked up) to the nozzle, and the mounting head 14 that picks up the component is moved above the board KB to mount the component on each pattern on the board KB. It consists of actions to be taken. The work machine 1 carries in the substrate KB sent from the downstream side by the transport mechanism 12, positions it at the work position, and then repeatedly executes the mounting turn. Then, when all the necessary parts are mounted on the substrate KB, the substrate KB is carried out to the downstream side by the transport mechanism 12.

Next, the transfer control of the substrate KB by the transfer mechanism 12 will be described. In FIGS. 1, 2 and 3, a belt 3 is attached to each of the two front and rear frames 21 included in the transport mechanism 12.
A plurality of optical sensors 50 for detecting the position of the substrate KB on the 2 are provided. In the present embodiment, the optical sensor 50 has an end portion, an intermediate portion, and the most downstream side (outlet side of the substrate KB) of the substrate KB in the transport direction by the transport mechanism 12 in the transport direction. It is provided at three places in the section.

In FIGS. 1, 2 and 3, each optical sensor 50 is composed of a light projecting element 51 and a light receiving element 52. The light emitting element 51 is attached to the outside of one of the front and rear frames 21 (here, the front frame 21), and the light receiving element 52 is the other frame 21 (here, the rear frame 21). It is attached to the outside of). The light emitting element 51 and the light receiving element 52 are arranged so as to face each other in the width direction (Y-axis direction) of the belt 32.

The operation of the light emitting element 51 and the light receiving element 52 of each optical sensor 50 is controlled by the control device 40 (FIG. 4). The light projecting element 51 projects the inspection light 53 toward the light receiving element 52. As shown in FIG. 2, the optical path of the inspection light 53 passes slightly above the upper surfaces of the front and rear belts 32 from the opening 21K provided in the front frame 21, and from the opening 21K provided in the rear frame 21. It is set to a linear path leading to the light receiving surface of the light receiving element 52. Here, when the substrate KB is not located on the optical path of the inspection light 53, the inspection light 53 projected by the light projecting element 51 is received by the light receiving element 52 without being blocked by the substrate KB, but the inspection is performed. When the substrate KB is located on the optical path of the light 53, the inspection light 53 is blocked by the side surface of the substrate KB and is not received by the light receiving element 52.

The light receiving element 52 transmits information on the amount of light received on the light receiving surface (referred to as the light receiving amount Q of the light receiving element 52) to the control device 40, and the control device 40 is based on the light receiving amount Q of the light receiving element 52. It is determined whether or not the substrate KB is located on the optical path of the inspection light 53. Specifically, as shown in the graph of the relationship between the time T and the light receiving amount Q in FIG. 5A, when the light receiving amount Q of the light receiving element 52 is larger than the predetermined threshold value Q0, the light receiving element 52 Is receiving the inspection light 53, so the control device 40 determines that the substrate KB is not located on the optical path of the inspection light 53. On the other hand, as shown in the graph of the relationship between the time T and the light receiving amount Q in FIG. 5B, when the light receiving amount Q of the light receiving element 52 is smaller than the threshold value Q0, the light receiving element 52 receives the inspection light 53. Since this is not the case, the control device 40 determines that the substrate KB is located on the optical path of the inspection light 53.

6 (a), (b), and (c) show in order the positions of the substrate KB when the substrate KB conveyed by the traveling of the belt 32 travels across the inspection light 53 of one optical sensor 50. Is. As shown in FIG. 6A, the inspection light 53 is not blocked by the substrate KB when the head portion Ea of the substrate KB is approaching the inspection light 53. Therefore, the light receiving element 52 receives the inspection light 53, and the light receiving amount Q of the light receiving element 52 exceeds the threshold value Q0. In the control device 40, the substrate KB is not located on the optical path of the inspection light 53 while the light receiving amount Q continues to exceed the threshold value Q0 (time domain Ta shown in FIG. 7). Judge.

After that, when the transfer proceeds and the head portion Ea of the substrate KB passes through the optical path of the inspection light 53 (time T1 shown in FIG. 7), the inspection light 53 is blocked by the substrate KB as shown in FIG. 6 (b). Therefore, the light receiving element 52 does not receive the inspection light 53. Then, the received light amount Q is in a state of being below the threshold value Q0. In the control device 40, the substrate KB is located on the optical path of the inspection light 53 while the received light amount Q continues to be below the threshold value Q0 (time domain Tb shown in FIG. 7). Judge.

When the transfer further progresses and the tail portion Eb of the substrate KB passes through the optical path of the inspection light 53 (time T2 shown in FIG. 7), the inspection light 53 is blocked by the substrate KB as shown in FIG. 6 (c). The light receiving element 52 no longer receives the inspection light 53 again. Then, the received light amount Q is in a state of exceeding the threshold value Q0. In the control device 40, the substrate KB is not located on the optical path of the inspection light 53 while the light receiving amount Q continues to exceed the threshold value Q0 (time domain Tc shown in FIG. 7). Judge.

In the present embodiment, the control device 40 detects the position of the substrate KB on the belt 32 by the three optical sensors 50 provided in the transport mechanism 12. In the control device 40, the head portion Ea of the substrate KB that has begun to be carried into the transport mechanism 12 is the optical path of the inspection light 53 of the optical sensor 50 (referred to as the first optical sensor 50) provided on the most upstream side in the transport direction. (FIG. 8A), it is determined that the substrate KB has begun to be carried into the transport mechanism 12.

After determining that the substrate KB has begun to be carried into the transport mechanism 12, the control device 40 detects that the tail portion Eb of the substrate KB has passed through the optical path of the inspection light 53 of the first optical sensor 50, and then the substrate KB It is determined that the delivery has been completed by the transport mechanism 12. Next, when it is detected that the leading portion Ea of the substrate KB has passed through the optical path of the inspection light 53 of the optical sensor 50 (referred to as the second optical sensor 50) located in the middle portion in the transport direction (FIG. 8 (b)). , The control device 40 determines that the board KB has reached the mounting work position of the component, and stops the running of the belt 32. When the belt 32 is stopped, the mounting head 14 mounts the components on the substrate KB.

The control device 40 runs the belt 32 after the parts have been mounted. Then, when it is detected that the leading portion Ea of the substrate KB has passed through the optical path of the inspection light 53 of the optical sensor (referred to as the third optical sensor 50) located on the most downstream side in the transport direction (FIG. 8 (c)). , It is determined that the substrate KB has begun to be carried out from the transport mechanism 12. After determining that the substrate KB has begun to be carried out from the transport mechanism 12, the control device 40 detects that the tail portion Eb of the substrate KB has passed through the optical path of the inspection light 53 of the third optical sensor 50 (FIG. 8 (FIG. 8). d)), It is determined that the substrate KB has been carried out from the transport mechanism 12.

In this way, the control device 40 operates the belt 32 while detecting the front portion Ea and the tail portion Eb of the substrate KB by the three optical sensors 50 provided along the transport direction of the substrate KB by the transport mechanism 12. , The position of the substrate KB on the belt 32 can be appropriately controlled.

Here, the light projecting element 51 in each optical sensor 50 is controlled so as to project a constant amount of inspection light 53 toward the light receiving element 52. Therefore, the light receiving amount Q of the light receiving element 52 is a value larger than the threshold value Q0 when the inspection light 53 is not blocked by the substrate KB, and the lower limit value Q1 and the upper limit value Q2 shown in FIG. 5A are shown. It is designed to receive light with a value within a certain range between and.

From this, when the control device 40 detects that the light receiving amount Q of the light receiving element 52 exceeds the upper limit value Q2 in a state where the inspection light 53 is not blocked by the substrate KB (FIG. 9 (a). )), It is determined that the light (other light) from the adjacent other optical sensor 50, other device, etc. is mixed in the inspection light 53. In such a situation, although the substrate KB is located on the optical path of the inspection light 53, the light receiving amount Q of the light receiving element 52 does not fall below the threshold value Q0 (FIG. 9B). Therefore, even though the substrate KB is actually located on the optical path of the inspection light 53, the substrate KB may be erroneously detected that the substrate KB is not detected. If such an erroneous detection occurs, the traveling control of the belt 32 by the control device 40 becomes inaccurate, and urgent measures are required.

Further, the control device 40 determines that the substrate KB is not located on the optical path of the inspection light 53, and the light receiving amount Q of the light receiving element 52 is continuously smaller than the threshold value Q0. When it is detected (FIG. 10 (a)) or when it is detected that the light receiving amount Q of the light receiving element 52 is gradually decreasing (FIG. 10 (b)), an abnormality has occurred in the optical sensor 50. Judge. The cause of the former abnormality is that when the light receiving surface of the light receiving element 52 is dirty, when the optical axis of the inspection light 53 projected by the light emitting element 51 deviates from the normal optical path, the light emitting element 51 emits light. Examples include cases where the amount of light of the inspection light 53 to be lit is smaller than a preset amount of light, cases where the sensitivity of light reception by the light receiving element 52 is reduced, and the like. On the other hand, the cause of the latter abnormality is that the amount of light of the inspection light 53 projected by the light projecting element 51 is gradually decreasing, or the light receiving sensitivity of the light receiving element 52 is gradually decreasing. Can be mentioned.

In a situation where the substrate KB is not located on the optical path of the inspection light 53, if the light receiving amount Q of the light receiving element 52 is continuously smaller than the threshold value Q0, the substrate KB is actually the inspection light 53. Although it is not located on the optical path, erroneous detection of the substrate KB that determines that the substrate KB is located on the optical path of the inspection light 53 may occur. Further, even when the light receiving amount Q of the light receiving element 52 gradually decreases, it is expected that the light receiving amount Q will become smaller than the threshold value Q0 thereafter and erroneous detection of the substrate KB will occur. Since the erroneous detection of the substrate KB caused by the abnormality generated in these optical sensors 50 causes the traveling control of the belt 32 to be erroneous, urgent measures are required.

FIG. 11A shows a state in which the surface of the belt 32 is worn and fluff KE stands on the surface of the belt 32 (so-called fluffing occurs). As shown in FIG. 11 (b), which is an enlarged view of the region RD in FIG. 11 (a), the height T of the fluff KE from the surface of the belt 32 is the height of the inspection light 53 from the surface of the belt 32. If it is higher than HK, the fluff KE blocks the inspection light 53 by running the belt 32. Therefore, the optical sensor 50 mistakenly detects a substrate KB that is not actually a substrate KB, which may cause an erroneous detection of the substrate KB.

When the inspection light 53 is blocked by the fluff KE while the belt 32 is running, the light receiving amount Q of the light receiving element 52 changes like noise so as to exceed the threshold again immediately after falling below the threshold Q0 (FIG. 12). When the belt 32 continuously orbits a plurality of times, the light-shielding of the inspection light 53 by the fluff KE is periodically repeated, so that a noise-like change in the received light amount Q appears periodically (FIG. FIG. 12). Such erroneous detection of the substrate KB due to fluffing on the surface of the belt 32 (that is, abnormality of the belt 32) is different from that due to the abnormality of the optical sensor 50, and urgent measures are not always necessary.

In FIG. 4, the control device 40 includes a light receiving amount monitoring unit 40a, an abnormality detection unit 40b, and a notification control unit 40c. The light receiving amount monitoring unit 40a monitors the light amount received by the light receiving element 52 of each optical sensor 50 (that is, the light receiving amount Q). The abnormality detection unit 40b detects an abnormality of the optical sensor 50 and an abnormality of the belt 32 based on the value of the light receiving amount Q of the light receiving element 52 of each optical sensor 50 monitored by the light receiving amount monitoring unit 40a and the change of the light receiving amount Q. To do. When the abnormality detection unit 40b detects an abnormality of the optical sensor 50 or an abnormality of the belt 32, the notification control unit 40c notifies the operator OP that these abnormalities have occurred through the touch panel 41.

The flowchart shown in FIG. 13 shows an execution procedure (diagnosis method) of a diagnostic operation in which the working machine 1 diagnoses whether or not there is an abnormality in the optical sensor 50 or the belt 32. This diagnostic work is performed in a state where the belt 32 is running and the substrate KB is not located at the light-shielding position of the optical sensor 50 to be inspected. Therefore, it is preferable that the diagnostic work is performed in a situation where the substrate KB is not transported by the transport mechanism 12, such as before the start of production by the work machine 1 or during maintenance. The diagnosis may be performed on the three optical sensors 50 at the same time, or may be performed separately for each optical sensor 50.

When performing the diagnostic work, the control device 40 first operates the drive motor 33 to start the traveling of the belt 32 (step ST1 in FIG. 13). When the running of the belt 32 is started, the light receiving amount monitoring unit 40a starts monitoring the light receiving amount Q of the light receiving element 52 of the optical sensor 50 (
Step ST2).

When the light receiving amount monitoring unit 40a starts monitoring the light receiving amount Q, the abnormality detecting unit 40b determines whether or not the light receiving amount Q exceeds the upper limit value Q2 based on the value of the light receiving amount Q (step ST3). .. When it is determined that the light receiving amount Q exceeds the upper limit value Q2, the notification control unit 40c may have mixed light different from the inspection light 53 into the light receiving element 52 through the touch panel 41. Notify that effect (step ST4). When the operator OP receives the notification in step ST4, it confirms the presence or absence of light from another adjacent optical sensor 50 or another device, and if necessary, other light enters the light receiving element 52. Correspond by preventing it from coming and installing a filter.

Further, the abnormality detection unit 40b determines whether or not the light receiving amount Q is smaller than the threshold value Q0 based on the value of the light receiving amount Q, and the light receiving amount Q gradually increases based on the change in the value of the light receiving amount Q. It is determined whether or not the value has decreased to (step ST5). Then, when it is determined that the received light amount Q is smaller than the threshold value Q0, or when it is determined that the received light amount Q is gradually decreasing, the notification control unit 40c causes an abnormality in the optical sensor 50 through the touch panel 41. Notify that it is recognized (step ST6). When the operator OP receives the notification in step ST6, the operator OP removes dirt on the light receiving surface of the light receiving element 52, corrects the optical axis of the inspection light 53, and determines the amount of light of the inspection light 53 projected by the light projecting element 51. The adjustment and the inspection of the software on the control device 40 side regarding the light reception of the light receiving element 52 are performed.

Further, the abnormality detection unit 40b determines whether or not the light receiving amount Q changes in a noise-like manner based on the change in the value of the light receiving amount Q (step ST7). Then, when the abnormality detection unit 40b determines that the received light amount Q has changed in a noise-like manner, the notification control unit 40c notifies through the touch panel 41 that the belt 32 has an abnormality (step ST8). When the worker OP receives the notification in step ST6, the worker OP responds by replacing or cleaning the belt 32 at an appropriate time.

The control device 40 repeatedly executes the above steps ST3 to ST8 until a predetermined time (time for the belt 32 to lap at least once, preferably a plurality of times) elapses after the start of traveling of the belt 32 (step). ST9). Then, when the specified time elapses after the start of the running of the belt 32, the control device 40 ends the monitoring of the light receiving amount Q (step ST10) and stops the running of the belt 32 (step ST11). This completes the diagnostic work.

As described above, in the work machine 1 and its diagnostic work (diagnosis method) in the present embodiment, the belt 32 is running and the substrate KB is in a light-shielding position that blocks the inspection light 53 of the optical sensor 50. The light receiving amount monitoring unit 40a monitors the light receiving amount Q of the light receiving element 52 in a state where the light receiving amount is not located, and the abnormality detecting unit 40b monitors the light receiving amount Q of the monitored light receiving amount Q and changes in the light receiving amount Q. An abnormality detection step (step ST3, step ST5, and step ST7) for detecting the abnormality of 50 and the abnormality of the belt 32 is executed. Then, when the abnormality detection unit 40b (abnormality detection step) detects an abnormality of the optical sensor 50 or an abnormality of the belt 32, the notification control unit 40c detects the abnormality of the optical sensor 50 and the abnormality of the belt 32 through the touch panel 41. The detection result notification step (step ST4, step ST6, and step ST8) for distinguishing and notifying the above is executed. At this time, when the notification control unit 40c and the touch panel 41 of the control device 40 detect an abnormality of the optical sensor 50 or an abnormality of the belt 32 by the abnormality detection unit 40b, the abnormality of the optical sensor 50 and the abnormality of the belt 32 are separated. It functions as a detection result notification means 60 for separately notifying (FIG. 4).

As described above, in the method of diagnosing the working machine 1 and the working machine 1 in the present embodiment,
When there is an abnormality in the optical sensor 50 or an abnormality in the belt 32, the abnormality in the optical sensor 50 and the abnormality in the belt 32 are notified separately, so that the worker OP has an abnormality in the optical sensor 50 or the belt 32. Not only whether or not, but if there is an abnormality, the cause of the abnormality can be immediately grasped. Therefore, the worker OP can take a quick response to the false detection.

Although the embodiments of the present invention have been described so far, the present invention is not limited to those described above, and various modifications and the like are possible. For example, in the above-described embodiment, the steps of steps ST3 to ST8 are repeatedly executed during the specified time for monitoring the received light amount Q, but the received light is received until the specified time has passed. A change in the value of the quantity Q may be recorded, and steps ST3 to ST8 may be collectively executed after a predetermined time has elapsed.

Further, in the above-described embodiment, the diagnostic work is performed in a state where the belt 32 is running and the substrate KB is not located at the light-shielding position of the optical sensor 50 to be inspected. When only the abnormality of the optical sensor 50 is to be detected, the diagnostic work can be performed even when the belt 32 is not running. Further, it was said that the diagnostic work is preferably performed before the start of production by the work machine 1 or during maintenance, etc., in a situation where the substrate KB is not carried by the transport mechanism 12, but the production by the work machine 1 is performed. The substrate KB is located at the light-shielding position of the optical sensor 50 as long as it is known that the inspection light 53 of the optical sensor 50 to be diagnosed is not blocked by the substrate KB even in the middle of the process. Even if there is something to do, the diagnosis can be made.

Further, in the above-described embodiment, in the abnormality detection unit 40b (or the abnormality detection step), the light receiving amount Q is continuously below a predetermined threshold value Q0, or the light receiving amount Q is gradually decreasing. The abnormality of the optical sensor 50 is detected based on this, but the light receiving element 52 monitors the light receiving amount Q, and the optical sensor 50 is based on the value of the monitored light receiving amount Q and the change in the light receiving amount Q. If the abnormality is detected, the operation (procedure) is not limited to this. Further, in the above-described embodiment, the abnormality detection unit 40b (or the abnormality detection step) is based on a state in which a noise-like change such that Q exceeds the threshold value again immediately after the received light amount Q falls below the threshold value Q0. The abnormality of the belt 32 has been detected, but if the light receiving amount Q of the light receiving element 52 is monitored and the abnormality of the belt 32 is detected based on the change of the monitored light receiving amount Q, such an abnormality is detected. It is not limited to the operation (procedure).

Further, as described above, the diagnostic method in the present embodiment is preferably performed before the start of production by the working machine 1, which actually causes an erroneous detection of the substrate KB and forcibly stops the operation of the working machine 1. It is possible to prevent such a situation, but of course, it may be executed when an erroneous detection of the substrate KB actually occurs.

Further, in the above-described embodiment, the working machine 1 is a component mounting device, and the work transported by the transport mechanism 12 is a substrate KB, but this is an example, and the working machine 1 is not necessarily limited to the component mounting device. The work is not limited to the substrate KB.

Provided are a work machine and a method for diagnosing the work machine, which can accurately grasp the cause when an erroneous detection of a work by an optical sensor occurs and can promptly take measures to eliminate the erroneous detection.

1 Work equipment 12 Conveyance mechanism 32 Belt 40a Light receiving amount monitoring unit 40b Abnormality detection unit 50 Optical sensor 51 Light emitting element 52 Light receiving element 53 Inspection light 60 Detection result notification means Q0 Threshold KB board (work)

Claims (8)

A transport mechanism that runs the belt to transport the work,
A light projecting element that emits inspection light from one end side in the width direction of the belt toward the other end side, and a light receiving light that receives the inspection light emitted by the light projecting element on the other end side. An optical sensor composed of elements and detecting a state in which the work is located at a light-shielding position that blocks the inspection light, and
A light receiving amount monitoring unit that monitors the light receiving amount, which is the amount of light received by the light receiving element,
An abnormality detection unit that detects an abnormality in the optical sensor and the belt based on a value of the light reception amount monitored by the light reception amount monitoring unit and a change in the light reception amount.
A working machine provided with a detection result notification means that distinguishes between the abnormality of the optical sensor and the abnormality of the belt when the abnormality of the optical sensor or the abnormality of the belt is detected by the abnormality detection unit. The first aspect of the present invention, wherein the abnormality detecting unit detects an abnormality of the optical sensor based on a state in which the received light amount is continuously below a predetermined threshold value or a state in which the received light amount is gradually decreased. Working machine. The working machine according to claim 1, wherein the abnormality detecting unit detects an abnormality of the belt based on a state in which a noise-like change is made so that the amount of received light falls below a predetermined threshold value and then exceeds the threshold value again. .. The working machine according to any one of claims 1 to 3, wherein the light receiving amount monitoring unit monitors the light receiving amount in a state where the belt is running and the work is not located at the light shielding position. .. The transport mechanism that runs the belt to transport the work, and the light projecting element and the light projecting element that project the inspection light from one end side in the width direction of the belt toward the other end side are projected. A method for diagnosing a working machine, which comprises a light receiving element that receives inspection light on the other end side, and includes an optical sensor that detects a state in which the work is located at a light-shielding position that blocks the inspection light.
An abnormality detection step of monitoring a light receiving amount, which is the amount of light received by the light receiving element, and detecting an abnormality of the optical sensor and an abnormality of the belt based on the value of the monitored light receiving amount and a change in the light receiving amount.
A method for diagnosing a working machine including a detection result notification step of distinguishing between an abnormality of the optical sensor and an abnormality of the belt when an abnormality of the optical sensor or an abnormality of the belt is detected in the abnormality detection step. The fifth aspect of the present invention, wherein in the abnormality detection step, an abnormality of the optical sensor is detected based on a state in which the light receiving amount is continuously below a predetermined threshold value or a state in which the light receiving amount is gradually decreasing. How to diagnose the work equipment. The operation according to claim 5, wherein in the abnormality detection step, an abnormality of the belt is detected based on a state in which the amount of light received falls below a predetermined threshold value and immediately after that, the noise-like change causes the belt to exceed the threshold value again. How to diagnose the machine. The method for diagnosing a working machine according to any one of claims 5 to 7, wherein the abnormality detection step is executed in a state where the belt is running and the work is not located at the light-shielding position.

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