CN116602069A - Component mounting machine and suction nozzle shooting method - Google Patents

Abstract

The plurality of light emitting elements (L) (light emitting sections) irradiate light to a plurality of mutually different light irradiation areas (Rl) (target areas) in a light diffusion member (74) (background member), and the light diffusion member (74) emits light from the light irradiation area (Rl) through a side surface (742) according to the irradiation of the light to the light irradiation area (Rl), so that the light diffusion member has brightness corresponding to the intensity of the light irradiated from the light emitting elements (L). In the photographing process, the intensity of light emitted from the light emitting elements (L) is controlled according to the rotation angle (θ) (rotation position) of the plurality of light emitting elements (L). Thus, the suction nozzle (N) can be photographed against the light diffusion member (74) having the same brightness.

Description

Component mounting machine and suction nozzle shooting method

Technical Field

The present invention relates to a technique for photographing a suction nozzle used for sucking a component mounted on a substrate.

Background

In a component mounter that mounts components onto a substrate, imaging of a suction nozzle is performed at an appropriate timing in order to confirm the state of the suction nozzle that suctions the components and conveys them onto the substrate. In addition, patent document 1 proposes a technique of photographing a nozzle of a so-called spin head. The rotary head has a plurality of nozzles circumferentially arranged around a predetermined rotation axis, and the plurality of nozzles rotate around the rotation axis. The cylindrical background member centered on the rotation axis is disposed inside the plurality of suction nozzles, and the illumination member is disposed outside the plurality of suction nozzles, and the background member emits fluorescence by ultraviolet light emitted from the illumination member. By photographing the suction nozzle with the background member that emits fluorescence as a background, a contour image of the suction nozzle is obtained.

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open No. 2013-191771

Disclosure of Invention

Problems to be solved by the invention

When such an image of the suction nozzle is captured, it is preferable that the background member serving as the background of the suction nozzle has the same brightness. Therefore, a configuration can be adopted in which a plurality of light emitting portions arranged circumferentially around the rotation axis are opposed to the background member, and light is irradiated from the light emitting portions to the background member. Thus, the background member can be given a luminance corresponding to the light emitted from the light emitting portion arranged along the shape of the background member. However, even with this configuration, there is a case where the brightness of the background member varies. For example, the unevenness may be generated by a longer distance from both ends of the background member to the inside of the background member than the distance from the center of the background member to the inside of the background member. Thus, in the field of view from the photographing section, unevenness such as a decrease in luminance at both ends of the background member may occur.

The present invention has been made in view of the above-described problems, and an object of the present invention is to enable imaging of a suction nozzle with a background member having uniform brightness as a background.

Means for solving the problems

The component mounting machine according to the present invention includes: a plurality of suction nozzles circumferentially arranged around a rotation axis as a predetermined virtual straight line; a background member which is arranged inside the plurality of suction nozzles and has a cylindrical shape centering on the rotation axis; a plurality of light emitting units arranged circumferentially around the rotation axis and facing the background member; a rotation driving part for integrally rotating the plurality of suction nozzles, the background member and the plurality of light emitting parts with the rotation shaft as a center; an imaging unit configured to capture a predetermined imaging range from the outside of the plurality of nozzles to the side surface of the background member; and a control unit that executes the following imaging processing: the imaging device includes a light emitting section for emitting light from a side surface of a background member, a light emitting section for emitting light from the side surface of the background member, a light receiving section for receiving light from the light emitting section, and a control section for controlling the light intensity of the light emitting section based on the rotation position of the light emitting sections rotated by the rotation driving section.

The suction nozzle shooting method comprises the following steps: a plurality of suction nozzles arranged circumferentially about a rotation axis which is a predetermined virtual straight line, a cylindrical background member arranged inside the suction nozzles and centered about the rotation axis, and a plurality of light emitting sections arranged circumferentially about the rotation axis and facing the background member are integrally rotated about the rotation axis; the following shooting process is performed: the imaging device is configured to acquire an image of a suction nozzle having a background member as a background by capturing a predetermined imaging range by an imaging unit facing a side surface of the background member from outside the suction nozzles while light is emitted from the light emitting unit to the background member, the plurality of light emitting units emit light to a plurality of mutually different target areas in the background member, the background member emits light from the target areas through the side surface according to the light emission to the target areas, and the background member has a brightness corresponding to the intensity of the light emitted from the light emitting unit, and in the imaging process, the intensity of the light emitted from the light emitting unit is controlled according to the rotational positions of the plurality of light emitting units.

In the present invention (component mounter, suction nozzle imaging method) configured as described above, the plurality of light emitting units irradiate light to a plurality of target areas different from each other in the background member, and the background member emits light from the target area through the side surface according to the irradiation of the light to the target area, so that the background member has a luminance corresponding to the intensity of the light irradiated from the light emitting units. In the photographing process, the intensity of light emitted from the light emitting units is controlled according to the rotational positions of the plurality of light emitting units. Thus, the suction nozzle can be photographed against the background member having the same brightness.

In addition, the component mounting mechanism may be configured to: the control unit controls the intensity of light emitted from the light emitting unit so that the intensity of light emitted to an end target region located at both ends of the imaging range among the plurality of target regions is greater than the intensity of light emitted to a target region different from the end target region. Thus, the suction nozzle can be imaged with the background member as a background while suppressing the occurrence of unevenness such as a decrease in brightness at both ends of the background member in the field of view from the imaging unit.

In addition, the component mounting mechanism may be configured to: when the distance between one of the end target regions located at both ends and the rotation axis is longer than the distance between the other end target region and the rotation axis in the imaging range, the control unit controls the intensity of light emitted from the light emitting unit so that the intensity of light emitted to the one end target region is greater than the intensity of light emitted to the other end target region. This suppresses the influence of the difference between the distance from one end target area to the background member and the distance from the other end target area to the imaging unit, and thereby can give the background member uniform brightness.

In addition, the component mounting mechanism may be configured to: the light emitting unit emits light having an intensity corresponding to the applied current, and the control unit has a table indicating a correspondence relation between the rotation position and the values of the currents applied to the plurality of light emitting units, respectively, and controls the intensity of the light emitted by the light emitting unit according to the rotation position by applying the current having the value indicated by the table to the light emitting unit. In this configuration, the uneven brightness of the background member can be appropriately suppressed by simple control using the table, and the same brightness can be given to the background member.

In addition, the component mounting mechanism may be configured to: the control unit creates a table based on the result of performing test shooting while changing the rotation position, the test shooting being shooting as follows: the image capturing unit captures an image of the background member irradiated with light from the light emitting unit by applying a current to the light emitting unit. By producing the table in this way, it is possible to apply a current of an appropriate value to the light emitting section, irradiate light of an appropriate intensity from the light emitting section to the background member, and impart the same brightness to the background member.

In addition, the component mounting mechanism may be configured to: the background member is a light diffusion member that diffuses light irradiated to the target region to emit light from the target region through the side surface. By using the light diffusion member, the suction nozzle can be photographed in a background of the same brightness.

Effects of the invention

According to the present invention, the suction nozzle can be photographed against the background member having the same brightness.

Drawings

Fig. 1 is a plan view schematically showing a structure of an example of a component mounter according to the present invention.

Fig. 2 is a block diagram showing an electrical structure of the component mounter of fig. 1.

Fig. 3 is a bottom view schematically showing the structure of the mounting head and the illumination section.

Fig. 4 is a partial cross-sectional view schematically showing the structure of the mounting head, the illumination section, and the imaging section.

Fig. 5A is a bottom view schematically illustrating an operation performed in the first example of the photographing process.

Fig. 5B is a bottom view schematically illustrating an operation performed in the first example of the photographing process.

Fig. 5C is a bottom view schematically illustrating an operation performed in the first example of the photographing process.

Fig. 6A is a bottom view schematically showing actions performed in the second example of the photographing process.

Fig. 6B is a bottom view schematically showing an action performed in the second example of the photographing process.

Fig. 6C is a bottom view schematically showing an action performed in the second example of the photographing process.

Fig. 7 is a diagram showing an example of a current value table showing a correspondence relationship between a rotation angle and a value of a current applied to a light emitting element.

Fig. 8 is a flowchart showing a method of making a current value table.

Detailed Description

Fig. 1 is a plan view schematically showing a structure of an example of a component mounter according to the present invention. Fig. 2 is a block diagram showing an electrical structure of the component mounter of fig. 1. Fig. 1 and the following figures appropriately show an X direction as a horizontal direction, a Y direction as a horizontal direction orthogonal to the X direction, and a Z direction as a vertical direction.

As shown in fig. 2, the component mounter 1 includes a controller 100 that integrally controls the entire apparatus. The controller 100 includes an operation processing unit 110, which is a processor including a CPU (Central Processing Unit: central processing unit) and a RAM (Random Access Memory: random access memory), and a storage unit 120, which is a storage unit including an HDD (Hard Disk Drive). The controller 100 further includes a drive control unit 130 that controls the drive system of the component mounter 1, and an imaging control unit 140 that controls imaging of the suction nozzle N (fig. 3 and 4) described in detail later.

The operation processing unit 110 controls the drive control unit 130 in accordance with the program stored in the storage unit 120, and executes component mounting in a program-specified order. At this time, the arithmetic processing unit 110 controls the component mounting based on the image captured by the imaging control unit 140 using the imaging unit 6 and the illumination unit 7. The component mounter 1 is provided with a display/operation unit 150, and the operation processing unit 110 displays the operation state of the component mounter 1 on the display/operation unit 150 and receives an instruction from an operator inputted to the display/operation unit 150.

As shown in fig. 1, the component mounter 1 includes a conveying portion 12 that conveys a substrate B in an X direction (substrate conveying direction). The transport unit 12 includes a pair of conveyors 121 arranged in parallel in the X direction on the base 11, and transports the substrate B in the X direction by the conveyors 121. The interval between the conveyors 121 can be changed in the Y direction (width direction) orthogonal to the X direction, and the conveyor 12 adjusts the interval between the conveyors 121 according to the width of the substrate B to be conveyed. The transport section 12 transports the substrate B, on which the component E is mounted at the work position 123, from the upstream side in the X direction, which is the substrate transport direction, to a predetermined work position 123, and transports the substrate B from the work position 123 to the downstream side in the X direction.

On both sides of the transport section 12 in the Y direction, 2 component supply sections 21 are arranged in the X direction, and in each component supply section 21, a plurality of tape feeders 22 are arranged in the X direction. The component supply unit 21 is provided with a plurality of component supply portions 23 arranged in the X direction, and the tape feeder 22 for supplying the components E to be supplied to each component supply portion 23 is detachably attached to each component supply portion 23 in association with each other. That is, each tape feeder 22 is provided with a component supply reel around which a carrier tape for accommodating chips such as integrated circuits, transistors, and capacitors is wound at predetermined intervals, and each tape feeder 22 supplies the components E to the component supply portion 23 at the tip end portion thereof by intermittently feeding the carrier tape pulled out from the component supply reel.

The component mounter 1 is provided with a pair of Y-axis rails 31 extending in the Y-direction, a Y-axis ball screw 32 extending in the Y-direction, and a Y-axis motor My for rotationally driving the Y-axis ball screw 32, and the X-axis rails 34 are fixed to nuts of the Y-axis ball screw 32 in a state of being supported on the pair of Y-axis rails 31 so as to be movable in the Y-direction. An X-axis ball screw 35 extending in the X-direction and an X-axis motor Mx for rotationally driving the X-axis ball screw 35 are attached to the X-axis rail 34, and the head unit 40 is fixed to a nut of the X-axis ball screw 35 in a state supported on the X-axis rail 34 so as to be movable in the X-direction. Accordingly, the drive control unit 130 can rotate the Y-axis ball screw 32 by the Y-axis motor My to move the head unit 40 in the Y-direction, or rotate the X-axis ball screw 35 by the X-axis motor Mx to move the head unit 40 in the X-direction.

The component mounter 1 includes a Z-axis motor Mz for raising and lowering the suction nozzle N in the Z direction, and an R-axis motor Mr for rotating the suction nozzle N. The drive control unit 130 adjusts the height of the suction nozzle N by the X-axis motor Mx and adjusts the rotation angle of the suction nozzle N by the R-axis motor Mr.

The head unit 40 has a plurality of (3) mounting heads 4 arranged linearly in the X direction. The mounting head 4 is a spin head having a plurality of nozzles N arranged circumferentially, and suction and mounting of the component E are performed by the nozzles N. As described above, the image of the suction nozzle N provided in the mounting head 4 is acquired using the imaging unit 6 and the illumination unit 7. Next, this will be described.

Fig. 3 is a bottom view schematically showing the structure of the mounting head and the illumination portion, and fig. 4 is a partial cross-sectional view schematically showing the structure of the mounting head, the illumination portion, and the photographing portion. The mounting head 4 has a rotating body 41 at its lower end. The rotating body 41 has a cylindrical shape centered on a rotation axis Az which is a virtual straight line parallel to the Z direction, and is connected to the R-axis motor Mr. Therefore, when the R-axis motor Mr drives the rotating body 41, the rotating body 41 rotates about the rotation axis Az. On the bottom surface of the rotating body 41, a plurality of (18 in this example) suction nozzles N are arrayed at equal intervals (20 °) in a circumferential shape centered on the rotation axis Az. Then, as the rotating body 41 rotates, the plurality of nozzles N rotate around the rotation axis Az.

The illumination unit 7 is attached to the bottom of the rotating body 41, and the illumination unit 7 rotates around the rotation axis Az as the rotating body 41 rotates. The illumination unit 7 includes a frame 71 extending along the rotation axis Az, an illumination substrate 72 attached to the frame 71, a light emitting element L attached to the illumination substrate 72, and a light diffusion member 74 attached to the frame 71. In the illumination substrate 72, a plurality of (8 in this example) light-emitting elements L are arrayed at equal intervals (45 °) in a circumferential shape centered on the rotation axis Az. The light emitting element L is an LED (Light Emitting Diode: light emitting diode) that emits light of an intensity corresponding to the applied current. Then, the illumination substrate 72 applies a current having a value corresponding to a command from the imaging control unit 140 to the light emitting element L, thereby causing the light emitting element L to emit light having an intensity corresponding to the value of the current.

The light diffusing member 74 includes a light diffusing body 741 disposed below the plurality of light emitting elements L, and the plurality of light emitting elements L face the light diffusing body 741 from above, respectively, and radiate light into the light diffusing body 741. The light diffuser 741 has a cylindrical shape centering on the rotation axis Az, and diffuses light emitted from the light emitting element L. Examples of the material that diffuses light include translucent acrylic resin and glass. The region of the light diffuser 741 facing the light emitting element L (in other words, the region immediately below the light emitting element L) becomes a light irradiation region Rl irradiated with light from the light emitting element L. That is, the light diffuser 741 is provided with a plurality of light irradiation regions Rl corresponding to the plurality of light emitting elements L, and each light irradiation region Rl diffuses light irradiated from the corresponding light emitting element L. The light diffused by the light irradiation region Rl in this way is emitted from the side surface 742 (cylindrical peripheral surface) of the light diffuser 741.

In addition, a photographing position Pi for photographing the suction nozzle N is provided to the mounting head 4. As shown in fig. 3, 2 imaging positions Pi are arranged with a 180 ° interval around the rotation axis Az, and 2 imaging units 6 are provided corresponding to the 2 imaging positions Pi. Since the imaging units 6 are common in structure, 1 imaging unit 6 will be described.

As shown in fig. 4, the photographing section 6 has a prism 61 and a camera 63. The prism 61 faces the side surface 742 of the light diffuser 741 from the Y direction (horizontal direction) through the imaging position Pi, and reflects the light incident from the imaging position Pi toward the camera 63. The camera 63 outputs an image obtained by capturing light incident from the prism 61 with a solid-state imaging element to the imaging control unit 140. That is, the imaging unit 6 faces the side surface 742 of the light diffuser 741 with the imaging position Pi interposed therebetween, and images the imaging position Pi against the side surface 742 of the light diffuser 741. The imaging unit 6 is attached to the mounting head 4 and moves integrally with the mounting head 4.

In this way, the plurality of suction nozzles N are circumferentially arranged about the rotation axis Az in a bottom view. Further, the plurality of light emitting elements L are arranged circumferentially around the rotation axis Az inside the plurality of suction nozzles N. The number of light emitting elements L is smaller than the number of suction nozzles N. Inside the plurality of suction nozzles N, a circular light diffuser 741 having a rotation axis Az as a center is disposed so as to overlap the plurality of light emitting elements L. When the rotary body 41 rotates around the rotation axis Az, the plurality of suction nozzles N, the plurality of light emitting elements L, and the light diffuser 741 integrally rotate around the rotation axis Az.

The controller 100 rotates the plurality of nozzles N to sequentially position the nozzles N at the imaging positions Pi, and captures images of the nozzles N at the imaging positions Pi by the imaging unit 6 (imaging process). In this photographing process, the controller 100 irradiates light from the light emitting element L to the light irradiation region Rl, thereby emitting light from the side surface 742 of the light diffuser 741 toward the photographing position Pi. As a result, the contour image of the suction nozzle N located at the imaging position Pi can be acquired against the light diffuser 741 having a luminance corresponding to the intensity of the light emitted from the light emitting element L. In particular, as described later, the controller 100 adjusts the intensity of light emitted from the light emitting element L so that the light diffuser 741 serving as a background has the same brightness.

Fig. 5A, 5B, and 5C are bottom views schematically illustrating operations performed in the first example of the photographing process. Since the imaging processing is similarly performed at each of the 2 imaging positions Pi, the imaging processing for the 1 imaging position Pi on the right side in these figures will be described. The light emitting elements L located on the opposite side of the imaging position Pi from the virtual straight line Ax (the light emitting elements L located on the left side of the virtual straight line Ax) are regarded as not participating in the imaging process for the imaging position Pi. The virtual straight line Ax is a virtual straight line intersecting the rotation axis Az and parallel to the X direction, and the position of the light emitting element L can be obtained as the position of the peak of the illuminance distribution in the bottom view of the light irradiated by the light emitting element L. As shown in these figures, the imaging unit 6 images the suction nozzle N included in the imaging range Ri by imaging the imaging range Ri having a predetermined width in the X direction (horizontal direction) centered on the imaging position Pi.

When the rotation angle θ of the rotation body 41 around the rotation axis Az is θ1 (=0°), the 5 light irradiation regions Rl facing the 5 light emitting elements L involved in the photographing process are aligned in the X direction in the photographing range Ri. Here, the rotation angle θ is an angle about the rotation axis Az with respect to a virtual straight line extending from the rotation axis Az to the right in the Y direction, and the counterclockwise direction is a positive direction of the rotation angle θ. Among the 5 light irradiation regions Rl, a light irradiation region rl_r opposed to the light emitting element Lr located at 90 ° and a light irradiation region rl_l opposed to the light emitting element Ll located at-90 ° are located at both ends in the X direction. Therefore, the imaging control unit 140 of the controller 100 adjusts the current applied to the light emitting element L so that the intensities of the light irradiated to the light irradiation regions rl_r and rl_l at both ends of the 5 light irradiation regions Rl are larger than the intensity of the light irradiated to the light irradiation region Rl between them. For example, the controller 100 applies a current of a normal current value In to the light emitting element L facing the light irradiation region Rl between the light irradiation regions rl_r, rl_l, and applies an increasing current value Ia larger than the normal current value In to the light emitting element L facing the light irradiation regions rl_r, rl_l.

When the rotation angle θ of the rotating body 41 is θ2 (=20°), 4 light irradiation regions Rl facing the 4 light emitting elements L involved in the photographing process are aligned in the X direction in the photographing range Ri. Among the 4 light irradiation regions Rl, a light irradiation region rl_r opposed to the light emitting element Lr located at 65 ° and a light irradiation region rl_l opposed to the light emitting element Ll located at-70 ° are located at both ends in the X direction. Therefore, the imaging control unit 140 of the controller 100 adjusts the current applied to the light emitting element L so that the intensities of the light irradiated to the light irradiation regions rl_r and rl_l at both ends of the 4 light irradiation regions Rl are larger than the intensity of the light irradiated to the light irradiation region Rl between them.

As described above, as the rotation angle θ of the rotary body 41 is changed by each arrangement pitch (20 °) of the suction nozzles N in order to sequentially change the suction nozzles N located at the imaging positions Pi, the light irradiation regions rl_r, rl_l located at both ends in the X direction in the imaging range Ri are switched between the plurality of light irradiation regions Rl. According to this, the controller 100 switches the light emitting element L to which the increasing current value Ia is applied. That is, the current value of the current applied to the light emitting element L is switched between the normal current value In and the increased current value Ia according to the rotation angle θ of the rotating body 41. In this way, the controller 100 changes the intensity of the light emitted from the light emitting element L according to the rotation angle θ.

In this way, in the first example of the photographing process, the plurality of light emitting elements L (light emitting portions) irradiate light to the plurality of light irradiation regions Rl (target regions) different from each other in the light diffusion member 74 (background member), and the light diffusion member 74 emits light from the light irradiation regions Rl through the side surfaces 742 in accordance with the irradiation of the light to the light irradiation regions Rl, thereby having a luminance corresponding to the intensity of the light irradiated from the light emitting elements L. In the photographing process, the intensity of light emitted from the light emitting elements L is controlled according to the rotation angle θ (rotation position) of the plurality of light emitting elements L. This makes it possible to capture the suction nozzle N against the light diffusion member 74 having the same brightness.

The controller 100 (control unit) controls the intensity of light emitted from the light emitting element L so that the intensity of light emitted to the light emitting regions rl_r, rl_l (end target regions) located at both ends in the imaging range Ri among the plurality of light emitting regions Rl is larger than the intensity of light emitted to the light emitting region Rl between the light emitting regions rl_r, rl_l. As a result, the suction nozzle can be imaged with the light diffusion member 74 as a background while suppressing the occurrence of unevenness such as a decrease in luminance at both ends of the light diffusion member 74 in the field of view from the imaging unit 6.

The light diffusion member 74 that diffuses light irradiated to the light irradiation region Rl and emits light from the light irradiation region Rl through the side surface 742 is used as a background. By using the light diffusion member 74, the suction nozzle N can be photographed in a background of the same brightness.

Fig. 6A, 6B, and 6C are bottom views schematically illustrating actions performed in the second example of the photographing process. The second example of the photographing process is different from the first example of the photographing process in the control method of the intensity of light irradiated to the light irradiation regions rl_r, rl_l. Here, the differences from the first example will be mainly described, and the portions common to the first example will be denoted by the corresponding reference numerals, and the appropriate description will be omitted.

When the rotation angle θ of the rotation body 41 around the rotation axis Az is θ1 (=0°), the light irradiation region rl_r opposed to the light emitting element Lr located at 90 ° and the light irradiation region rl_l opposed to the light emitting element Ll located at-90 ° are located at both ends in the X direction among the 5 light irradiation regions Rl opposed to the 5 light emitting elements L involved in the photographing process. Therefore, the imaging control unit 140 of the controller 100 adjusts the current applied to the light emitting element L so that the intensities of the light irradiated to the light irradiation regions rl_r and rl_l at both ends of the 5 light irradiation regions Rl are larger than the intensity of the light irradiated to the light irradiation region Rl between them.

The distance Dr in the X direction of the light irradiation region rl_r and the rotation axis Az is equal to the distance Dl in the X direction of the light irradiation region rl_l and the rotation axis Az. Here, in the XY plane (in other words, in the bottom view), the position of the light irradiation region Rl can be obtained as the position of the light emitting element L facing it. Therefore, the photographing control section 140 of the controller 100 adjusts the value of the current applied to the light emitting element L opposite to the light irradiation region rl_r and the value of the current applied to the light emitting element L opposite to the light irradiation region rl_l so that the intensity of the light irradiated to the light irradiation region rl_r and the intensity of the light irradiated to the light irradiation region rl_l are equal.

When the rotation angle θ of the rotating body 41 is θ2 (=20°), the light irradiation region rl_r opposed to the light emitting element Lr located at 65 ° and the light irradiation region rl_l opposed to the light emitting element Ll located at-70 ° are located at both ends in the X direction among the 4 light irradiation regions Rl opposed to the 4 light emitting elements L involved in the photographing process. Therefore, the imaging control unit 140 of the controller 100 adjusts the current applied to the light emitting element L so that the intensities of the light irradiated to the light irradiation regions rl_r and rl_l at both ends of the 4 light irradiation regions Rl are larger than the intensity of the light irradiated to the light irradiation region Rl between them.

In addition, the distance Dl between the light irradiation region rl_l and the rotation axis Az in the X direction is longer than the distance Dr between the light irradiation region rl_r and the rotation axis Az in the X direction. Therefore, the photographing control section 140 of the controller 100 adjusts the value of the current applied to the light emitting element L facing the light irradiation region rl_r and the value of the current applied to the light emitting element L facing the light irradiation region rl_l so that the intensity of the light irradiated to the light irradiation region rl_l is larger than the intensity of the light irradiated to the light irradiation region rl_r.

That is, since the distance Dl is longer than the distance Dr, the distance by which light from the light irradiation region rl_l to the imaging section 6 passes through the light diffuser 741 is longer than the distance by which light from the light irradiation region rl_r to the imaging section 6 passes through the light diffuser 741. Therefore, the light emitted from the light irradiation region rl_l is greatly attenuated as compared with the light emitted from the light irradiation region rl_r. In order to correct such bias of attenuation, the intensities of the lights irradiated from the light emitting element L to the light irradiation regions rl_l and rl_r are adjusted as described above.

When the rotation angle θ of the rotating body 41 is θ3 (=40°), the light irradiation region rl_r opposed to the light emitting element Lr located at 85 ° and the light irradiation region rl_l opposed to the light emitting element Ll located at-50 ° are located at both ends in the X direction among the 4 light irradiation regions Rl opposed to the 4 light emitting elements L involved in the photographing process. Therefore, the imaging control unit 140 of the controller 100 adjusts the current applied to the light emitting element L so that the intensities of the light irradiated to the light irradiation regions rl_r and rl_l at both ends of the 4 light irradiation regions Rl are larger than the intensity of the light irradiated to the light irradiation region Rl between them.

Further, the distance Dr in the X direction of the light irradiation region rl_r and the rotation axis Az is longer than the distance Dl in the X direction of the light irradiation region rl_l and the rotation axis Az. Therefore, the photographing control section 140 of the controller 100 adjusts the value of the current applied to the light emitting element L facing the light irradiation region rl_r and the value of the current applied to the light emitting element L facing the light irradiation region rl_l so that the intensity of the light irradiated to the light irradiation region rl_r is larger than the intensity of the light irradiated to the light irradiation region rl_l.

As described above, as the rotation angle θ of the rotary body 41 is changed by each arrangement pitch (20 °) of the suction nozzles N in order to sequentially change the suction nozzles N located at the imaging positions Pi, the light irradiation regions rl_r, rl_l located at both ends in the X direction in the imaging range Ri are switched between the plurality of light irradiation regions Rl. According to this, the controller 100 changes the current applied to the light emitting element L so that the intensity of the light emitted from the light emitting element L facing the light irradiation regions rl_r and rl_l is larger than the intensity of the light emitted from the other light emitting element L. The intensity of light emitted from the light emitting element L facing the light irradiation regions rl_r, rl_l is adjusted according to the distance between the light irradiation regions rl_r, rl_l and the rotation axis Az in the X direction.

In this way, in the second example of the photographing process, when the distance between one of the light irradiation regions rl_r and rl_l located at both ends of the photographing range Ri and the rotation axis Az is longer than the other light irradiation region Rl, the controller 100 controls the intensity of the light irradiated by the light emitting element L so that the intensity of the light irradiated to the one light irradiation region Rl is greater than the intensity of the light irradiated to the other light irradiation region Rl. This suppresses the influence of the difference between the distance from one of the light irradiation regions Rl to the light diffusion member 74 and the distance from the other light irradiation region Rl to the light diffusion member 74, and the light irradiation region Rl to the imaging unit 6, and thereby can give the same brightness to the light diffusion member 74.

As described above, in the first and second examples of the photographing process, the value of the current applied to the light emitting element L is adjusted according to the rotation angle θ, so that the luminance of the light diffuser 741 in the photographing range Ri is made uniform. Such control of the current can be performed based on the current value table shown in fig. 7, for example.

Fig. 7 is a diagram showing an example of a current value table showing a correspondence relationship between a rotation angle and a value of a current applied to a light emitting element. In the drawing, reference numerals L1 to L8 are used to identify 8 light emitting elements L. The current value table Ti shows the values of currents flowing to the light emitting elements L1 to L8 in the respective cases where the rotation angles θ are θ1 to θ9. The current value table Ti is stored in advance in the storage unit 120 of the controller 100. In the imaging process, the controller 100 determines the value of the current applied to each light emitting element L based on the current value table Ti. Thus, the current value table Ti applies a current to each light emitting element L according to the rotation angle θ with respect to the value shown in each light emitting element L.

In this example, the controller 100 has a current value table Ti showing a correspondence relationship between the rotation angle θ and the value of the current applied to each of the plurality of light emitting elements L. The controller 100 applies a current of a value indicated by the current value table Ti to the light emitting element L, thereby controlling the intensity of light emitted from the light emitting element L according to the rotation angle θ. In this configuration, the unevenness of the luminance of the light diffusion member 74 can be appropriately suppressed by simple control using the current value table Ti, and the same luminance can be given to the light diffusion member 74.

Fig. 8 is a flowchart showing a method of making a current value table. The flowchart is executed simultaneously with respect to 2 photographing sections 6 disposed at angular intervals of 180 °. However, since the execution is common to the 2 imaging units 6, the description will be given with respect to 1 imaging unit 6.

In step S101, the rotation angle θ of the rotating body 41 is set to zero. Then, in step S102, currents of reference values are applied to the plurality of (8) light emitting elements L, respectively. Thus, the light diffusion member 74 serving as a background in the photographing process of the photographing section 6 has a luminance corresponding to the intensity of the irradiated light. In step S103, the imaging control unit 140 of the controller 100 captures the side 742 of the light diffuser 741 of the light diffusing member 74 by the imaging unit 6, and acquires image data of the light diffuser 741. The image data represents luminance values of the pixels output from the solid-state imaging element of the camera 63.

In step S104, the arithmetic processing unit 110 of the controller 100 searches for a dark portion from the image data. Specifically, a range including at least a predetermined number of pixels having a luminance value lower than a predetermined threshold value is searched for as a dark portion from the image data. In step S105, the arithmetic processing unit 110 determines whether or not a dark portion exists. If a dark portion is detected in the search in step S104 (no in step S105), the flow proceeds to step S106.

In step S106, the imaging control unit 140 increases the value of the current applied to the light emitting element L corresponding to the searched dark portion by 1 step. Here, the light emitting element L corresponding to the dark portion is a light emitting element L facing a light irradiation region Rl closest to the dark portion in the X direction among light irradiation regions Rl facing the light emitting element L participating in the shooting of the shooting portion 6 that acquired the image data. The light emitting element L involved in the photographing of the photographing section 6 can be defined in the same manner as the light emitting element L involved in the photographing process described above. That is, the controller 100 is regarded as: the light emitting elements L located on the opposite side of the virtual straight line Ax from the imaging unit 6 do not participate in the imaging of the imaging unit 6, and the light emitting elements L other than these participate in the imaging of the imaging unit 6.

After step S106 is completed, the process returns to step S103, and the imaging control unit 140 acquires image data of the light diffusion body 741 by imaging the side 742 of the light diffusion body 741 of the light diffusion member 74 with the imaging unit 6. Then, the arithmetic processing unit 110 searches for a dark portion from the image data (step S104), and determines whether or not the dark portion is detected during the search (step S105). In this way, steps S103 to S106 are repeated until the dark portion disappears from the image data indicating the luminance of the light diffuser 741.

If the dark portion disappears and the determination is yes in step S105, the arithmetic processing unit 110 determines the value of the current applied to each light emitting element L as the value of the current applied to each light emitting element L in the photographing process. In this way, the current value for each light emitting element L is obtained in association with the rotation angle θ.

In step S108, it is determined whether or not the rotation angle θ is θmax (=160 °). When the rotation angle θ is not θmax (no in step S108), the rotation angle θ is increased by Δθ (=20 °) (i.e., the rotation body 41 is rotated by Δθ) in step S109, and the process returns to step S102. Accordingly, the current value with respect to each light emitting element L is determined so that the rotation angles θ and θ1 to θ9 are respectively associated. As a result, the current value table Ti is completed.

In this way, in the table creation of fig. 8, the controller 100 creates the current value table Ti (step S107) based on the result (steps S108, S109) that the test shooting (steps S102 to S106) is performed while changing the rotation angle θ, the test shooting being the following shooting: the light diffusion member 74 irradiated with light from the light emitting element L by applying a current to the light emitting element L is photographed by the photographing section 6, and an image of the light diffusion member 74 is acquired. By creating the current value table Ti in this way, it is possible to apply a current of an appropriate value to the light emitting element L, irradiate light of an appropriate intensity from the light emitting element L to the light diffusion member 74, and impart the same brightness to the light diffusion member 74.

In this way, in the above-described embodiment, the component mounter 1 corresponds to an example of the "component mounter" of the present invention, the controller 100 corresponds to an example of the "control unit" of the present invention, the imaging unit 6 corresponds to an example of the "imaging unit" of the present invention, the light diffusing member 74 corresponds to an example of the "background member" and the "light diffusing member" of the present invention, the side 742 corresponds to an example of the "side" of the present invention, the rotation axis Az corresponds to an example of the "rotation axis" of the present invention, the light emitting element L corresponds to an example of the "light emitting unit" of the present invention, the Z-axis motor Mz corresponds to an example of the "rotation driving unit" of the present invention, the suction nozzle N corresponds to an example of the "suction nozzle" of the present invention, the imaging range Ri corresponds to an example of the "imaging range" of the present invention, the light irradiation regions Rl correspond to an example of the "object region" of the present invention, the light irradiation regions rl_r, rl_l correspond to an example of the "end region" of the present invention, the current value table Ti corresponds to an example of the "table" of the present invention, and the rotation angle θ corresponds to an example of the "rotation position" of the present invention.

The present invention is not limited to the above-described embodiments, and various modifications may be made to the above-described contents without departing from the gist thereof. For example, the background used in the photographing process may be a member that emits fluorescence by irradiation with ultraviolet rays, instead of the light diffusion member 74.

The number of the suction nozzles N, the pitch at which the suction nozzles N are arranged, and the like may be appropriately changed.

The number of light emitting elements L, the pitch at which the light emitting elements L are arranged, and the like may be appropriately changed.

In addition, the configuration of the imaging unit 6 can be changed as appropriate. Specifically, the prism 61 may not be provided, and the camera 63 may be opposed to the side surface 742 of the light diffusion member 74.

The number of imaging positions Pi is not limited to the above-described 2, but may be 1 or 3 or more.

Description of the reference numerals

1 … component mounting machine

100 … controller (control part)

6 … imaging part

74 … light diffusing member

742 … side

Az … rotation axis

L … luminous element (luminous part)

Mz … Z axis motor (rotation driving part)

N … suction nozzle

Ri … shooting range

Rl … light irradiation region (target region)

Rl_r, rl_l … light irradiation region (end target region)

Ti … current value meter (table)

Angle of rotation (rotational position) of θ …

Claims (7)

1. A component mounting machine is provided with:

a plurality of suction nozzles circumferentially arranged around a rotation axis as a predetermined virtual straight line;

a background member disposed inside the plurality of suction nozzles and having a cylindrical shape centered on the rotation axis;

a plurality of light emitting units arranged circumferentially around the rotation axis and facing the background member;

a rotation driving unit configured to integrally rotate the plurality of suction nozzles, the background member, and the plurality of light emitting units about the rotation axis;

an imaging unit configured to capture a predetermined imaging range from outside the plurality of nozzles to a side surface of the background member; a kind of electronic device with high-pressure air-conditioning system

A control unit that executes the following imaging process: the imaging section is configured to capture the imaging range while light is being emitted from the light emitting section to the background member, thereby capturing the image of the nozzle located in the imaging range among the plurality of nozzles, taking the image of the nozzle with the background member as a background,

the plurality of light emitting portions irradiates light to a plurality of object regions different from each other in the background member,

the background member emits light from the target region via the side surface according to the irradiation of light to the target region, thereby having a brightness corresponding to the intensity of the light irradiated from the light emitting portion,

the control unit controls the intensity of light emitted from the light emitting units in accordance with the rotational positions of the plurality of light emitting units rotated by the rotation driving unit in the photographing process.

2. The component mounter according to claim 1, wherein,

the control unit controls the intensity of light emitted from the light emitting unit so that the intensity of light emitted to an end target region located at both ends of the imaging range among the plurality of target regions is greater than the intensity of light emitted to a target region different from the end target region.

3. The component mounter according to claim 2, wherein,

when the distance between one of the end target regions located at both ends of the imaging range and the rotation axis is longer than the distance between the other end target region and the rotation axis, the control unit controls the intensity of light emitted from the light emitting unit so that the intensity of light emitted to the one end target region is greater than the intensity of light emitted to the other end target region.

4. The component mounter according to any one of claims 1 to 3, wherein,

the light emitting section irradiates light of an intensity corresponding to the applied current,

the control unit has a table indicating a correspondence relation between the rotation position and a value of current applied to each of the plurality of light emitting units, and controls the intensity of light emitted from the light emitting unit according to the rotation position by applying the current of the value indicated by the table to the light emitting unit.

5. The component mounter according to claim 4, wherein,

the control unit creates the table based on a result of performing a test shot while changing the rotation position, the test shot being a shot of: the image capturing unit captures an image of the background member irradiated with light from the light emitting unit by applying a current to the light emitting unit.

6. The component mounter according to any one of claims 1 to 5, wherein,

the background member is a light diffusion member that diffuses light irradiated to the target region to emit light from the target region through the side surface.

7. A suction nozzle shooting method comprises the following steps:

a plurality of suction nozzles arranged circumferentially about a rotation axis which is a predetermined virtual straight line, a cylindrical background member arranged inside the suction nozzles and centered about the rotation axis, and a plurality of light emitting units arranged circumferentially about the rotation axis and facing the background member are integrally rotated about the rotation axis; a kind of electronic device with high-pressure air-conditioning system

The following shooting process is performed: capturing an image of the suction nozzle with the background member as a background by capturing a predetermined capturing range by a capturing section facing a side surface of the background member from outside the plurality of suction nozzles while irradiating light from the light emitting section to the background member,

the plurality of light emitting portions irradiates light to a plurality of object regions different from each other in the background member,

the background member emits light from the target region via the side surface according to the irradiation of light to the target region, thereby having a brightness corresponding to the intensity of the light irradiated from the light emitting portion,

in the photographing process, the intensity of light irradiated by the light emitting parts is controlled according to the rotational positions of the plurality of light emitting parts.