JP2017045899A - Board work system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a board work system capable of suppressing increase in the workload of a user, even if recognition of the position recognition mark of a board is bad in a board work device in the upstream.SOLUTION: A board work system 100 includes a plurality of board work devices each including a printer 3, a component supply device 4, and an inspection device 6. When a fiducial mark F of a board P in an image captured by a board recognition camera 442 is recognized based on the user's teaching in the board work device on the upstream side, the fiducial mark F is recognized using the teaching information of the fiducial mark F of the board P recognized based on the user's teaching in the board work device on the upstream side, in the board work device on the downstream side.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a substrate working system, and more particularly to a substrate working system including a plurality of substrate working apparatuses.

  2. Description of the Related Art Conventionally, a substrate working system including a plurality of substrate working devices is known (for example, see Patent Document 1).

  Patent Document 1 discloses an electronic component mounting apparatus (substrate working system) in which a plurality of board working devices including a screen printing machine, an adhesive application machine, an electronic component mounting machine, and a board inspection machine are installed on a mounting line. Has been. In the electronic component mounting apparatus disclosed in Patent Document 1, the board working apparatus downstream of the mounting line includes a board mark recognition result (for example, mark position information) by the upstream board working apparatus, and the first board of its own equipment. The substrate is recognized using a difference from the mark recognition result (for example, mark position information).

  Here, although not specified in the above-mentioned Patent Document 1, conventionally, there is known a method for recognizing a mark on a substrate based on a user's instruction when the mark recognition on the substrate becomes defective.

JP-A-10-303597

  However, in the electronic component mounting apparatus (board working system) of the above-mentioned Patent Document 1, the board working apparatus downstream of the mounting line is the result of the recognition of the board mark (position recognition sign) by the upstream board working apparatus and the own equipment. Since it is configured to perform the mark recognition of the substrate using the difference from the mark recognition result of the first substrate, in the upstream substrate working apparatus, when the mark recognition of the substrate becomes defective, from the past As is known, when the substrate mark recognition is performed based on the user's teaching, there is a high possibility of the substrate mark recognition failure even in the downstream substrate working apparatus. In this case, the user needs to teach the position of the mark on the substrate in order to recognize the mark on the substrate even in the downstream substrate working apparatus. For this reason, there is a problem in that the work burden on the user increases when the mark recognition on the substrate is poor in the upstream substrate working apparatus.

  The present invention has been made in order to solve the above-described problems, and one object of the present invention is to provide a user even when the position recognition mark of the substrate is poor in the upstream substrate working apparatus. An object of the present invention is to provide a substrate working system capable of suppressing an increase in the work load.

  In order to achieve the above object, a substrate working system according to one aspect of the present invention includes a transport unit that transports a substrate, and a work unit that performs a predetermined operation on a substrate that is transported by the transport unit and fixed at a predetermined position. And a plurality of substrate working devices each including an image pickup unit for picking up an image of a position recognition mark attached to the substrate for acquiring the position of the substrate. When the position recognition sign of the substrate in the image is recognized based on the user's teaching, the position recognition sign of the substrate recognized based on the user's teaching in the upstream substrate working apparatus is detected in the downstream substrate working apparatus. The teaching information is used to recognize the position recognition sign.

  In the substrate working system according to one aspect of the present invention, as described above, in the upstream substrate working apparatus, when the substrate position recognition mark in the image captured by the imaging unit is recognized based on the user's teaching, The downstream substrate working apparatus is configured to recognize the position recognition sign using the teaching information of the substrate position recognition sign recognized based on the user's teaching in the upstream substrate working apparatus. As a result, even when there is a recognition failure of the position recognition sign of the substrate in the upstream substrate working apparatus, the user teaches only the upstream substrate working device, so that the substrate in the downstream substrate working apparatus can be Since the position recognition mark can be recognized, it is not necessary for the user to teach the position recognition mark of the substrate in all of the plurality of substrate working apparatuses. As a result, it is possible to suppress an increase in the work burden on the user even when the upstream substrate working apparatus has poor recognition of the substrate position recognition sign. Further, in the downstream substrate working apparatus, it is possible to suppress the stop of the substrate working apparatus due to the recognition failure of the substrate position recognition sign, so that the working efficiency for the substrate can be improved.

  The substrate working system according to the above aspect is preferably configured to recognize the substrate position recognition mark based on the user's teaching when the substrate position recognition mark cannot be recognized by the substrate working apparatus. If comprised in this way, even if the board | substrate position recognition mark cannot be recognized with a board | substrate working apparatus, the board | substrate position recognition mark can be reliably recognized by a user's teaching.

  In the substrate working system according to the above aspect, preferably, in the upstream substrate working apparatus, when the position recognition sign of the substrate in the image captured by the imaging unit is recognized based on the user's teaching, the vicinity of the position recognition sign The teaching information including the image information and the position information of the position recognition mark based on the user's teaching is transmitted so that the downstream substrate working apparatus can be used. If comprised in this way, based on the teaching information including the image information around the position recognition sign and the position information of the position recognition sign based on the user's instruction, the substrate position recognition sign on the downstream side is processed. It can be easily recognized.

  In the substrate working system according to the above aspect, preferably, in the upstream substrate working apparatus, when the substrate position recognition sign in the image captured by the imaging unit is recognized based on the user's teaching, the position recognition sign is displayed. The teaching information including at least one of the recognizable recognition algorithm information and the recognition parameter capable of recognizing the position recognition mark is configured to be transmitted so as to be usable by the downstream substrate working apparatus. If comprised in this way, based on the teaching algorithm information which contains at least 1 of the recognition algorithm information which can recognize a position recognition mark, and the recognition parameter which can recognize a position recognition mark, in the substrate working device of the downstream, The position recognition mark of the substrate can be easily recognized.

  In the substrate working system according to the aforementioned aspect, the teaching information is preferably configured to be transmitted from the upstream substrate working apparatus to the downstream substrate working apparatus along with the conveyance of the substrate. With this configuration, the teaching information can be transferred to the downstream substrate working apparatus as the substrate is transported, so that the substrate position recognition mark can be reliably recognized in the downstream substrate working device. .

  The substrate working system according to the above aspect preferably further includes an external storage device in which teaching information is stored, and the teaching information is transmitted to the external storage device together with the individual identification information of the substrate, and the downstream substrate. The work device is configured to recognize the position recognition mark using the teaching information stored in the external storage device and the individual identification information of the substrate. If comprised in this way, in the board | substrate working apparatus of a downstream, the position recognition label | marker of a board | substrate can be reliably recognized using the teaching information memorize | stored in the external storage device, and the board | substrate individual identification information.

  In the substrate working system according to the above aspect, preferably, in the downstream substrate working apparatus, the presence / absence of the teaching information is determined, and the position-recognition mark is used for the substrate determined to have no teaching information without using the teaching information. Configured to recognize. If comprised in this way, a position recognition label | marker can be recognized in a board | substrate working apparatus, and about a board | substrate without teaching information, a position recognition label | marker can be recognized without using teaching information. The recognition process of the position recognition sign can be simplified.

  According to the present invention, as described above, it is possible to suppress an increase in the work burden on the user even when the recognition of the substrate position recognition mark is poor in the upstream substrate working apparatus.

1 is a diagram schematically illustrating an overall configuration of a substrate working system according to an embodiment of the present invention. It is the figure which showed roughly the component mounting apparatus of the board | substrate work system by one Embodiment of this invention. It is a figure for demonstrating the 1st operation example of the board | substrate work system by one Embodiment of this invention. It is a figure for demonstrating the 2nd operation example of the substrate working system by one Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  With reference to FIG. 1, the structure of the board | substrate working system 100 by one Embodiment of this invention is demonstrated.

(Configuration of board work system)
The board working system 100 according to the present embodiment is configured to mount the component E on the board P and manufacture the board P on which the component E is mounted. As shown in FIG. 1, the substrate working system 100 includes a control device 1, a substrate supply device 2, a printing machine 3, a component mounting device 4, a reflow device 5, an inspection device 6, and a substrate recovery device 7. It has. A plurality of component mounting apparatuses 4 (4a, 4b, 4c) are provided between the printing machine 3 and the reflow apparatus 5 along the board production line. The control device 1 is an example of the “external storage device” in the claims, and the printing machine 3, the component mounting devices 4 (4a, 4b, 4c), and the inspection device 6 are respectively in the claims. It is an example of a “substrate working device”.

  The substrate working system 100 is configured such that the substrate P is transported from the upstream side (left side) to the downstream side (right side) along the substrate manufacturing line. In addition, each device (the substrate supply device 2, the printing machine 3, the component mounting device 4, the reflow device 5, the inspection device 6, and the substrate recovery device 7) constituting the substrate working system 100 is a self-supporting type each having a control unit. The operation of each device is individually controlled by each control unit. Further, the control device 1 has a role of executing the control program (production program) to control the entire substrate working system 100. That is, the control device 1 and each device are configured to perform production of the board P on which the component E is mounted in the board work system 100 by transmitting and receiving information on the production plan as needed.

  Next, the configuration of each device constituting the substrate working system 100 will be described.

  The control device 1 is configured to control each device of the substrate working system 100. In addition, the control device 1 includes a storage unit 11. For example, the control device 1 may be a management personal computer that manages the substrate working system 100.

  The board supply device 2 has a role of holding the board (wiring board) P before the component E is mounted and carrying it into the board production line. The component E includes small piece electronic components such as an LSI, an IC, a transistor, a capacitor, and a resistor.

  The printing machine 3 is a screen printing machine and has a function of applying cream solder onto the mounting surface of the substrate P. The printing machine 3 is configured to receive the board P from the upstream board supply apparatus 2 and deliver it to the downstream component mounting apparatus 4 (4a) after printing. Specifically, the printing machine 3 includes a transport unit that transports the substrate P, a working unit that prints cream solder on the substrate P fixed at a predetermined position, and a substrate P for acquiring the position of the substrate P. And an imaging unit for imaging the fiducial mark F attached to. The fiducial mark F is an example of the “position recognition mark” in the claims.

  The component mounting apparatus 4 has a function of mounting (mounting) a component at a predetermined mounting position of the substrate P on which cream solder is printed. A plurality of component mounting apparatuses 4 (4 a to 4 c) are arranged along the conveyance direction of the board P. The plurality of component mounting apparatuses 4 are arranged in the order of the component mounting apparatus 4a, the component mounting apparatus 4b, and the component mounting apparatus 4c from the upstream in the conveyance direction of the board P. The component mounting apparatuses 4a to 4c have the same configuration. As shown in FIG. 2, the component mounting apparatus 4 (4a to 4c) includes a base 41, a pair of conveyors 42, a component supply unit 43, a head unit 44, a support unit 45, and a pair of rails. Unit 46 and a component recognition imaging unit 47. The conveyor 42 is an example of the “conveying unit” in the claims, and the head unit 44 is an example of the “working unit” in the claims.

  The pair of conveyors 42 is installed on the base 41 and configured to transport the substrate P in the X direction. The pair of conveyors 42 is configured to hold the substrate P being transported in a state where it is stopped at the mounting work position. The pair of conveyors 42 is configured to be able to adjust the interval in the Y direction according to the dimensions of the substrate P.

  The component supply unit 43 is disposed outside the pair of conveyors 42 (Y1 side and Y2 side). The component supply unit 43 is provided with a plurality of tape feeders 43a.

  The tape feeder 43a holds a reel (not shown) around which a tape holding a plurality of components E at a predetermined interval is wound. The tape feeder 43a is configured to supply the component E from the tip of the tape feeder 43a by sending a tape that holds the component E by rotating the reel.

  The head unit 44 is provided so as to move between the pair of conveyors 42 and the component supply unit 43, and a plurality (five) of mounting heads 441 having nozzles attached to the lower end, a board, A recognition camera 442. The substrate recognition camera 442 is an example of the “imaging unit” in the claims.

  The mounting head 441 is configured to be movable up and down (movable in the Z direction), and the component E supplied from the tape feeder 43a by the negative pressure generated at the tip of the nozzle by a negative pressure generator (not shown). It is configured to adsorb and hold, and to mount (mount) the component E at the mounting position on the substrate P.

  The substrate recognition camera 442 is configured to capture the fiducial mark F of the substrate P in order to recognize the position and orientation of the substrate P. Then, by imaging and recognizing the position of the fiducial mark F, it is possible to accurately acquire the mounting position of the component E on the board P.

  The support part 45 includes a motor 451. The support unit 45 is configured to move the head unit 44 in the X direction along the support unit 45 by driving a motor 451. Both ends of the support portion 45 are supported by a pair of rail portions 46.

  The pair of rail portions 46 are fixed on the base 41. The rail portion 46 on the X1 side includes a motor 461. The rail portion 46 is configured to move the support portion 45 in the Y direction perpendicular to the X direction along the pair of rail portions 46 by driving the motor 461. The head unit 44 is movable in the X direction along the support portion 45, and the support portion 45 is movable in the Y direction along the rail portion 46, whereby the head unit 44 is movable in the XY direction. .

  The component recognition imaging unit 47 is fixed on the upper surface of the base 41. The component recognition imaging unit 47 is disposed outside the pair of conveyors 42 (Y1 side and Y2 side). The component recognition imaging unit 47 images the component E sucked by the nozzle of the mounting head 441 from the lower side (Z2 side) in order to recognize the suction state (suction posture) of the component E prior to the mounting of the component E. It is configured as follows. Thereby, it is possible to acquire the suction state of the component E sucked by the nozzles of the mounting head 441.

  The reflow device 5 has a role of melting the solder by performing a heat treatment and joining the component E to the electrode portion on the substrate P. The reflow apparatus 5 is configured to perform heat treatment while transporting the substrate P on the lane.

  The inspection device 6 has a function of inspecting the appearance of the substrate P with visible light. The inspection apparatus 6 is configured to receive the substrate P from the upstream reflow apparatus 5 and deliver it to the downstream substrate recovery apparatus 7 after the inspection. Specifically, the inspection apparatus 6 is attached to a transport unit that transports the substrate P, a working unit that inspects the substrate P fixed at a predetermined position, and the substrate P for acquiring the position of the substrate P. And an imaging unit for imaging the fiducial mark F.

  The substrate collection device 7 has a role of discharging the substrate P after the component E is mounted from the substrate production line.

  Here, in the present embodiment, in the upstream substrate working device (for example, the printing machine 3 or the component mounting device 4a), the fiducial mark F of the substrate P in the image captured by the imaging unit is taught by the user. When the recognition is performed based on the instruction of the user in the upstream substrate working apparatus in the downstream substrate working apparatus (for example, the component mounting apparatuses 4a to 4c and the inspection apparatus 6), the fiducial of the substrate P recognized. The fiducial mark F is configured to be recognized using the teaching information of the mark F.

  Specifically, if the fiducial mark F on the board P cannot be recognized by the board working device (printing machine 3, component mounting apparatus 4, inspection apparatus 6), the fiducial mark F on the board P is instructed by the user. It is comprised so that it may be recognized based on. For example, as shown in FIG. 3, when the fiducial mark F at the upper left of the substrate P is not clear and cannot be recognized by an image captured by the imaging unit, the position of the fiducial mark F in the image is taught by the user. The For example, the center position of the fiducial mark F is taught by the user. Specifically, the teaching of the center position of the fiducial mark F is performed by displaying an image of the fiducial mark F on a monitor provided in the board working apparatus (printing machine 3, component mounting apparatus 4, inspection apparatus 6). The user designates the center position of the fiducial mark F on the image. Accordingly, the substrate working apparatus recognizes the position of the fiducial mark F on the substrate P.

  Then, in the upstream substrate working device (for example, the printing machine 3 or the component mounting device 4a), when the fiducial mark F of the substrate P in the image captured by the imaging unit is recognized based on the teaching of the user. The teaching information including the image information in the vicinity of the fiducial mark F and the position information of the fiducial mark F based on the user's teaching is obtained from the downstream board working apparatus (for example, the component mounting apparatuses 4a to 4c and the inspection apparatus). 6) is configured to be transmitted so that it can be used. For example, the substrate working apparatus on the downstream side includes the image information in the vicinity of the fiducial mark F, the position information of the fiducial mark F based on the user's instruction, and the fiducial mark of the substrate P imaged by its own imaging unit. Based on the image of F, template matching is performed to recognize the position of the fiducial mark F on the substrate P.

  Further, when the fiducial mark F of the board P in the image picked up by the image pickup unit is recognized based on the instruction of the user in the upstream board working apparatus (for example, the printing machine 3 or the component mounting apparatus 4a). The teaching information including at least one of the recognition algorithm information capable of recognizing the fiducial mark F and the recognition parameter capable of recognizing the fiducial mark F is obtained from the downstream board working apparatus (for example, the component mounting apparatus). 4a-4c and inspection device 6) are configured to be transmitted in a usable manner. For example, when a recognition error has occurred in the upstream substrate working apparatus, when the position of the fiducial mark F is taught by the user, a recognition algorithm and a recognition parameter that can recognize the vicinity of the teaching position are searched, Recognizable recognition algorithms and recognition parameters are transmitted as teaching information so that the downstream substrate working apparatus can be used. The teaching information includes a recognition algorithm and a recognition parameter that can be recognized by the smoothing filter when the smoothing filter is applied to recognize the fiducial mark F.

  In addition, the teaching information is configured to be transmitted from the upstream substrate working apparatus to the downstream substrate working apparatus along with the transport of the substrate P. That is, the teaching information is transferred from the upstream substrate working apparatus to the downstream substrate working apparatus at the timing when the substrate P is transported from the upstream substrate working apparatus to the downstream substrate working apparatus. .

  Further, the teaching information is transmitted to the external control device 1 together with the individual identification information of the substrate P, and the teaching information stored in the external control device 1 and the individual of the substrate P in the downstream substrate working device. The fiducial mark F is configured to be recognized using the identification information. Note that the individual identification information (ID) of the substrate P is acquired by imaging by the imaging unit. The solid identification information is attached to the substrate P as characters, symbols, a two-dimensional barcode (QR code (registered trademark)), a three-dimensional barcode, and the like.

  Further, in the downstream board working apparatus (for example, the component mounting apparatuses 4a to 4c and the inspection apparatus 6), the presence / absence of teaching information is determined, and the teaching information is not used for the board P determined to have no teaching information. It is configured to recognize the fiducial mark F. That is, the downstream substrate working apparatus confirms the presence / absence of teaching information, and if there is no teaching information, a normal fiducial mark F recognition process is performed.

(Explanation of component mounting operation example)
Next, the component mounting operation of the board working system 100 will be described with reference to FIGS. 3 and 4.

  The first operation example shown in FIG. 3 is configured such that teaching information is transmitted from the upstream substrate working apparatus to the downstream substrate working apparatus as the substrate P is transported.

  When a recognition error of the fiducial mark F occurs in the upstream substrate working apparatus (printing machine 3), the position of the fiducial mark F is determined by the user with respect to the upstream substrate working apparatus (printing machine 3). Be taught. At this time, the position of the fiducial mark F based on the user's teaching and image information in the vicinity of the fiducial mark F are created as teaching information.

  In accordance with the transfer of the board P from the upstream board working apparatus (printing machine 3) to the downstream board working apparatus (component mounting apparatus 4a), the teaching information is sent to the upstream board working apparatus (printing machine 3). To the downstream board working apparatus (component mounting apparatus 4a). In the downstream board working apparatus (component mounting apparatus 4a), after confirming the presence or absence of teaching information, if there is teaching information, the fiducial mark F on the board P is based on the teaching information and the imaging result by the imaging unit. Recognize the position of Thereafter, similarly, teaching information is transmitted in accordance with the conveyance of the substrate P. Moreover, the teaching information after transmission is deleted in each substrate working apparatus.

  The second operation example shown in FIG. 4 is configured so that the teaching information is transmitted to the external control device 1 together with the individual identification information of the substrate P.

  When a recognition error of the fiducial mark F occurs in the upstream substrate working apparatus (printing machine 3), the position of the fiducial mark F is determined by the user with respect to the upstream substrate working apparatus (printing machine 3). Be taught. At this time, the position of the fiducial mark F based on the user's teaching and image information in the vicinity of the fiducial mark F are created as teaching information. Then, the individual identification information (ID) of the board P and the teaching information are transmitted to the control device 1 together. The transmitted individual identification information and teaching information of the substrate P are stored in the storage unit 11 of the control device 1.

  In the downstream board working apparatus (component mounting apparatus 4a), based on the individual identification information of the board P, it is confirmed whether the control apparatus 1 has teaching information. When there is teaching information, the downstream board working apparatus (component mounting apparatus 4a) recognizes the position of the fiducial mark F on the board P based on the teaching information and the imaging result by the imaging unit. Thereafter, in the same manner, in the downstream board working apparatuses (component mounting apparatuses 4b and 4c and the inspection apparatus 6), the teaching information is acquired based on the individual identification information of the board P, and the board is determined based on the teaching information. P fiducial mark F is recognized. Then, in the most downstream substrate working device (inspection device 6), after the fiducial mark F is recognized, the teaching information corresponding to the individual identification information of the substrate P is deleted from the control device 1 (storage unit 11). .

(Effect of embodiment)
In the present embodiment, the following effects can be obtained.

  In the present embodiment, as described above, in the upstream substrate working apparatus, when the fiducial mark F of the substrate P in the image captured by the imaging unit is recognized based on the user's teaching, the downstream substrate The working device is configured to recognize the fiducial mark F using the teaching information of the fiducial mark F of the substrate P recognized based on the user's teaching in the upstream substrate working device. Thereby, even if there is a recognition failure of the fiducial mark F of the substrate P in the upstream substrate working apparatus, the user can teach only the upstream substrate working device, so that the downstream substrate working apparatus can Since the fiducial mark F on the substrate P can also be recognized, it is not necessary for the user to teach the fiducial mark F on the substrate P in all of the plurality of substrate working apparatuses. As a result, it is possible to suppress an increase in the work burden on the user even when the recognition of the fiducial mark F on the substrate P is poor in the upstream substrate working apparatus. Further, in the substrate working apparatus on the downstream side, it is possible to prevent the substrate working apparatus from being stopped due to the recognition failure of the fiducial mark F on the substrate P, so that the working efficiency for the substrate P can be improved. it can.

  Moreover, in this embodiment, when the fiducial mark F of the board | substrate P cannot be recognized in a board | substrate working apparatus, it comprises so that the fiducial mark F of the board | substrate P may be recognized based on a user's teaching. Thereby, even when the fiducial mark F on the substrate P cannot be recognized by the substrate working apparatus, the fiducial mark F on the substrate P can be reliably recognized by the user's instruction.

  In the present embodiment, when the upstream substrate working apparatus recognizes the fiducial mark F of the substrate P in the image captured by the imaging unit based on the user's teaching, the vicinity of the fiducial mark F is detected. The teaching information including the image information and the positional information of the fiducial mark F based on the user's teaching is configured to be transmitted so that the downstream substrate working apparatus can be used. Thereby, the fiducial of the substrate P is performed in the downstream substrate working apparatus based on the teaching information including the image information in the vicinity of the fiducial mark F and the position information of the fiducial mark F based on the user's teaching. The mark F can be easily recognized.

  Further, in the present embodiment, when the fiducial mark F of the substrate P in the image captured by the imaging unit is recognized based on the user's teaching in the upstream substrate working apparatus, the fiducial mark F is recognized. The teaching information including at least one of the possible recognition algorithm information and the recognition parameter capable of recognizing the fiducial mark F is configured to be transmitted so that the downstream substrate working apparatus can be used. Thereby, based on the teaching algorithm information including at least one of the recognition algorithm information capable of recognizing the fiducial mark F and the recognition parameter capable of recognizing the fiducial mark F, in the downstream substrate working apparatus, The fiducial mark F on the substrate P can be easily recognized.

  Further, in the present embodiment, the teaching information is configured to be transmitted from the upstream substrate working apparatus to the downstream substrate working apparatus as the substrate P is transported. As a result, the teaching information can be transferred to the downstream substrate working apparatus along with the transport of the substrate P, so that the fiducial mark F of the substrate P can be reliably recognized in the downstream substrate working apparatus. .

  In the present embodiment, the teaching information is transmitted to the external control device 1 together with the individual identification information of the substrate P, and the teaching information stored in the external control device 1 in the downstream substrate working device The fiducial mark F is recognized using the individual identification information of the substrate P. Thus, the downstream substrate working apparatus can reliably recognize the fiducial mark F of the substrate P using the teaching information stored in the external control device 1 and the individual identification information of the substrate P. it can.

  In the present embodiment, the substrate working apparatus on the downstream side determines the presence or absence of teaching information, and recognizes the fiducial mark F without using the teaching information for the substrate P determined to have no teaching information. Configure. Accordingly, the fiducial mark F can be recognized in the substrate working apparatus, and the fiducial mark F can be recognized without using the teaching information for the substrate P without teaching information. The recognition process of the fiducial mark F of P can be simplified.

(Modification)
The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description of the embodiment but by the scope of claims for patent, and further includes all modifications (modifications) within the meaning and scope equivalent to the scope of claims for patent.

  For example, in the above-described embodiment, an example of a configuration using a printing machine, a component mounting apparatus, and an inspection apparatus as the board working apparatus has been shown, but the present invention is not limited to this. In the present invention, an apparatus other than a printing machine, a component mounting apparatus, and an inspection apparatus may be used as the board working apparatus.

  In the above-described embodiment, an example in which the substrate position recognition mark is a fiducial mark is shown, but the present invention is not limited to this. In the present invention, the substrate position recognition mark may be a round or square mark on the substrate, a conductive pattern, or the like.

  Moreover, although the component supply part showed the example of the structure containing a some tape feeder in the said embodiment, this invention is not limited to this. In the present invention, the component supply unit may include a component supply tray.

  Moreover, in the said embodiment, although the test | inspection apparatus as a board | substrate working apparatus showed the example of a structure which test | inspects a board | substrate by visible light, this invention is not limited to this. In this invention, the structure which test | inspects a board | substrate based on the image imaged by irradiating X-rays may be sufficient as an inspection apparatus.

  Moreover, in the said embodiment, although the example of the structure by which the control apparatus was provided in the board | substrate work system was shown, this invention is not limited to this. In the present invention, the substrate processing may be controlled by the respective control units of the plurality of substrate working apparatuses.

1 Control device (external storage device)
3 Printing machine (substrate working device)
4, 4a, 4b, 4c Component mounting equipment (board work equipment)
6 Inspection equipment (substrate work equipment)
42 Conveyor (conveyance section)
44 Head unit (working section)
100 substrate working system 442 substrate recognition camera (imaging unit)
F Fiducial mark (position recognition sign)
P substrate

Claims (7)

A transport unit that transports the substrate, a working unit that performs a predetermined operation on the substrate transported by the transport unit and fixed at a predetermined position, and a position attached to the substrate for acquiring the position of the substrate A plurality of substrate working devices each including an imaging unit for imaging a recognition sign,
In the upstream substrate working apparatus, when the position recognition mark of the substrate in the image captured by the imaging unit is recognized based on a user's teaching, in the downstream substrate working apparatus, the upstream upstream A substrate working system configured to recognize the position recognition sign using teaching information of the position recognition sign of the substrate recognized based on a user instruction in the substrate working apparatus.   2. The substrate working system according to claim 1, wherein the position recognition mark of the substrate is recognized based on a user's instruction when the position recognition mark of the substrate cannot be recognized in the substrate work device. .   In the upstream substrate working apparatus, when the position recognition sign of the substrate in the image captured by the imaging unit is recognized based on the user's teaching, image information near the position recognition sign and the user's teaching 3. The substrate working system according to claim 1, wherein the teaching information including the position information of the position recognition mark based on the information is transmitted so that the substrate working apparatus on the downstream side can use the teaching information. .   In the upstream substrate working apparatus, when the position recognition mark of the substrate in the image picked up by the image pickup unit is recognized based on a user's teaching, recognition algorithm information capable of recognizing the position recognition mark; and The teaching information including at least one of recognition parameters capable of recognizing the position recognition mark is configured to be transmitted so that the substrate working apparatus on the downstream side can use the teaching information. The substrate working system according to any one of the above.   The said teaching information is comprised so that it may be transmitted to the said board | substrate working apparatus of the downstream from the said board | substrate working apparatus of the upstream with the conveyance of the said board | substrate. Board work system. An external storage device for storing the teaching information;
The teaching information is transmitted to the external storage device together with the individual identification information of the substrate,
The downstream substrate work apparatus is configured to recognize the position recognition mark using the teaching information stored in the external storage device and the individual identification information of the board. The board | substrate work system of any one of -5.   In the substrate working apparatus on the downstream side, it is configured to determine the presence / absence of the teaching information, and recognize the position recognition sign without using the teaching information for the substrate determined to have no teaching information. The substrate working system according to any one of claims 1 to 6.

Images