CN117813930A - Mounting system and mounting method - Google Patents

Abstract

The subject of the present disclosure is to improve productivity. The mounting system (1) according to the present disclosure comprises: a head (2) having a catching part (21); a drive unit (3) having a motor (30) for driving the head (2); and a motor driver (4) for controlling the motor (30). The head (2) further comprises an imaging unit (22) and a processing unit (23). An imaging unit (22) images the 1 st object before being captured by the capturing unit (21) or the mounting unit of the 2 nd object before being mounted with the 1 st object. A processing unit (23) creates correction information for correcting the capture position of the 1 st object or the mounting position of the 1 st object in the 2 nd object in the capture unit (21) based on the imaging result of the imaging unit (22). The motor driver (4) acquires correction information from the head (2), and corrects the control of the motor (30) based on the correction information.

Description

Mounting system and mounting method

Technical Field

The present disclosure relates generally to an installation system and an installation method, and more particularly, to an installation system for assembling a 1 st object captured by a capturing section to a 2 nd object, and an installation method used in the installation system.

Background

Patent document 1 describes an electronic component mounter that mounts a plurality of electronic components on a printed circuit board in a process of manufacturing an integrated circuit. The electronic component mounter described in patent document 1 includes a mounter control device and a camera. The mounter control device and the camera are communicably connected by a communication cable.

The mounter control device has a servo control section and an image processing section. The image processing unit acquires image data captured by a camera, and performs image processing according to the application on the image data. The servo control unit controls each axis motor, each device, and the like of the electronic component mounter based on the processing result of the image processing unit, and the like, so that the electronic components are appropriately mounted on the printed board.

Prior art literature

Patent literature

Patent document 1: international publication No. 2014/016928

Disclosure of Invention

In an electronic component mounting machine (mounting system) as described in patent document 1, improvement in productivity is desired.

An object of the present disclosure is to provide an installation system and an installation method that can improve productivity.

The mounting system according to one aspect of the present disclosure is a mounting system for mounting the 1 st object captured by the capturing section to the 2 nd object. The mounting system includes a head, a drive portion, and a motor driver. The head has the catching portion. The driving section has a motor that drives the head. The motor driver controls the motor. The head also has an imaging section and a processing section. The imaging unit images the 1 st object before being captured by the capturing unit or the mounting unit of the 2 nd object before the 1 st object is mounted. The processing unit creates correction information for correcting a capturing position of the 1 st object of the capturing unit or an assembling position of the 1 st object of the 2 nd object based on an imaging result of the imaging unit. The motor driver drives the catching part to the catching position or the fitting position by controlling the motor. The motor driver acquires the correction information from the head and corrects control of the motor based on the correction information.

An installation method according to an aspect of the present disclosure is an installation method used in an installation system. The mounting system includes a head, a drive portion, and a motor driver. The head has a catch. The driving section has a motor that drives the head. The motor driver controls the motor. The mounting system mounts the 1 st object captured by the capturing section to the 2 nd object. The mounting method includes an imaging step, a creating step, an obtaining step, and a correcting step. In the image capturing step, an image is captured of the 1 st object before being captured by the capturing section or of the mounting section of the 2 nd object before the 1 st object is mounted. In the creating step, correction information for correcting the capturing position of the 1 st object of the capturing section or the mounting position of the 1 st object of the 2 nd object is created based on the imaging result of the imaging step. In the acquiring step, the correction information created in the creating step is acquired. In the correction step, control of the motor is corrected based on the correction information acquired in the acquisition step. The image capturing step and the creating step are performed by the head. The obtaining step and the correcting step are performed by the motor driver.

Drawings

Fig. 1 is a schematic configuration diagram of an installation system according to an embodiment.

Fig. 2 is a perspective view of a main part of the 1 st action of the above-described mounting system.

Fig. 3 is a perspective view of the main part in action 2 of the above-described mounting system.

Fig. 4 is a block diagram of the mounting system as above.

Fig. 5 is a schematic diagram showing an example of the output of the imaging unit in the 1 st operation of the mounting system.

Fig. 6 is a schematic diagram showing an example of the output of the imaging unit in the 2 nd operation of the above-described mounting system.

Fig. 7 is a sequence diagram showing the operation of the above-described mounting system.

Fig. 8 is a flowchart showing an installation method performed by the installation system as above.

Fig. 9 is a perspective view of a main part of the mounting system according to modification 1 and 2 of the embodiment in operation 1.

Fig. 10 is a schematic diagram showing an example of the output of the imaging unit in the 1 st operation of the mounting system described above.

Fig. 11 is a schematic diagram showing another output example of the imaging unit in the 1 st operation of the mounting system.

Fig. 12 is a perspective view of a main part of the mounting system according to modification 3 and 4 of the embodiment in action 2.

Fig. 13 is a schematic diagram showing an example of the output of the imaging unit in the 2 nd operation of the above-described mounting system.

Fig. 14 is a schematic diagram showing another output example of the imaging unit in the 2 nd operation of the mounting system described above.

Detailed Description

(embodiment)

Hereinafter, an installation system and an installation method according to an embodiment will be described with reference to the drawings. The drawings described in the following embodiments are schematic, and the ratio of the sizes and thicknesses of the constituent elements is not necessarily limited to reflect the actual dimensional ratio. The configuration described in the following embodiment is merely an example of the present disclosure. The present disclosure is not limited to the following embodiments, and various modifications can be made in accordance with the design and the like as long as the effects of the present disclosure can be achieved.

(1) Summary of installation System

First, an outline of the mounting system 1 according to the embodiment will be described.

As shown in fig. 1, the mounting system 1 according to the present embodiment is a mounting device (mounting machine) for mounting the 1 st object 100 captured by the capturing section 21 on the 2 nd object 200. The mounting system 1 is used in, for example, facilities such as factories, offices, business offices, educational facilities, and the like, and is used for manufacturing various products such as electronic devices and automobiles.

In the present embodiment, a case where the mounting system 1 is used in manufacturing of electronic devices in a factory will be described. A general electronic device includes various circuit boards such as a power supply circuit and a control circuit. In the production of these circuit boards, for example, the solder application step, the mounting step, and the soldering step are performed in this order. In the solder coating step, paste solder is coated (or printed) on a substrate (including a printed wiring board). In the mounting step, a component (including an electronic component) is mounted (assembled) on the substrate. In the soldering step, for example, the substrate with the components mounted thereon is heated in a reflow furnace to melt the paste solder, thereby performing soldering. In the mounting process, the mounting system 1 performs a task of capturing the 1 st object 100 by the capturing section 21 described later and a task of assembling the 1 st object 100 captured by the capturing section 21 to the 2 nd object 200. That is, in the present embodiment, the 1 st object 100 is a member (hereinafter also referred to as "member 100"). The 2 nd object 200 is a substrate (hereinafter also referred to as "substrate 200") on which the component 100 is mounted.

As described above, as shown in fig. 1, the mounting system 1 used for mounting the 1 st object 100 to the 2 nd object 200 includes the head 2, the driving unit 3, the motor driver 4 (see fig. 4), the control device 5, the plurality of component supply devices 6, the conveyor 7, the fixed camera 8, and the stand 9. The plurality of component supply devices 6 have tape feeders mounted in a line in the X-axis direction (the direction perpendicular to the paper surface of fig. 1) on feeder bases 111 of carriages 11 connected to the base 9. Each of the plurality of component supply devices 6 conveys the carrier tape 121 supplied from the reel 12 at a distance, and supplies the 1 st object (component) 100 held by the carrier tape 121 to the component supply port 61. The reel 12 is held by the carriage 11. The conveyor 7 has a pair of conveyor mechanisms 71 extending in the X-axis direction on the base 9, and conveys the 2 nd object (substrate) 200 in the X-axis direction and positions it in a predetermined installation space. The fixed camera 8 is mounted on the base 9, and picks up an image of the upper side. The base 9 is provided on the structure 300. The structure 300 is, for example, a floor in a factory. That is, the mounting system 1 is provided in the structure 300, and further includes a base 9 for holding a 1 st motor driver 41 (described later). The base 9 is provided with a head 2, a driving unit 3, and a motor driver 4, which will be described later.

The base 9 is provided with a pair of support legs (not shown). A pair of support legs are located on either side of the conveyor mechanism and extend in the Y-axis direction. Rails (not shown) are provided on each of the pair of support legs, and both ends of the shaft member of the head main body 25 are attached to these rails so as to be movable in the X-axis direction. The support leg is provided with a Y-axis motor, which is a 1 st motor 31 of the driving section 3, and the shaft member and a head main body 25 described later are moved along the guide rail in the Y direction by the Y-axis motor. The shaft member is further provided with a guide member extending in the X-axis direction and an X-axis motor which is the 1 st motor 31 of the driving unit 3. The head main body 25 is moved in the X direction along the guide member by an X-axis motor.

The head 2 has a capturing section 21 for capturing the 1 st object (member) 100. The capturing unit 21 is constituted by, for example, an adsorption nozzle, and captures (holds) the 1 st object 100 in a releasable state (i.e., releases the capturing). The mounting system 1 lowers the capturing unit 21 so as to approach the component supply port 61 of the component supply device 6, and causes the capturing unit 21 to capture the 1 st object 100. In addition, the mounting system 1 lowers the capturing unit 21 so as to approach the 2 nd object 200 in a state in which the capturing unit 21 captures the 1 st object 100, and mounts the 1 st object 100 to the 2 nd object 200.

In the field of mounting components (including electronic components) using the mounting system 1 described above, it is desirable to improve productivity without deteriorating mounting accuracy. As a means for realizing this, vibration suppression and positioning accuracy improvement of the capturing section (suction nozzle) can be achieved by performing position control of the driving section in real time. However, in order to perform position control of the driving unit in real time, it is a problem how to minimize communication and data processing required until correction is performed based on the measurement result of the imaging unit.

Accordingly, as shown in fig. 1 to 4, the mounting system 1 includes a head 2, a driving unit 3, and a motor driver 4. The head 2 has a catching portion 21. The driving section 3 has a motor 30 that drives the head 2. The motor driver 4 controls the motor 30. The head 2 further includes an imaging unit 22 and a processing unit 23. The imaging unit 22 images the mounting unit 202 in the 1 st object 100 before being captured by the capturing unit 21 or in the 2 nd object 200 before the 1 st object 100 is mounted. The processing unit 23 creates correction information for correcting the capturing position P1 of the 1 st object 100 in the capturing unit 21 or the mounting position P4 of the 1 st object 100 in the 2 nd object 200 based on the imaging result of the imaging unit 22. The motor driver 4 drives the catching part 21 to the catching position P1 or the mounting position P4 by controlling the motor 30. The motor driver 4 acquires correction information from the head 2, and corrects the control of the motor 30 based on the correction information.

In such a mounting system 1, the processing unit 23 is provided in the head 2, and correction information created in the processing unit 23 can be directly outputted (transmitted) from the head 2 to the motor driver 4. Therefore, compared with the case where correction information is created by a device other than the head 2 (for example, the control device 5), the communication time can be shortened, and as a result, productivity can be improved.

(2) Details of the mounting System

(2.1) precondition

In this embodiment, a case will be described in which the mounting system 1 is used for mounting a component (the 1 st object 100) by a surface mount technology (SMT: surface Mount Technology), as an example. That is, the 1 st object 100 is a surface-mounting component (SMD: surface Mount Device) and is mounted on the surface (mounting surface 201) of the 2 nd object 200. However, the present invention is not limited to this example, and the mounting system 1 may be used for mounting the 1 st object 100 by the insertion mounting technique (IMT: insertion Mount Technology). In this case, the 1 st object 100 is a member for insertion and attachment having a lead terminal, and is attached to the surface (attachment surface 201) of the 2 nd object 200 by inserting the lead terminal into the hole of the 2 nd object 200. That is, the "mount 1 st object to 2 nd object" in the present disclosure includes: disposing the 1 st object on the surface of the 2 nd object; and inserting the lead terminal of the 1 st object into the hole of the 2 nd object.

The "imaging optical axis" in the present disclosure is an optical axis of an image captured by the imaging unit 22 (an image captured by the imaging unit 22), and is an optical axis determined by an imaging element and an optical system constituting the imaging unit 22. That is, a straight line connecting the center of the light receiving surface of the image pickup device and a portion in the image pickup region R1 (see fig. 5) passing through the optical system and formed in the center of the light receiving surface of the image pickup device becomes the image pickup optical axis of the image pickup unit 22.

The "imaging result" in the present disclosure is an imaging image of the imaging section 22, and includes a still image (still image) and a moving image (moving image). Further, the "moving image" includes an image pickup image composed of a plurality of still images obtained by frame-by-frame shooting or the like. The captured image of the image capturing section 22 may not be the data itself output from the image capturing section 22. For example, the image captured by the image capturing unit 22 may be subjected to processing such as data compression, conversion into another data format, and cutting out a part of the image captured by the image capturing unit 22, focus adjustment, brightness adjustment, and contrast adjustment, as necessary. In the present embodiment, the image captured by the image capturing unit 22 is a full-color or single-color moving image, as an example.

Hereinafter, as an example, 3 axes of an X axis, a Y axis, and a Z axis orthogonal to each other are set, an axis parallel to the surface of the 2 nd object (substrate) 200 is referred to as an "X axis" and a "Y axis", and an axis parallel to the thickness direction of the 2 nd object 200 is referred to as a "Z axis". Further, one of the two directions along the Z axis is set as an upper direction, and the other direction is set as a lower direction. For example, when the capturing section 21 is opposed to the 2 nd object 200, the 2 nd object 200 is positioned below the capturing section 21. The X-axis, Y-axis, and Z-axis are virtual axes, and the arrows in the drawings indicating "X", "Y", and "Z" are merely for explanation, and are not accompanied by an entity. Furthermore, these directions are not intended to limit the directions in which the mounting system 1 is used.

The mounting system 1 is connected to a pipe for circulating cooling water, a cable for supplying electric power, a pipe for supplying air power (including positive pressure and vacuum), and the like, but these drawings are omitted appropriately in the present embodiment.

(2.2) integral Structure

Next, each constituent element of the mounting system 1 according to the present embodiment will be described with reference to fig. 1 to 6. As described above, the mounting system 1 according to the present embodiment is a mounting device for mounting the 1 st object 100 captured by the capturing unit 21 to the 2 nd object 200.

As shown in fig. 1 to 4, the mounting system 1 includes a head 2, a driving unit 3, and a motor driver 4. The mounting system 1 further includes a control device 5, a plurality of component supply devices 6, a conveyor device 7, a fixed camera 8, and a stand 9. The control device 5, the plurality of component supply devices 6, the conveyor 7, the fixed camera 8, and the stand 9 are not necessarily required in the mounting system 1. That is, all or part of the control device 5, the plurality of component supply devices 6, the conveyor device 7, the fixed camera 8, and the stand 9 may not be included in the components of the mounting system 1. In fig. 2 and 3, only the head 2 and the driving unit 3 are illustrated, and the other components of the mounting system 1 are appropriately omitted.

(2.2.1) head

The head 2 has at least 1 catching part 21. In the present embodiment, the head 2 has 1 catching portion 21. The head 2 moves the capturing unit 21 so as to approach the capturing position P1 (see fig. 1), and causes the capturing unit 21 to capture the 1 st object 100 located at the capturing position P1. The head 2 moves the capturing section 21 so as to approach the mounting position P4 (see fig. 1) on the mounting surface 201 of the 2 nd object 200 in a state where the 1 st object 100 is captured by the capturing section 21, and mounts the 1 st object 100 at the mounting position P4. That is, the head 2 holds the catching portion 21 so as to be movable to the catching position P1 and the fitting position P4.

The head 2 includes an imaging unit 22 and a processing unit 23 in addition to the capturing unit 21. As shown in fig. 2 and 3, the imaging unit 22 is fixed to the head 2. The image pickup section 22 includes an image pickup element and an optical system. The imaging unit 22 is, for example, a video camera that captures a moving image. As shown in fig. 5, for example, in the 1 st motion (capturing motion) in which the capturing unit 21 captures the 1 st object 100 located at the capturing position P1 (see fig. 1), the imaging unit 22 images the imaging region (angle of view) R1 including the 1 st object 100. That is, the image pickup unit 22 picks up an image of the 1 st object 100 before being captured by the capturing unit 21.

As shown in fig. 6, the imaging unit 22 images the imaging region R1 including the mounting unit 202 in the 2 nd operation (mounting operation) at the mounting position P4 (see fig. 1) where the 1 st object 100 is mounted on the mounting surface 201 of the 2 nd object 200. The fitting portion 202 is, for example, a rectangular region including 2 pads 203, 203. That is, the 1 st object 100 is mounted on the mounting surface 201 of the 2 nd object 200 via the 2 pads 203, 203 included in the mounting portion 202. In this case, the imaging unit 22 images the mounting unit 202 in the 2 nd object 200 before the 1 st object 100 is mounted.

As shown in fig. 2 and 3, the imaging unit 22 is attached to a head main body 25 (described later) with its orientation adjusted so that the imaging optical axis of the imaging unit 22 is in the vertical direction (Z-axis direction). Therefore, in the case of imaging the 1 st object 100 or the mounting portion 202, it is necessary to move the imaging portion 22 in the Z-axis direction to a position facing the 1 st object 100 or the mounting portion 202.

The processing unit 23 creates correction information based on the imaging result of the imaging unit 22. In other words, the processing unit 23 performs conversion processing for converting image data, which is an imaging result of the imaging unit 22, into coordinate data. The correction information is information for correcting the capturing position P1 of the 1 st object 100 in the capturing section 21 or the mounting position P4 of the 1 st object 100 in the 2 nd object 200. More specifically, the correction information includes 1 st position information, which is the position information of the 1 st object 100, or 2 nd position information, which is the position information of the mounting portion 202.

As shown in fig. 5, the 1 st position information is, for example, information related to the center position P11 of the 1 st object (component) 100 accommodated in the pocket 122 of the carrier tape 121. In other words, the 1 st position information is the position information of the center position P11 of the 1 st object 100 in the imaging region R1 of the imaging section 22. The 1 st position information may be position information of a center of gravity position (not shown) of the 1 st object 100. The 1 st position information can be calculated by performing image processing on the captured image of the imaging unit 22.

As shown in fig. 6, the 2 nd positional information is, for example, information related to the center position P41 of the mounting portion 202 on the mounting surface 201 of the 2 nd object (substrate) 200. In other words, the 2 nd position information is the position information of the center position P41 of the mounting portion 202 in the image pickup region R1 of the image pickup portion 22. Here, in the present embodiment, the center position P41 of the mounting portion 202 is the center position of the rectangular region including 2 pads 203, 203. In other words, the "center position of the mounting portion" is defined by the intersection point of the 1 st straight line and the 2 nd straight line in a plan view in the Z-axis direction, wherein the 1 st straight line divides 2 equally between 2 sides facing each other in the 1 st direction among the 4 sides forming the rectangular region, and the 2 nd straight line divides 2 equally between 2 sides facing each other in the 2 nd direction orthogonal to the 1 st direction among the 4 sides. The head 2 outputs (transmits) correction information (positional information) created in the processing unit 23 to the motor driver 4 described later.

The processing unit 23 can be realized by a computer system having 1 or more processors and 1 or more memories, for example. That is, the processing unit 23 functions by executing a program recorded in 1 or more memories of the computer system by 1 or more processors. The program may be recorded in advance in a memory, may be provided via an electric communication line such as the internet, or may be provided by recording on a non-transitory recording medium such as a memory card.

In the present embodiment, the imaging unit 22 images the 1 st object 100 or the mounting unit 202 during the driving period for driving the capturing unit 21 to the capturing position P1 or the mounting position P4. More specifically, the imaging unit 22 images the 1 st object 100 stored in the pocket 122 of the carrier tape 121 during the 1 st driving period in which the capturing unit 21 is driven to the capturing position P1. The imaging unit 22 images the mounting unit 202 on the mounting surface 201 of the 2 nd object 200 during the 2 nd drive period in which the capturing unit 21 is driven to the mounting position P4. In the driving period, the processing unit 23 creates correction information based on the imaging result of the imaging unit 22.

The head 2 further includes, in addition to the capturing unit 21, the imaging unit 22, and the processing unit 23: an actuator 24 for moving the catching part 21; and a head main body 25 (refer to fig. 2 and 3) holding the capturing section 21, the imaging section 22, and the actuator 24. In the present embodiment, 1 capturing unit 21, imaging unit 22, and actuator 24 are held in each of 1 head main body 25. Thus, 1 st object (member) 100 can be held in the head 2.

The catching part 21 is, for example, a suction nozzle. The capturing unit 21 is controlled by the control device 5, and can switch between an adsorption state in which the 1 st object (member) 100 is adsorbed (held) and a release state in which the 1 st object 100 is released (adsorption released). However, the capturing unit 21 is not limited to the suction nozzle, and may be configured to capture (hold) the 1 st object 100 by grasping (nipped) the object by a robot, for example. That is, the term "capturing the 1 st object" in the present disclosure includes adsorbing the 1 st object and grasping the 1 st object.

Regarding the capturing of the 1 st object 100 by the capturing section 21, the head 2 is operated by receiving the supply of aerodynamic force (vacuum) as motive force. That is, the head 2 switches between the suction state and the release state of the trap 21 by opening and closing a valve on an aerodynamic (vacuum) supply path connected to the trap 21.

The actuator 24 linearly advances the catching part 21 in the Z-axis direction. Further, the actuator 24 rotationally moves the catching unit 21 in a rotational direction (hereinafter referred to as "θ direction") about an axis along the Z-axis direction. In the present embodiment, as an example, the actuator 24 is driven by a driving force generated by a linear motor included in a 2 nd motor 32 described later, with respect to movement of the capturing section 21 in the Z-axis direction. Further, with respect to the movement of the catch portion 21 in the θ direction, the actuator 24 is driven by the driving force generated in the rotary motor included in the 2 nd motor 32.

On the other hand, as will be described later, the head 2 is linearly advanced in the X-axis direction and the Y-axis direction by the 1 st motor 31 of the driving unit 3. As a result, the catching part 21 included in the head 2 can be moved in the X-axis direction, the Y-axis direction, the Z-axis direction, and the θ -direction by the driving part 3 and the actuator 24.

The head main body 25 is made of metal, for example, and is formed in a rectangular parallelepiped shape having a length in the X-axis direction. The capturing section 21, the imaging section 22, and the actuator 24 are assembled to the head main body 25, whereby the capturing section 21, the imaging section 22, and the actuator 24 are held by the head main body 25. In the present embodiment, the capturing unit 21 is indirectly held by the head main body 25 via the actuator 24 in a state where movement in the Z-axis direction and the θ -axis direction is possible. The head body 25 is moved in the X-Y plane by the 1 st motor 31 of the driving section 3, so that the head 2 is moved in the X-Y plane.

According to the above configuration, the head 2 can move the capturing unit 21 so as to approach the capturing position P1 (see fig. 1), and the capturing unit 21 captures the 1 st object 100 located at the capturing position P1. The head 2 can move the capturing section 21 so as to approach the mounting position P4 (see fig. 1) on the mounting surface 201 of the 2 nd object 200 in a state where the capturing section 21 captures (adsorbs) the 1 st object 100, and mount the 1 st object 100 to the mounting position P4.

(2.2.2) drive section

As shown in fig. 4, the driving unit 3 includes a motor 30 for driving the head 2. The motor 30 includes a 1 st motor 31 and a 2 nd motor 32. The 1 st motor 31 is a motor that drives the head 2 along the X-Y plane (one plane). The "X-Y plane" as used herein refers to a plane including the X axis and the Y axis, and is a plane orthogonal to the Z axis. That is, the 1 st motor 31 is a motor that moves the head 2 in the X-axis direction and the Y-axis direction. The 1 st motor 31 includes: a 1 st linear motor that drives the head 2 in the X-axis direction; and a 2 nd linear motor driving the head 2 in the Y-axis direction. As shown in fig. 2 and 3, the driving unit 3 further includes an X-axis driving unit 33 and a Y-axis driving unit 34. The X-axis driving unit 33 includes a 1 st linear motor, and moves the head 2 in the X-axis direction by a driving force generated by the 1 st linear motor. The Y-axis driving unit 34 includes a 2 nd linear motor, and moves the head 2 in the Y-axis direction by a driving force generated by the 2 nd linear motor. In fig. 1, the head 2 is moved by the driving unit 3 between above the component supply port 61 of the component supply device 6 and above the substrate 200 positioned in the installation space of the conveyor 7.

The 2 nd motor 32 is a motor that drives the capturing section 21 in the Z-axis direction, which is the normal direction to the X-Y plane, and drives the capturing section 21 in the θ direction about the axis along the Z-axis direction. In more detail, the 2 nd motor 32 includes: a linear motor for linearly advancing the catching part 21 in the Z-axis direction; and a rotary motor for rotating and moving the catching part 21 in the theta direction. The linear motor moves the actuator 24 in the Z-axis direction, thereby moving the catching unit 21 in the Z-axis direction. The rotary motor rotates the actuator 24 in the θ direction, thereby rotating the catching unit 21 in the θ direction.

(2.2.3) Motor driver

The motor driver 4 controls the motor 30. In more detail, the motor driver 4 drives the catching part 21 to the catching position P1 or the mounting position P4 by controlling the motor 30. As shown in fig. 4, the motor driver 4 includes a 1 st motor driver 41 and a 2 nd motor driver 42. The 1 st motor driver 41 controls the 1 st motor 31 described above. The 2 nd motor driver 42 controls the 2 nd motor 32 described above. As shown in fig. 1, the 1 st motor driver 41 is held by a mount 9 fixed to the structure 300. The structure 300 is here the floor of a factory.

The 1 st motor driver 41 acquires correction information created by the processing unit 23 of the head 2 from the head 2, and corrects the control of the 1 st motor 31 based on the acquired correction information. In the present embodiment, the 1 st motor driver 41 corrects the control of the 1 st motor 31 based on the correction information acquired in the driving period described above. Here, the correction information acquired by the 1 st motor driver 41 includes position information in the X-axis direction and position information in the Y-axis direction. That is, the 1 st motor driver 41 corrects the control of the 1 st linear motor based on the position information in the X-axis direction included in the correction information, and corrects the control of the 2 nd linear motor based on the position information in the Y-axis direction included in the correction information. As a result, the capturing position P1 or the mounting position P4 can be corrected in the X-axis direction and the Y-axis direction.

Further, a 2 nd motor driver 42 is mounted to the head 2. That is, the 2 nd motor driver 42 is attached to the head 2 configured to be movable in the X-axis direction and the Y-axis direction, unlike the 1 st motor driver 41. Therefore, the length of the communication line connecting the head 2 and the 2 nd motor driver 42 can be shortened. The 2 nd motor driver 42 acquires correction information created by the processing unit 23 of the head 2 from the head 2, and corrects the control of the 2 nd motor 32 based on the acquired correction information. In the present embodiment, the 2 nd motor driver 42 corrects the control of the 2 nd motor 32 based on the correction information acquired in the driving period described above. Here, the correction information acquired by the 2 nd motor driver 42 includes positional information in the Z-axis direction and positional information in the θ -axis direction. That is, the 2 nd motor driver 42 corrects the control of the linear motor based on the position information in the Z-axis direction included in the correction information, and corrects the control of the rotary motor based on the position information in the θ -axis direction included in the correction information. As a result, the capturing position P1 or the mounting position P4 can be corrected in the Z-axis direction and the θ -direction.

(2.2.4) control device

The control device 5 controls each part of the mounting system 1. The control device 5 is, for example, an FA (Factory Automation ) personal computer. The control device 5 can be realized by a computer system having 1 or more processors and 1 or more memories, for example. That is, the control device 5 functions by executing a program recorded in 1 or more memories of the computer system by 1 or more processors. The program is recorded in advance in the memory of the control device 5, but may be provided via an electric communication line such as the internet, or may be provided on a non-transitory recording medium such as a memory card. As shown in fig. 1, the control device 5 is held by a stand 9.

The control device 5 is electrically connected to, for example, the 1 st motor driver 41 of the motor driver 4, the component supply device 6, the conveyor 7, and the fixed camera 8, respectively. The control device 5 is electrically connected to each of the 1 st motor 31 of the head 2 and the drive unit 3 via the 1 st motor driver 41.

The control device 5 outputs a 1 st control signal to the 1 st motor driver 41 and the 2 nd motor driver 42 attached to the head 2, and controls the 1 st motor driver 41 and the 2 nd motor driver 42 so that the 1 st object 100 is captured by the capturing unit 21. The control device 5 outputs the 2 nd control signal to the 1 st motor driver 41 and the 2 nd motor driver 42, and controls the 1 st motor driver 41 and the 2 nd motor driver 42 so that the 1 st object 100 captured by the capturing section 21 is mounted on the 2 nd object 200.

The control device 5 outputs a 3 rd control signal to the fixed camera 8 to control the fixed camera 8 or to acquire an image captured by the fixed camera 8 from the fixed camera 8. The control device 5 outputs a 4 th control signal to the component supply device 6 to control the component supply device 6 so that the 1 st object 100 is positioned at the component supply port 61. The control device 5 outputs a 5 th control signal to the conveyor 7 to control the conveyor 7 so that the 2 nd object 200 is located in the installation space.

Here, as described above, the head 2 is connected to the control device 5 via the 1 st motor driver 41. Therefore, a correction information request for the image pickup section 22 of the head 2 is transmitted from the 1 st motor driver 41 to the head 2. That is, when the head 2 receives a control signal from the 1 ST motor driver 41 including a correction information request to the image pickup unit 22, the image pickup unit 22 executes the image pickup process ST12 (see fig. 7) in accordance with the correction information request included in the control signal.

The control device 5 may be directly and electrically connected to the head 2 to transmit an imaging command to the imaging unit 22 of the head 2. In this case, when the head 2 receives an image capturing instruction from the control device 5, the image capturing unit 22 executes the image capturing instruction.

(2.2.5) component supply apparatus

The component supply device 6 supplies the component 100 captured by the capturing portion 21 of the head 2. The component supply device 6 includes, as an example, a tape feeder that supplies the components 100 accommodated in pockets 122 (see fig. 2) of the carrier tape 121. As shown in fig. 2, the carrier tape 121 is formed in a strip shape elongated in the Y-axis direction, and a plurality of pockets 122 are provided at equal intervals along the longitudinal direction thereof. Each of the plurality of pockets 122 accommodates 1 component 100. The component supply device 6 moves the component 100 to the component supply port 61 by feeding out the carrier tape 121 in the Y-axis direction using a tape feeder. In addition, the component supply device 6 may have a tray on which a plurality of components 100 are mounted, instead of or together with the tape feeder. Further, the component feeding device 6 may have a bulk feeder instead of or in addition to the tape feeder.

(2.2.6) conveying device

The conveyor 7 is a device for conveying the substrate 200. As shown in fig. 1, the conveyor 7 includes, for example, a pair of conveyor mechanisms 71. The conveyor 7 conveys the substrate 200 in the X-axis direction (the direction perpendicular to the paper surface in fig. 1) by a pair of conveyor mechanisms 71. The conveyor 7 conveys the substrate 200 at least to an installation space facing the capturing section 21 in the Z-axis direction, which is the lower side of the head 2. Then, the conveyance device 7 stops the substrate 200 in the mounting space until the mounting of the component 100 to the substrate 200 by the head 2 is completed.

(2.2.7) fixed video camera

A fixed camera (component recognition camera) 8 captures an image of the head 2 moving between above the component supply port 61 of the component supply device 6 and above the substrate 200 positioned in the mounting space from below. Therefore, the 1 st object 100 captured by the capturing section 21 is captured in the captured image of the fixed camera 8. That is, the captured image of the fixed camera 8 includes information on the positional relationship between the capturing section 21 and the 1 st object 100, in other words, information on the deviation of the 1 st object 100 from the capturing section 21.

The fixed camera 8 preferably captures an image of the head 2 moving from the component supply port 61 to the substrate 200 from below. In this case, the fixed camera 8 does not always perform imaging, but performs imaging at a timing when the capturing section 21 in which the component 100 is captured passes above the fixed camera 8.

Further, the fixed camera 8 may be disposed below the component supply port 61. The mounting system 1 may further include an illumination device for illuminating the imaging area of the fixed camera 8.

(2.2.8) others

The mounting system 1 may include, for example, a lighting device and a communication unit in addition to the above-described configuration.

The illumination device illuminates an imaging region R1 of the imaging unit 22. The illumination device may be turned on at least at the timing when the imaging unit 22 performs imaging, and for example, emits light in accordance with the imaging timing of the imaging unit 22. In the present embodiment, since the image captured by the image capturing unit 22 is a full-color or single-color moving image, the illumination device outputs light in a wavelength band of a visible light region such as red or blue. In the present embodiment, as an example, the lighting device includes a plurality of light sources such as LEDs (Light Emitting Diode, light emitting diodes). The illumination device irradiates the imaging region R1 of the imaging unit 22 by causing these plurality of light sources to emit light. The lighting device is realized by an appropriate lighting system such as a diffusion type lighting system or a diagonal type lighting system. The illumination device is fixed to the head 2 together with the imaging unit 22, for example.

The communication unit is configured to communicate with the control device 5 directly or indirectly via a network, a repeater, or the like. Thereby, the mounting system 1 can transfer data to and from the control device 5.

(3) Actuation of the mounting system

Next, the operation of the mounting system 1 according to the present embodiment will be described with reference to fig. 7. Here, the case where the capturing position P1 of the 1 st object 100 or the mounting position P4 of the 1 st object 100 in the 2 nd object 200 is corrected in the X-axis direction and the Y-axis direction will be described as an example, but the same applies to the case where the correction is performed in the Z-axis direction and the θ -axis direction.

The 1 ST motor driver 41 transmits a control signal including a correction information request to the image pickup unit 22 to the head 2 (1 ST transmission process ST 11). When the head 2 receives the control signal from the 1 ST motor driver 41, the image pickup unit 22 picks up an image of the image pickup region R1 in accordance with the correction information request included in the control signal (image pickup process ST 12). The head 2 also causes the processing unit 23 to create correction information in parallel with the imaging process ST12 of the imaging unit 22 (creation process ST 13). The head 2 transmits a control signal including the correction information created by the processing unit 23 to the 1 ST motor driver 41 (2 nd transmission process ST 14).

Upon receiving the control signal from the head 2, the 1 ST motor driver 41 outputs an operation command (drive current) based on the correction information included in the control signal to the 1 ST motor 31 (output process ST 15). The 1 ST motor 31 is operated by an operation command from the 1 ST motor driver 41 (operation process ST 16). As a result, the capturing position P1 or the mounting position P4 can be corrected in the X-axis direction and the Y-axis direction.

Here, the communication time between the 1 st motor driver 41 and the head 2 and the communication time between the 1 st motor driver 41 and the 1 st motor 31 are set to 0.1ms, respectively. The time required for the image capturing process ST12 of the image capturing unit 22 and the time required for the creation process ST13 of the processing unit 23 are set to 1.0ms, respectively. In this case, for example, when the creation process ST13 of the processing unit 23 is started after the image capturing process ST12 of the image capturing unit 22 is started for 0.1ms, the time required for the image capturing process ST12 and the creation process ST13 becomes 1.1ms.

In the mounting system 1 according to the present embodiment, the 1 st processing time required from the 1 st motor driver 41 outputting the correction information request to the 1 st motor driver 41 acquiring the correction information is the total of the 1 st time, the 2 nd time, and the 3 rd time. The 1 ST time is the time required for the 1 ST transmission process ST11, here, 0.1ms. The 2 nd time is the time required for the imaging process ST12 and the creation process ST13, and is 1.1ms here. The 3 rd time is the time required for the 2 nd transmission process ST14, here 0.1ms. That is, the 1 st processing time is 1.3ms as an example.

On the other hand, in the conventional mounting system, the head 2 is directly connected to the control device 5, and a correction information request for the image pickup unit 22 is output from the control device 5. In this case, the 2 nd processing time required from the time when the control device 5 outputs the correction information request to the time when the 1 st motor driver 41 acquires the correction information is the total of the 4 th time, the 5 th time, the 6 th time, the 7 th time, and the 8 th time. The 4 th time is a time required for transmitting a control signal including a correction information request to the image pickup unit 22 from the control device 5 to the head 2, and is, for example, 0.5ms. The 5 th time is a time required for imaging the imaging region R1 (see fig. 5) of the imaging unit 22, and is, for example, 1.0ms. The 6 th time is a time required for transmitting image data, which is an imaging result of the imaging unit 22, from the head 2 to the control device 5, and is, for example, 1.0ms. The 7 th time is a time required for the correction information generation by the control device 5, and is, for example, 1.0ms. The 8 th time is a time required for transmitting the correction information created by the control device 5 from the control device 5 to the 1 st motor driver 41, and is, for example, 0.5ms. That is, the 2 nd processing time is 4.0ms.

As described above, in the mounting system 1 according to the present embodiment, the processing unit 23 is provided in the head 2, and the correction information created by the processing unit 23 can be directly output (transmitted) to the 1 st motor driver 41. Therefore, compared with the case where correction information is created by a device other than the head 2 (for example, the control device 5), the communication time can be shortened, and as a result, the 1 st operation and the 2 nd operation can be performed in real time, and the productivity can be improved.

(4) Mounting method

Next, an installation method according to the present embodiment will be described with reference to fig. 8.

The mounting method according to the present embodiment is a mounting method used in the mounting system 1 described above. The mounting system 1 includes a head 2, a drive unit 3, and a motor driver 4. The head 2 has a catching portion 21. The driving section 3 has a motor 30 that drives the head 2. The motor driver 4 controls the motor 30. The mounting system 1 mounts the 1 st object 100 captured by the capturing section 21 to the 2 nd object 200. The mounting method includes an imaging step ST21, a creating step ST22, an obtaining step ST23, and a correcting step ST24. In the image capturing step ST21, the mounting portion 202 in the 1 ST object 100 before being captured by the capturing portion 21 or the 2 nd object 200 before the 1 ST object 100 is mounted is captured. In the creating step ST22, correction information for correcting the capturing position P1 of the 1 ST object 100 of the capturing section 21 or the mounting position P4 of the 1 ST object 100 of the 2 nd object 200 is created based on the imaging result of the imaging step ST 21. In the acquisition step ST23, the correction information created in the creation step ST22 is acquired. In the correction step ST24, the control of the motor 30 is corrected based on the correction information acquired in the acquisition step ST 23. The image capturing step ST21 and the creating step ST22 are executed by the head 2. The acquisition step ST23 and the correction step ST24 are executed by the motor driver 4.

That is, the mounting method according to the present embodiment is a mounting method used in the mounting system 1 according to the present embodiment. In this mounting method, correction information created by the head 2 can be directly outputted (transmitted) from the head 2 to the motor driver 4. Therefore, compared with the case where correction information is created by a device other than the head 2 (for example, the control device 5), the communication time can be shortened, and as a result, productivity can be improved.

Fig. 8 is a flowchart representing an installation method performed by the installation system 1 according to the present embodiment. The mounting method includes the steps ST21 to ST24 shown in fig. 8.

First, the head 2 performs imaging of the imaging region (angle of view) R1 (see fig. 5) by the imaging unit 22 in response to a correction information request from the 1 ST motor driver 41 (imaging step ST 21).

Next, the head 2 creates correction information by the processing unit 23 based on the imaging result of the imaging unit 22 (creation step ST 22). At this time, the head 2 performs the image capturing process of the image capturing section 22 and the correction information creating process of the processing section 23 in parallel. In other words, the head 2 starts the processing of the processing unit 23 before the imaging processing of the imaging unit 22 is completed. As an example, the head 2 starts the processing of the processing unit 23 0.1ms after starting the imaging processing of the imaging unit 22. In this way, it takes 2ms to execute the creation process of the processing unit 23 after the image capturing process of the image capturing unit 22, and the time can be reduced to 1.1ms.

Next, the motor driver 4 acquires correction information created by the processing unit 23 of the head 2 from the head 2 (acquisition step ST 23). As described above, the correction information is the positional information of the 1 st object 100 or the positional information of the mounting portion 202 on the mounting surface 201 of the 2 nd object 200. Therefore, the motor driver 4 can directly acquire correction information from the head 2.

Then, the motor driver 4 corrects the control of the motor 30 based on the correction information acquired from the head 2 (correction step ST 24). Specifically, the motor driver 4 controls the motor 30 so that the capturing position P1 (see fig. 1) of the 1 st object 100 of the capturing section 21 coincides with the center position P11 (see fig. 5) of the 1 st object 100 included in the correction information in the 1 st operation (capturing operation). In the 2 nd operation (mounting operation), the motor driver 4 controls the motor 30 so that the mounting position P4 (see fig. 1) of the 1 st object 100 in the 2 nd object 200 matches the center position P41 (see fig. 6) of the mounting portion 202 in the 2 nd object 200 included in the correction information.

(5) Effects of

In the mounting system 1 according to the embodiment, the processing unit 23 is provided in the head 2, and correction information created by the processing unit 23 can be directly outputted (transmitted) from the head 2 to the motor driver 4. Therefore, compared with the case where correction information is created by a device other than the head 2 (for example, the control device 5), the communication time can be shortened, and as a result, productivity can be improved.

In the mounting system 1 according to the embodiment, correction information is created during the driving period for driving the capturing unit 21 to the capturing position P1 or the mounting position P4. Therefore, the processing time can be shortened as compared with the case where the correction information is created after the driving period has elapsed, and as a result, further improvement in productivity can be achieved.

The mounting system 1 according to the embodiment includes: a 1 st motor 31 for driving the head 2 along a plane (for example, an X-Y plane); and a 2 nd motor 32 that drives the capturing section 21 along a normal direction (for example, a Z-axis direction) of a plane and that drives in a rotational direction (for example, a θ direction) centered on an axis along the normal direction. Therefore, the capturing section 21 can be driven in the X-axis direction, the Y-axis direction, the Z-axis direction, and the θ -direction.

In the mounting system 1 according to the embodiment, the 1 st motor driver 41 is held by the mount 9. Therefore, the weight of the head 2 can be reduced as compared with the case where the 1 st motor driver 41 is attached to the head 2.

In the mounting system 1 according to the embodiment, the 2 nd motor driver 42 is mounted on the head 2. Therefore, the length of the communication line connecting the head 2 and the 2 nd motor driver 42 can be shortened.

In the mounting system 1 according to the embodiment, the correction information includes the positional information of the 1 st object 100 or the positional information of the mounting portion 202. Therefore, the correction information created by the head 2 can be directly output (transmitted) to the motor driver 4.

In the mounting system 1 according to the embodiment, the image pickup process ST12 of the image pickup unit 22 and the creation process ST13 of the processing unit 23 are executed in parallel. Therefore, the processing time can be shortened as compared with the case where the creation process ST13 of the processing unit 23 is executed after the imaging process ST12 of the imaging unit 22 is executed, and as a result, further improvement in productivity can be achieved.

(6) Modification examples

The above-described embodiment is only one of the various embodiments of the present disclosure. The above-described embodiments can be variously modified according to the design or the like as long as the objects of the present disclosure are achieved. The functions similar to those of the installation method according to the above-described embodiment can be embodied by the installation system 1, a (computer) program, a non-transitory recording medium storing the program, or the like.

The following describes modifications of the above-described embodiment. The modifications described below can be appropriately combined and used.

(6.1) modification 1

In the above embodiment, the correction information in the 1 st motion (capturing motion) of the mounting system 1 is the position information of the 1 st object 100. On the other hand, as shown in fig. 10, the correction information in the 1 st operation of the mounting system 1 may be difference information between the center position P11 of the 1 st object 100 and the tip position P21 of the capturing section 21. That is, in the mounting system 1 according to modification 1, the 1 st position information, which is the position information of the 1 st object 100, is information based on the difference between the position (center position P11) of the 1 st object 100 and the position (tip position P21) of the capturing section 21.

In the mounting system 1 according to modification 1, as shown in fig. 9, the imaging unit 22 is mounted on the head main body 25 in a state in which the imaging optical axis of the imaging unit 22 is adjusted to be inclined with respect to the vertical direction (Z-axis direction). Therefore, as shown in fig. 10, the capturing section 21 can be included in the image capturing region R1 of the image capturing section 22.

In this case, as shown in fig. 10, the image pickup unit 22 picks up an image of the 1 st object 100 before being captured by the capture unit 21 (in a state of being accommodated in the pocket 122 of the carrier tape 121) and the capture unit 21 at the same time. Then, the motor driver 4 corrects the control of the motor 30 so that the difference information included in the correction information becomes zero, that is, the center position P11 of the 1 st object 100 and the tip position P21 of the capturing section 21 coincide. As a result, the capturing position P1 of the 1 st object 100 of the capturing section 21 can be corrected (see fig. 1).

(6.2) modification 2

In modification 1 described above, the correction information in the 1 st operation (capturing operation) of the mounting system 1 is the difference information between the center position P11 of the 1 st object 100 and the tip position P21 of the capturing section 21. On the other hand, as shown in fig. 11, the correction information in the 1 st operation of the mounting system 1 may be difference information between the center position P11 of the 1 st object 100 and the position P31 of any point in the imaging region R1 of the imaging unit 22. That is, in the mounting system 1 according to modification 2, the 1 st position information, which is the position information of the 1 st object 100, is information based on a difference between the position (center position P11) of the 1 st object 100 and the position P31 of an arbitrary point in the image pickup region R1 of the image pickup section 22. The position P31 of the arbitrary point is a predetermined tip position P22 of the capturing section 21. More specifically, the position P31 of the arbitrary point is the tip position P22 of the capturing section 21 in the imaging region R1 set in advance by teaching.

In this case, since the position P31 at an arbitrary point is predetermined, the imaging unit 22 images the 1 st object 100 before being captured by the capturing unit 21 (in a state of being accommodated in the pocket 122 of the carrier tape 121). Then, the motor driver 4 corrects the control of the motor 30 so that the difference information included in the correction information becomes zero, that is, the center position P11 of the 1 st object 100 coincides with the position P31 of the arbitrary point. As a result, the capturing position P1 of the 1 st object 100 of the capturing section 21 can be corrected (see fig. 1).

However, the structure according to modification 1 and the structure according to modification 2 may be combined. That is, as shown in fig. 11, when the capturing section 21 is not present in the image capturing region R1 of the image capturing section 22, information based on the difference between the center position P11 of the 1 st object 100 and the position P31 of any point in the image capturing region R1 is set as 1 st position information. As shown in fig. 10, when the capturing unit 21 is present in the image pickup region R1 of the image pickup unit 22, information based on the difference between the center position P11 of the 1 st object 100 and the front end position P21 of the capturing unit 21 is set as 1 st position information. In this case, the image pickup unit 22 picks up an image of at least the 1 st object 100 before being captured by the capturing unit 21. Thus, the capturing position P1 of the 1 st object 100 of the capturing section 21 can be corrected regardless of whether the capturing section 21 is present in the image capturing region R1 of the image capturing section 22.

(6.3) modification 3

In the above embodiment, the correction information in the 2 nd operation (mounting operation) of the mounting system 1 is the positional information of the mounting portion 202. On the other hand, as shown in fig. 13, the correction information in the 2 nd operation of the mounting system 1 may be difference information between the center position P41 of the mounting portion 202 and the center position P51 of the 1 st object 100. That is, in the mounting system 1 according to modification 3, the 2 nd positional information, which is positional information of the mounting portion 202, is information based on a difference between the center position P51 of the 1 st object 100 and the center position P41 of the mounting portion 202.

In the mounting system 1 according to modification 3, as shown in fig. 12, the imaging unit 22 is mounted on the head main body 25 in a state in which the imaging optical axis of the imaging unit 22 is adjusted to be inclined with respect to the vertical direction (Z-axis direction). Therefore, as shown in fig. 13, the capturing section 21 can be included in the image capturing region R1 of the image capturing section 22.

In this case, as shown in fig. 13, the imaging unit 22 simultaneously images the 1 st object 100 captured by the capturing unit 21 and the mounting unit 202 before mounting the 1 st object 100. Then, the motor driver 4 corrects the control of the motor 30 so that the difference information included in the correction information becomes zero, that is, the center position P51 of the 1 st object 100 and the center position P41 of the mounting portion 202 coincide. As a result, the mounting position P4 (see fig. 1) of the 1 st object 100 in the 2 nd object 200 can be corrected.

(6.4) modification 4

In modification 3 described above, the correction information in the 2 nd operation (mounting operation) of the mounting system 1 is the difference information between the center position P41 of the mounting portion 202 and the center position P51 of the 1 st object 100. On the other hand, as shown in fig. 14, the correction information in the 2 nd operation of the mounting system 1 may be difference information between the position P61 of the arbitrary point in the imaging region R1 of the imaging section 22 and the center position P41 of the mounting section 202. That is, in the mounting system 1 according to modification 4, the 2 nd positional information, which is positional information of the mounting portion 202, is information based on a difference between the position P61 of the arbitrary point in the imaging region R1 of the imaging portion 22 and the center position P41 of the mounting portion 202. The position P61 of the arbitrary point is a center position P52 of the 1 st object 100 determined in advance. More specifically, the position P61 of the arbitrary point is the center position P52 of the 1 st object 100 in the imaging region R1 set in advance by teaching.

In this case, since the position P61 of the arbitrary point is predetermined, the imaging unit 22 images the mounting unit 202 before the 1 st object 100 is mounted. Then, the motor driver 4 corrects the control of the motor 30 so that the difference information included in the correction information becomes zero, that is, the position P61 of the arbitrary point and the center position P41 of the fitting portion 202 coincide. As a result, the mounting position P4 (see fig. 1) of the 1 st object 100 in the 2 nd object 200 can be corrected.

However, the structure according to modification 3 and the structure according to modification 4 may be combined. That is, as shown in fig. 14, when the 1 st object 100 is not present in the image pickup region R1 of the image pickup unit 22, information based on the difference between the center position P41 of the mounting unit 202 and the position P61 of any point in the image pickup region R1 is set as the 2 nd position information. As shown in fig. 13, when the 1 st object 100 is present in the image pickup region R1 of the image pickup unit 22, information based on the difference between the center position P41 of the mounting unit 202 and the center position P51 of the 1 st object 100 is set as the 2 nd position information. In this case, the imaging unit 22 at least images the mounting unit 202 before the 1 st object 100 is mounted. Thus, the mounting position P4 (see fig. 1) of the 1 st object 100 in the 2 nd object 200 can be corrected regardless of whether the 1 st object 100 is present in the image pickup region R1 of the image pickup section 22.

(6.5) other modifications

Hereinafter, other modifications will be described.

The mounting system 1 in the present disclosure includes a computer system in the control device 5 or the like, for example. The computer system has a main structure of a processor and a memory, which are hardware. The functions as the installation system 1 in the present disclosure are realized by a processor executing a program recorded in a memory of a computer system. The program may be recorded in advance in a memory of the computer system, may be provided via an electric communication line, or may be recorded in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive readable by the computer system. The processor of the computer system is constituted by 1 or more electronic circuits including a semiconductor Integrated Circuit (IC) or a large scale integrated circuit (LSI). The term "integrated circuit" used herein refers to an integrated circuit such as an IC or LSI, and includes an integrated circuit called a system LSI, a VLSI (Very Large Scale Integration, very large scale integrated circuit) or a ULSI (Ultra Large Scale Integration, very large scale integrated circuit), depending on the degree of integration. Further, an FPGA (Field-Programmable Gate Array) which can be programmed after the LSI is manufactured, or a logic device which can reconstruct the bonding relationship inside the LSI or the circuit region inside the LSI can be used as a processor. The plurality of electronic circuits may be integrated in 1 chip, or may be provided in a plurality of chips in a distributed manner. The plurality of chips may be integrated in 1 device or may be distributed among a plurality of devices. The computer system as described herein includes a microcontroller having 1 or more processors and 1 or more memories. Thus, regarding the microcontroller, it is constituted by 1 or more electronic circuits including a semiconductor integrated circuit or a large scale integrated circuit.

In addition, the integration of the plurality of functions in the mounting system 1 into 1 housing is not a necessary structure for the mounting system 1. The components of the mounting system 1 may be provided in a plurality of housings in a dispersed manner. Further, at least a part of the functions of the installation system 1 may be realized by cloud (cloud computing) or the like.

In contrast, in the above-described embodiment, at least a part of the functions of the mounting system 1 dispersed in a plurality of devices may be integrated in 1 housing. For example, some of the functions dispersed in the head 2 and the control device 5 may be integrated in the head 2.

The use of the mounting system 1 is not limited to the manufacture of electronic devices in a factory. For example, when the mounting system 1 is used for mounting a machine component on a glass plate, the mounting system 1 performs a work of mounting (assembling) a machine component, which is the 1 st object, on the glass plate, which is the 2 nd object.

The shape of the mounting portion 202 is an example, and can be arbitrarily shaped in accordance with the shape of the 1 st object 100 mounted on the 2 nd object 200, the shape of the pad, or the like.

The communication time described in the above embodiment is an example, and can take values other than the above values.

The number of imaging units 22 is not limited to 1, and may be plural (for example, 2).

(mode)

The following modes are disclosed in the present specification.

The mounting system (1) according to claim 1 is a mounting system (1) for mounting the 1 st object (100) captured by the capturing unit (21) to the 2 nd object (200). The mounting system (1) is provided with a head (2), a drive unit (3), and a motor driver (4). The head (2) has a catching part (21). The driving unit (3) has a motor (30) for driving the head (2). A motor driver (4) controls the motor (30). The head (2) further comprises an imaging unit (22) and a processing unit (23). The imaging unit (22) images the mounting unit (202) in the 1 st object (100) before being captured by the capturing unit (21) or in the 2 nd object (200) before being mounted with the 1 st object (100). The processing unit (23) creates correction information for correcting the capture position (P1) of the 1 st object (100) in the capture unit (21) or the mounting position (P4) of the 1 st object (100) in the 2 nd object (200) based on the imaging result of the imaging unit (22). The motor driver (4) drives the catching part (21) to the catching position (P1) or the assembling position (P4) by controlling the motor (30). The motor driver (4) acquires correction information from the head (2), and corrects the control of the motor (30) based on the correction information.

According to this aspect, correction information created by the head (2) can be directly output to the motor driver (4). Therefore, compared with the case where correction information is created by a device (for example, the control device 5) other than the head (2), the communication time can be shortened, and as a result, the productivity can be improved.

In the mounting system (1) according to claim 2, in the 1 st aspect, during a driving period in which the capturing unit (21) is driven to the capturing position (P1) or the mounting position (P4), the imaging unit (22) images the 1 st object (100) or the mounting unit (202), and the processing unit (23) creates correction information based on an imaging result of the imaging unit (22). The motor driver (4) corrects the control of the motor (30) based on the correction information acquired during the driving period.

According to this aspect, correction information can be created while the capturing unit (21) is driven to the capturing position (P1) or the mounting position (P4), and the processing time can be shortened as compared with the case where correction information is created after the capturing unit (21) is driven. As a result, further improvement in productivity can be achieved.

In the mounting system (1) according to claim 3, the motor (30) includes a 1 st motor (31) and a 2 nd motor (32) in addition to the 1 st or 2 nd modes. The 1 st motor (31) drives the head (2) along a plane (e.g., an X-Y plane). The 2 nd motor (32) drives the capturing section (21) along a normal direction (for example, a Z-axis direction) of a plane, and drives the capturing section (21) in a rotation direction (for example, a θ direction) centering on an axis along the normal direction of the plane. The motor driver (4) includes a 1 st motor driver (41) and a 2 nd motor driver (42). The 1 st motor driver (41) controls the 1 st motor (31). A2 nd motor driver (42) controls the 2 nd motor (32).

According to this aspect, the head (2) can be driven along a plane, and the catching part (21) can be driven in a normal direction of the plane and in a rotational direction centered on an axis along the normal direction.

The mounting system (1) according to claim 4 further includes a base (9) in addition to claim 3. The base (9) holds a 1 st motor driver (41).

According to this aspect, the head (2) can be reduced in weight as compared with a case where the 1 st motor driver (41) is attached to the head (2).

In the mounting system (1) according to claim 5, the 2 nd motor driver (42) is mounted on the head (2) in addition to the 3 rd or 4 th aspects. A2 nd motor driver (42) acquires correction information from the head (2), and corrects the control of the 2 nd motor (32) based on the correction information.

According to this aspect, the length of the communication line connecting the head (2) and the 2 nd motor driver (42) can be shortened.

In the mounting system (1) according to claim 6, the correction information includes 1 st position information or 2 nd position information in addition to any one of claims 1 to 5. The 1 st position information is the position information of the 1 st object (100). The 2 nd position information is the position information of the fitting part (202).

According to this aspect, correction information created by the head (2) can be directly output to the motor driver (4).

In the mounting system (1) according to claim 7, in addition to claim 6, the image pickup unit (22) picks up an image of the 1 st object (100) and the capturing unit (21) before being captured by the capturing unit (21). The 1 st position information is information based on a difference between a position (P11) of the 1 st object (100) in the imaging region (R1) of the imaging unit (22) and a position (P21) of the capturing unit (21).

According to this aspect, the capturing position (P1) of the 1 st object (100) of the capturing section (21) can be corrected based on information based on the difference between the position (P11) of the 1 st object (100) and the position (P21) of the capturing section (21).

In the mounting system (1) according to claim 8, in addition to claim 6, the image pickup unit (22) picks up an image of the 1 st object (100) before being captured by the capturing unit (21). The 1 st position information is information based on a difference between a position (P11) of the 1 st object (100) and a position (P31) of an arbitrary point in an imaging region (R1) of the imaging unit (22).

According to this aspect, the capturing position (P1) of the 1 st object (100) of the capturing section (21) can be corrected based on information based on the difference between the position (P11) of the 1 st object (100) and the position (P31) of the arbitrary point.

In the mounting system (1) according to claim 9, in addition to claim 6, the image pickup unit (22) picks up an image of at least the 1 st object (100) before being captured by the capturing unit (21). When the capturing section (21) is not present in the imaging region (R1) of the imaging section (22), the 1 st position information is information based on the difference between the position (P11) of the 1 st object (100) in the imaging region (R1) and the position (P31) of an arbitrary point. When the capturing unit (21) is present in the imaging region (R1), the 1 st position information is information based on a difference between the position (P11) of the 1 st object (100) in the imaging region (R1) and the position (P21) of the capturing unit (21).

According to this aspect, the capturing position (P1) of the 1 st object (100) of the capturing section (21) can be corrected regardless of the presence or absence of the capturing section (21) in the imaging region (R1) of the imaging section (22).

In the mounting system (1) according to claim 10, in addition to claim 8 or 9, the position (P31) of the arbitrary point is a position within a predetermined imaging region (R1) corresponding to the tip position (P22) of the capturing unit (21).

According to this aspect, even when the capturing section (21) is not present in the imaging region (R1) of the imaging section (22), the capturing position (P1) of the 1 st object (100) of the capturing section (21) can be corrected.

In the mounting system (1) according to claim 11, in addition to claim 6, the image pickup unit (22) picks up an image of the 1 st object (100) captured by the capturing unit (21) and the mounting unit (202) before mounting the 1 st object (100) at the same time. The 2 nd position information is information based on a difference between a position (P51) of the 1 st object (100) in the imaging region (R1) of the imaging unit (22) and a position (P41) of the mounting unit (202).

According to this aspect, the mounting position (P4) of the 1 st object (100) in the 2 nd object (200) can be corrected based on information based on the difference between the position (P51) of the 1 st object (100) and the position (P41) of the mounting portion (202).

In the mounting system (1) according to claim 12, in addition to claim 6, the image pickup unit (22) picks up an image of the mounting unit (202) before the 1 st object (100) is mounted. The 2 nd position information is information based on a difference between a position (P61) of an arbitrary point in an imaging region (R1) of the imaging unit (22) and a position (P41) of the mounting unit (202).

According to this aspect, the mounting position (P4) of the 1 st object (100) in the 2 nd object (200) can be corrected based on information based on the difference between the position (P41) of the mounting portion (202) and the position (P61) of the arbitrary point.

In the mounting system (1) according to claim 13, in addition to claim 6, the imaging unit (22) images at least the mounting unit (202) before the object (100) of claim 1 is mounted. When the 1 st object (100) is not present in the imaging region (R1) of the imaging unit (22), the 2 nd position information is information based on the difference between the position (P61) of any point in the imaging region (R1) and the position (P41) of the mounting unit (202). When the 1 st object (100) is present in the imaging region (R1), the 2 nd position information is information based on a difference between the position (P51) of the 1 st object (100) in the imaging region (R1) and the position (P41) of the mounting portion (202).

According to this aspect, the mounting position (P4) of the 1 st object (100) in the 2 nd object (200) can be corrected regardless of the presence or absence of the 1 st object (100) in the imaging region (R1) of the imaging unit (22).

In the mounting system (1) according to claim 14, the position (P61) of the arbitrary point is a position within a predetermined imaging region (R1) corresponding to the center position (P52) of the 1 st object (100) in the state captured by the capturing unit (21) in addition to the 12 th or 13 th aspects.

According to this aspect, even when the 1 st object (100) is not present in the imaging region (R1) of the imaging unit (22), the mounting position (P4) of the 1 st object (100) in the 2 nd object (200) can be corrected.

In the mounting system (1) according to claim 15, an imaging process (ST 12) of the imaging unit (22) and a correction information creation process (ST 13) of the processing unit (23) are executed in parallel with any one of claims 1 to 14.

According to this aspect, the processing time can be shortened as compared with the case where the creation process (ST 13) of the processing unit (23) is performed after the image capturing process (ST 12) of the image capturing unit (22) is performed, and as a result, further improvement in productivity can be achieved.

The mounting method according to the 16 th aspect is a mounting method used in the mounting system (1). The mounting system (1) is provided with a head (2), a drive unit (3), and a motor driver (4). The head (2) has a catching part (21). The driving unit (3) has a motor (30) for driving the head (2). A motor driver (4) controls the motor (30). The mounting system (1) mounts the 1 st object (100) captured by the capturing unit (21) to the 2 nd object (200). The mounting method includes an imaging step (ST 21), a creating step (ST 22), an obtaining step (ST 23), and a correction step (ST 24). In the imaging step (ST 21), an imaging is performed on the mounting part (202) in the 1 ST object (100) before being captured by the capturing part (21) or in the 2 nd object (200) before being mounted with the 1 ST object (100). In the creating step (ST 22), correction information for correcting the capturing position (P1) of the 1 ST object (100) in the capturing section (21) or the mounting position (P4) of the 1 ST object (100) in the 2 nd object (200) is created based on the imaging result in the imaging step (ST 21). In the acquisition step (ST 23), the correction information created in the creation step (ST 22) is acquired. In the correction step (ST 24), the control of the motor (30) is corrected based on the correction information acquired in the acquisition step (ST 23). The image pickup step (ST 21) and the creation step (ST 22) are executed by the head (2). The acquisition step (ST 23) and the correction step (ST 24) are executed by a motor driver (4).

According to this aspect, correction information created by the head (2) can be directly output to the motor driver (4). Therefore, compared with the case where correction information is created by a device (for example, the control device 5) other than the head (2), the communication time can be shortened, and as a result, the productivity can be improved.

The structures according to aspects 2 to 15 are not essential for the mounting system (1), and can be omitted appropriately.

Description of the reference numerals

1. Mounting system

2. Head part

3. Drive unit

4. Motor driver

9. Stand for stand

21. Catching part

22. Image pickup unit

23. Processing unit

30. Motor with a motor housing having a motor housing with a motor housing

31. No. 1 motor

32. No. 2 motor

41. No. 1 motor driver

42. No. 2 motor driver

100. Object 1

200. Object 2

202. Fitting part

300. Structure

P1 capture position

P4 mounting position

Center positions of P11, P51, and P52 (of the 1 st object)

Front end positions of P21 and P22 (of catching part)

P31, P61 (of any point)

Center position of P41 (of fitting part)

R1 imaging region

ST12 image pickup processing

ST13 preparation Process

ST21 image capturing step

ST22 preparation step

ST23 acquisition step

ST24 correction step.

Claims (16)

1. A mounting system for mounting a 1 st object captured by a capturing section to a 2 nd object,

The mounting system is provided with:

a head having the catching part;

a driving unit having a motor for driving the head; and

a motor driver for controlling the motor,

the head further has:

an imaging unit that images a mounting unit in the 1 st object before being captured by the capturing unit or in the 2 nd object before being mounted with the 1 st object; and

a processing unit configured to create correction information for correcting a capturing position of the 1 st object of the capturing unit or an assembling position of the 1 st object of the 2 nd object based on an imaging result of the imaging unit,

the motor driver drives the catching part to the catching position or the fitting position by controlling the motor,

the motor driver acquires the correction information from the head and corrects control of the motor based on the correction information.

2. The mounting system of claim 1, wherein,

during driving of the catching part to the catching position or the fitting position,

the image pickup section picks up an image of the 1 st object or the mounting section,

the processing unit creates the correction information based on the imaging result of the imaging unit,

The motor driver corrects the control of the motor based on the correction information acquired during the driving.

3. The mounting system of claim 1 or 2, wherein,

the motor includes:

a 1 st motor driving the head along a plane; and

a 2 nd motor driving the catching part in a normal direction of the one plane and driving the catching part in a rotation direction centering on an axis of the normal direction of the one plane,

the motor driver includes:

a 1 st motor driver for controlling the 1 st motor; and

and a 2 nd motor driver for controlling the 2 nd motor.

4. The mounting system of claim 3, wherein,

the mounting system further includes:

and a base for holding the 1 st motor driver.

5. The mounting system of claim 3, wherein,

the 2 nd motor driver is mounted to the head,

the 2 nd motor driver acquires the correction information from the head, and corrects control of the 2 nd motor based on the correction information.

6. The mounting system of claim 1, wherein,

the correction information includes 1 st position information, which is position information of the 1 st object, or 2 nd position information, which is position information of the mounting portion.

7. The mounting system of claim 6, wherein,

the image pickup unit picks up an image of the 1 st object before being captured by the capturing unit,

the 1 st position information is information based on a difference between a position of the 1 st object in an imaging region of the imaging section and a position of the capturing section.

8. The mounting system of claim 6, wherein,

the image pickup unit picks up an image of the 1 st object before being captured by the capturing unit,

the 1 st position information is information based on a difference between a position of the 1 st object and a position of an arbitrary point in an imaging region of the imaging section.

9. The mounting system of claim 6, wherein,

the image pickup unit picks up an image of at least the 1 st object before being captured by the capturing unit,

when the capturing section is not present in the imaging region of the imaging section, the 1 st position information is information based on a difference between the position of the 1 st object in the imaging region and the position of an arbitrary point,

when the capturing unit is present in the imaging area, the 1 st position information is information based on a difference between the position of the 1 st object in the imaging area and the position of the capturing unit.

10. The mounting system of claim 8 or 9, wherein,

the position of the arbitrary point is a position within the predetermined imaging region corresponding to the tip position of the capturing section.

11. The mounting system of claim 6, wherein,

the image pickup section picks up an image of the 1 st object captured by the capturing section and the mounting section before the 1 st object is mounted,

the 2 nd position information is information based on a difference between a position of the 1 st object in an imaging region of the imaging section and a position of the mounting section.

12. The mounting system of claim 6, wherein,

the image pickup section picks up an image of the mounting section before the 1 st object is mounted,

the 2 nd position information is information based on a difference between a position of an arbitrary point in an imaging region of the imaging section and a position of the mounting section.

13. The mounting system of claim 6, wherein,

the image pickup section picks up an image of at least the mounting section before the 1 st object is mounted,

when the 1 st object is not present in the imaging region of the imaging unit, the 2 nd position information is information based on a difference between a position of an arbitrary point in the imaging region and a position of the mounting unit,

When the 1 st object is present in the imaging region, the 2 nd position information is information based on a difference between a position of the 1 st object in the imaging region and a position of the mounting portion.

14. The mounting system of claim 12 or 13, wherein,

the position of the arbitrary point is a position within the predetermined imaging region corresponding to the center position of the 1 st object in the state captured by the capturing section.

15. The mounting system of claim 1 or 2, wherein,

an image capturing process by the image capturing section and a process for creating the correction information by the processing section are executed in parallel.

16. An installation method is an installation method used in an installation system,

the mounting system is provided with:

a head part having a catching part;

a driving part having a motor for driving the head, and

a motor driver for controlling the motor,

the mounting system mounts the 1 st object captured by the capturing section to the 2 nd object,

the mounting method comprises the following steps:

an imaging step of imaging a mounting portion in the 1 st object before being captured by the capturing portion or in the 2 nd object before being mounted with the 1 st object;

A step of creating correction information for correcting a capturing position of the 1 st object in the capturing section or an assembling position of the 1 st object in the 2 nd object based on an imaging result of the imaging step;

an acquisition step of acquiring the correction information created in the creation step; and

a correction step of correcting control of the motor based on the correction information acquired in the acquisition step,

the image capturing step and the creating step are performed by the head,

the obtaining step and the correcting step are performed by the motor driver.