JP2018063976A - Surface mounting machine and camera arrangement position determination program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the production time of a substrate as much as possible by suppressing the production time from being increased while improving the degree of freedom in arrangement of a feeder.SOLUTION: A surface mounting machine 1 includes: a transport conveyer 11 conveying a printed board; a feeder 21 supplying a component E; a truck 20 to which the feeder 21 is removably attached; a component imaging camera 14 removably attached to the truck 20 while an imaging surface is directed upward; and a mounting portion 13 holding the component E supplied by the feeder 21 to be moved to the upper part of the imaging surface of the component imaging camera 14 and mounting the component E on the printed board on the basis of an image of the component E imaged by the component imaging camera 14.SELECTED DRAWING: Figure 1

Description

  The technology disclosed in the present specification relates to a surface mounter and a camera arrangement position determination program.

  2. Description of the Related Art Conventionally, in a surface mounter including a feeder mounting portion to which a feeder is mounted and a component imaging camera for imaging a component from below, a component supplied by a feeder mounted on the feeder mounting portion is held and a component imaging camera A device that is moved upward and mounted on a substrate based on an image of a component captured by a component imaging camera is known (see, for example, Patent Document 1). Specifically, the component mounting apparatus described in Patent Document 1 is provided with a tape feeder on two feeder bases arranged in the board transport direction by the board transport mechanism, and the component recognition camera is located between the two feeder bases. Is provided.

Japanese Patent Laying-Open No. 2015-18992

  Incidentally, in the component mounting apparatus described in Patent Document 1, two feeder bases are provided side by side in the conveyance direction of the board. However, instead of these two feeder bases, one feeder base that is long in the conveyance direction may be used. Is possible. In such a case, the tape feeder can be arranged also in the region between the two feeder bases in the component mounting apparatus, so that the degree of freedom of arrangement of the tape feeder is improved.

  In that case, a position between the feeder base and the board transport mechanism can be considered as the position where the component recognition camera is arranged. However, if a component recognition camera is provided between the feeder base and the board transport mechanism, the distance between the feeder base and the board transport mechanism becomes wide, and the time required for mounting the parts (in other words, the board production time) becomes long. There is a problem of becoming.

  In the present specification, a technique for improving the degree of freedom of feeder placement and suppressing the production time of the substrate from becoming long and shortening it as much as possible is disclosed.

  The surface mounter disclosed in the present specification includes a substrate transport unit that transports a substrate, a feeder that supplies components, a feeder mounting unit to which the feeder is detachably mounted, and a posture in which an imaging surface faces upward. Based on the image of the component imaged by the component imaging camera, which is detachably attached to the feeder attachment portion, and that holds the component supplied by the feeder and moves it above the imaging surface. A mounting portion for mounting the component on the substrate.

According to the above surface mounter, since the component imaging camera is attached to the feeder mounting portion, it is not necessary to divide the feeder mounting portion into two in order to secure a space for arranging the component imaging camera as in the conventional case. For this reason, it becomes possible to arrange | position a feeder also to the position which was conventionally between two feeder attachment parts. For this reason, the freedom degree of arrangement | positioning of a feeder can be improved.
According to the above surface mounter, since the component imaging camera is attached to the feeder mounting portion, compared to the case where the component imaging camera is disposed between the feeder mounting portion and the substrate transport portion, the feeder mounting portion and the substrate transport portion The interval can be reduced. Thereby, it can suppress that the production time of a board | substrate becomes long, and can shorten as much as possible.
Therefore, according to the above surface mounter, it is possible to suppress the increase in the production time of the substrate while improving the degree of freedom of the arrangement of the feeder, and to shorten as much as possible.

  Further, the feeder attachment portion may have a plurality of attachment mechanisms to which the feeder is attached, and the component imaging camera may be attached to the attachment mechanism.

  According to the above surface mounter, since the component imaging camera is attached to a plurality of attachment mechanisms for attaching the feeder, the feeder attachment portion is compared with a case where a dedicated attachment mechanism for attaching the component imaging camera is separately provided in the feeder attachment portion. The configuration can be simplified. In addition, since the feeder attachment section has a plurality of attachment mechanisms for attaching the feeder, if the component imaging camera is attached to the attachment mechanism for attaching the feeder, the attachment mechanism to which the component imaging camera is attached is changed. This makes it possible to easily change the mounting position of the component imaging camera.

  The component imaging camera may have two or more mounted mechanisms corresponding to the mounting mechanism, and may be mounted across the two or more mounting mechanisms.

  Since the component imaging camera has a wider width in the arrangement direction of the plurality of feeders than the feeder, if the component imaging camera is attached to only one attachment mechanism, the posture of the component imaging camera becomes unstable. According to the above surface mounter, since the component imaging camera is mounted across two or more mounting mechanisms, the posture of the component imaging camera can be stabilized as compared with the case of mounting to one mounting mechanism.

  The feeder mounting portion may include a locking mechanism for locking the feeder, and the component imaging camera may be locked to the feeder mounting portion using the locking mechanism.

  According to the above surface mounter, since the component imaging camera is locked using the locking mechanism for locking the feeder provided in the feeder mounting portion, a locking mechanism for locking the component imaging camera is separately provided in the feeder mounting portion. The structure of the feeder attachment portion can be simplified compared to the case where it is provided.

  The component imaging camera is provided with a communication connector to which a communication cable is connected, and the other end of the communication cable having one end connected to the mounting portion is connected to the communication connector. The captured image may be transmitted to the mounting unit via the communication cable.

When connecting the component imaging camera and the mounting part so that they can communicate with each other, a camera-side connector is provided on the component imaging camera, while a dedicated connector to which the camera-side connector is fitted and connected is provided on the feeder mounting part side. When attached to the attachment portion, the camera-side connector can be fitted and connected to the dedicated connector. However, if it does so, a dedicated connector must be arranged for each position where the component imaging camera can be attached, and the configuration of the feeder attachment portion becomes complicated.
According to the above surface mounter, the component imaging camera is provided with a communication connector, and the component imaging camera and the mounting unit are communicably connected via a communication cable connected to the communication connector. It can be simplified.

  Also, a plurality of attachment portion side connectors provided in the feeder attachment portion and communicably connected to the mounting portion, and provided in each of the feeders, and fitted and connected to the attachment portion side connector. A feeder-side connector, and a camera-side connector that is provided on the component imaging camera and is fitted and connected to the attachment-side connector, and the image captured by the component imaging camera is on the camera side You may transmit to the said mounting part via a connector and the said attachment part side connector.

  According to the above surface mounter, the mounting-side connector is used for both the feeder-side connector fitting connection and the camera-side connector fitting connection. The structure of the feeder mounting portion can be simplified while providing a camera-side connector in the imaging camera.

  In addition, the mounting unit includes a storage unit in which identification information of the component imaging camera and unique information of the component imaging camera are stored in association with each other, and identification of the component imaging camera attached to the feeder mounting unit An acquisition unit that acquires information, and the unique information associated with the identification information acquired by the acquisition unit may be read from the storage unit.

  Each component imaging camera has camera-specific information such as an imaging range (so-called angle of view) and scale (so-called magnification). Therefore, for example, when an image of a component is analyzed by the component imaging camera, analysis is performed based on the inherent information. Is desirable. According to the above surface mounter, the unique information of the component imaging camera attached to the feeder attachment portion is read from the storage portion, so that the component image can be analyzed based on the unique information.

  The component imaging camera stores unique information of the component imaging camera, and the mounting unit is communicably connected to the component imaging camera attached to the feeder attachment unit. The unique information may be received.

  According to the above surface mounter, it is possible to analyze the image of the component based on the unique information of the component imaging camera attached to the feeder attachment portion.

  A camera placement position determination program disclosed in the present specification is a recommended attachment position when the component imaging camera is attached to the feeder attachment portion of the surface mounter according to any one of claims 1 to 8. A camera arrangement position determination program for causing a computer to execute a process for determining whether the mounting unit has a head unit for holding and releasing a component supplied by the feeder and a head transport unit for transporting the head unit. The camera arrangement position determination program has the shortest total moving distance of the head unit when a plurality of the components are mounted on one substrate among the positions where the component imaging camera of the feeder mounting portion can be mounted. Determination processing for determining the position of the component imaging camera and the position determined by the determination processing. To execute the notification process of notifying the assigned position, the said computer.

  According to the above surface mounter, since the position where the total movement distance of the head unit when mounting a plurality of the components on the substrate is the shortest is notified as the recommended mounting position of the component imaging camera, the production time of the substrate becomes long. Can be further suppressed.

  According to the technology disclosed in the present specification, it is possible to further suppress an increase in substrate production time while improving the degree of freedom of feeder arrangement.

Top view of the surface mounter according to the first embodiment Side view of head unit and head transport unit Side view of parts supply device Side view of feeder and component imaging camera viewed from the front Side view of component imaging camera viewed from the left Block diagram showing the electrical configuration of the surface mounter Recommended installation position determination process flowchart Flowchart of recommended attachment position determination processing according to Embodiment 2 The side view which looked at the component imaging camera which concerns on Embodiment 3 from the left side The side view which looked at the feeder which concerns on other embodiment from the front side

<Embodiment 1>
The first embodiment will be described with reference to FIGS. In the following description, the left-right direction shown in FIG. In the following description, the right side shown in FIG. 1 is called the upstream side, and the left side is called the downstream side. In the following description, the same constituent members may be omitted from the drawings except for some parts.

(1) Overall Configuration of Surface Mounter With reference to FIG. 1, the overall configuration of the surface mounter 1 according to the first embodiment will be described. The surface mounter 1 mounts a plurality of components E on a printed circuit board (an example of a board) (not shown), a base 10, a transfer conveyor 11 (an example of a board transfer unit), a backup mechanism (not shown), and two component supplies. The apparatus 12 includes two component imaging cameras 14, a mounting unit 13, and the like.

  The base 10 has a rectangular shape in plan view and a flat upper surface. In FIG. 1, a rectangular frame B indicated by a two-dot chain line indicates a work position where the printed circuit board is located when the component E is mounted.

  The conveyor 11 carries the printed circuit board from the upstream side in the X-axis direction to the work position B, and carries the printed circuit board on which the component E is mounted at the work position B to the downstream side. The conveyor 11 includes a pair of conveyor belts 11A and 11B that circulate and drive in the X-axis direction, and a conveyor drive motor 52 (see FIG. 6) that drives the conveyor belts 11A and 11B. The rear conveyor belt 11A is arranged so as to be movable in the Y-axis direction. The operator operates an operation unit 41 to be described later, or automatically when the type of printed board to be produced is changed. By moving the belt 11A in the Y-axis direction, the distance between the two conveyor belts 11A and 11B can be adjusted according to the size of the printed circuit board. In addition, the conveyance conveyor 11 can also convey a printed circuit board from left to right direction by changing a setting.

A backup mechanism (not shown) is arranged below the work position B, and supports the printed circuit board stopped at the work position B from below with a plurality of backup pins.
The two component supply devices 12 are arranged on both the front and rear sides of the conveyor 11 and supply the component E from a component supply position provided at an end located on the conveyor 11 side. The configuration of the component supply device 12 will be described later.

  The two component imaging cameras 14 are for recognizing the component E by imaging the component E sucked by the suction nozzle 18B from below, and can be attached to and detached from the component supply device 12 with the imaging surface facing upward. It is attached. The configuration of the component imaging camera 14 will be described later.

  The mounting unit 13 holds the component E supplied by the component supply device 12 (more specifically, the feeder 21), moves the component E above the component imaging camera 14, and displays the image of the component E captured by the component imaging camera 14. Based on this, it is mounted on a printed circuit board. The mounting unit 13 includes a head unit 15, a head transport unit 16 that transports the head unit 15 in the X axis direction and the Y axis direction within a predetermined movable range, a board imaging camera 17 (an example of an acquisition unit), and a control unit 40 (described later). Etc.).

  As shown in FIG. 2, the head unit 15 has a plurality of (here, five) mounting heads 18 that adsorb (e.g., hold) and release the component E and are arranged side by side in the X-axis direction. Each mounting head 18 is supported by the head unit 15 so as to be movable up and down and rotatable about an axis. The head unit 15 is provided with a plurality of Z-axis servo motors 50 (FIG. 6) for individually moving the mounting heads 18 up and down, and an R-axis servo motor 51 (FIG. 6) for rotating the mounting heads 18 around the axis all at once. ing.

  Each mounting head 18 has a nozzle shaft 18A and a suction nozzle 18B that is detachably attached to the lower end of the nozzle shaft 18A. A negative pressure and a positive pressure are supplied to the suction nozzle 18B from an external air supply device via a nozzle shaft 18A. The suction nozzle 18B sucks the component E when supplied with a negative pressure, and opens the component E when supplied with a positive pressure.

  As shown in FIG. 1, the head transport unit 16 has a beam 16A that supports the head unit 15 so as to be reciprocally movable in the X-axis direction, and a pair of Y-axis that are capable of reciprocally supporting the beam 16A in the Y-axis direction. A guide rail 16B, an X-axis servo motor 48 that reciprocates the head unit 15 in the X-axis direction, a Y-axis servo motor 49 that reciprocates the beam 16A in the Y-axis direction, and the like are provided.

  The board imaging camera 17 is for imaging a mark provided on the printed board and recognizing the position of the printed board, and is attached to the head unit 15 so that the imaging surface faces downward. The board imaging camera 17 is also used for imaging a barcode 38 attached to the upper surface of the component imaging camera 14.

(2) Component supply device As shown in FIGS. 1 and 3, the component supply device 12 includes a carriage 20 (an example of a feeder attachment portion) on which a wheel (not shown) is attached on the lower side, and a plurality of attachments attached to the carriage 20. Feeder 21 and a plurality of reels (not shown). The reel is wound with a component tape and is rotatably supported by the carriage 20.

(2-1) Carriage As shown in FIGS. 1 and 3, the carriage 20 is provided corresponding to the attachment position of the feeder plate 22 (FIGS. 1 and 3), the positioning plate 23 (FIG. 3), and each feeder 21. A plurality of cart-side connectors 24 (FIG. 3, an example of a mounting portion-side connector), a reel support portion (not shown) that rotatably supports the reel, and the like are provided.

  As shown in FIG. 1, the feeder plate 22 has a plurality of feeders 21 detachably attached thereto, and is attached to an end portion on the work position B side on the upper side of the carriage 20. As shown in FIG. 3, the feeder plate 22 is roughly a plate-like member having a certain thickness, and is attached in a posture in which the plate surface faces the vertical direction and extends in the left-right direction.

  As shown in FIGS. 1 and 4, a plurality of slots 25 (an example of an attachment mechanism) to which the feeder 21 is attached are provided on the surface facing the upper side of the feeder plate 22. The slot 25 according to the present embodiment is generally formed as a ridge having a rectangular section extending in the front-rear direction, and is arranged in parallel in the left-right direction. Further, as shown in FIG. 3, a sandwiched portion 22 </ b> A (an example of a lock mechanism) sandwiched by a clip portion 29 provided in the feeder 21 at the front end portion (the end portion on the right side in FIG. 3) of the feeder plate 22. Is formed.

  As shown in FIG. 3, the positioning plate 23 is for positioning the feeder 21, and is attached to the end surface facing the rear side of the feeder plate 22 (the left side in FIG. 3). The positioning plate 23 is a long plate-like member having a certain thickness, and is attached in a posture in which the plate surface faces in the front-rear direction and extends in the left-right direction. Two holes are formed in the surface facing the front side of the positioning plate 23 so as to be spaced apart from each other at positions corresponding to the feeders 21. These two holes are for inserting positioning pins 27 provided on the rear surface of the feeder 21.

  A plurality of cart-side connectors 24 are arranged side by side in the left-right direction (the direction perpendicular to the paper in FIG. 3) at a position on the front side of the feeder plate 22 and the lower side of the feeder plate 22 in FIG. 3. A feeder-side connector 30 provided in the feeder 21 is fitted and connected to each carriage-side connector 24.

(2-2) Feeder As shown in FIGS. 3 and 4, the feeder 21 includes a feeder body 26 (FIG. 3), a guide groove 28 (FIG. 4), a clip portion 29 (FIG. 3), and a feeder connector 30 (FIG. 3). ) Etc.
The feeder body 26 is formed in a box shape that is long in the front-rear direction (Y-axis direction) and narrow in the X-axis direction. As shown in FIG. 3, two positioning pins 27 described above are provided on the surface facing the rear side of the feeder main body 26 so as to be spaced apart from each other. In addition, an electric feeding device (not shown) for feeding a component tape supplied from a reel to a component supply position is accommodated inside the feeder body 26.

The clip portion 29 is used to fix the feeder 21 by sandwiching the above-described sandwiched portion 22A of the feeder plate 22 from above and below, and includes an arm portion 29A that rotates about a fulcrum, and an arm that sandwiches the sandwiched portion 22A. A coil spring 29B for urging the portion 29A is included.
The feeder-side connector 30 is fitted and connected to the above-described cart-side connector 24 to connect the feeder 21 and the control unit 40 (more specifically, the feeder communication unit 47) so that they can communicate with each other.

  In attaching the feeder 21, the operator moves the feeder 21 from the front side toward the rear side so that the slot 25 of the feeder plate 22 enters the guide groove 28 from the rear side. When the operator moves the feeder 21 further to the rear side with the end portion of the slot 25 entering the guide groove 28, the two pins 27 described above are inserted into the holes and the clip portion 29 holds the pinched portion. 22A is sandwiched. At this time, the feeder side connector 30 is fitted and connected to the cart side connector 24.

(3) Component Imaging Camera Next, the component imaging camera 14 will be described with reference to FIGS. 4 and 5. The component imaging camera 14 is detachably attached to the feeder plate 22, and has a main body 31 (FIGS. 4 and 5) and a camera 32 (see FIG. 5) fixed to the front side (the right side in FIG. 5). 4, FIG. 5), a plurality of pins 27 (FIG. 5) provided on the rear surface of the main body 31, a plurality of guide grooves 28 (FIG. 4, an example of a mounted mechanism), a clip 29, and a communication connector 33 (FIG. 4 and FIG. 5).

  As shown in FIG.1 and FIG.4, the main-body part 31 which concerns on this embodiment is formed in the hollow box shape which has the width | variety for four feeders in a X-axis direction. As shown in FIG. 1, a rectangular glass plate 31 </ b> A is fitted below the position where the head unit 15 can move on the upper surface of the main body 31 on the work position B side. The upper surface of the glass plate 31A is an example of an imaging surface.

  As shown in FIG. 5, an optical system for allowing the optical image of the component E to enter the camera 32 is accommodated inside the main body 31. The optical system includes a lens substrate 34 disposed below the glass plate 31 </ b> A, a first mirror 35 disposed below the lens substrate 34, and a second mirror disposed on the right side of the first mirror 35. 36, a third mirror 37 disposed below the second mirror 36, and the like.

  The lens substrate 34 is provided with a lens 34A, a plurality of LED light sources 34B surrounding the periphery of the lens 34A in an annular shape, and the like. The optical image of the part E irradiated by the LED light source 34B is collected by the lens 34A, is reflected in the order of the first mirror 35, the second mirror 36, and the third mirror 37 and enters the camera 32.

  The camera 32 has a line sensor in which a plurality of imaging elements are arranged in one row (or a plurality of rows), and moves above the imaging surface (that is, the upper surface of the glass plate 31A) from left to right or from right to left. The entire part E is imaged by imaging the part E to be performed in time series. The camera 32 may be accommodated in the main body 31. Further, the camera 32 may include an area sensor that captures an image of the component E using a two-dimensionally arranged image sensor instead of the line sensor.

  The plurality of pins 27, the plurality of guide grooves 28, and the clip portion 29 are for attaching the component imaging camera 14 to the carriage 20 and have the same shape as that provided on the feeder 21. However, as shown in FIG. 4, since the component imaging camera 14 has a width corresponding to four feeders in the X-axis direction, four guide grooves 28 are provided corresponding to the slots 25, and straddles the four slots 25. It is attached.

The communication connector 33 is connected to the other end of the communication cable, one end of which is connected to the control unit 40 (more specifically, the image processing unit 45). End). An image signal output from the component imaging camera 14 is transmitted to the control unit 40 via a communication cable connected to the communication connector 33.
As shown in FIG. 1, a barcode 38 representing identification information for uniquely identifying the model of the component imaging camera 14 is attached to the upper surface of the component imaging camera 14.

(4) Electrical configuration of surface mounter As shown in FIG. 6, the surface mounter 1 includes a control unit 40 and an operation unit 41. The control unit 40 includes an arithmetic processing unit 42, a motor control unit 43 connected to the arithmetic processing unit 42, a storage unit 44, an image processing unit 45, an external input / output unit 46, a feeder communication unit 47, and the like.

The arithmetic processing unit 42 includes a CPU, a ROM, a RAM, and the like, and controls each unit of the surface mounter 1 by executing various programs stored in the storage unit 44.
The motor control unit 43 rotates each motor such as the X-axis servo motor 48, the Y-axis servo motor 49, the Z-axis servo motor 50, the R-axis servo motor 51, and the conveyor drive motor 52 under the control of the arithmetic processing unit 42.

  The storage unit 44 stores various programs and data. Various programs include a mounting program for mounting the component E on the printed circuit board based on the calculation result of an optimization program described later. The various types of data include information in which identification information of the component imaging camera 14 and unique information of the component imaging camera 14 are associated with each model of the component imaging camera 14. Specifically, the unique information includes an imaging range (so-called angle of view), a scale (so-called magnification), and the like.

The image processing unit 45 generates a digital image based on an analog image signal output from the component imaging camera 14 or the board imaging camera 17.
The external input / output unit 46 is a so-called interface, and is configured to receive detection signals output from various sensors 46 </ b> A provided in the main body of the surface mounter 1. The external input / output unit 46 is configured to perform operation control on various actuators 46B based on a control signal output from the arithmetic processing unit 42.

The feeder communication unit 47 is communicably connected to the feeder 21 by fitting the feeder side connector 30 to the cart side connector 24, and controls the feeder 21 in an integrated manner.
The operation unit 41 includes a display device such as a liquid crystal display, and an input device such as a touch panel, a keyboard, and a mouse, and accepts various information displays and operations from an operator.

(5) Operation of surface mounter In the present embodiment, an optimization program is executed by a computer such as a personal computer (so-called PC) prior to mounting of component E, so that the optimal mounting order of components E and the optimization of feeder 21 are achieved. The correct mounting position is calculated. The operator attaches the feeder 21 to the carriage 20 according to the calculation result, and then instructs the surface mounter 1 to mount the component E. When the mounting of the component E is instructed, the surface mounter 1 executes the above-described mounting program and mounts the component E on the printed circuit board according to the calculation result of the optimization program.

In mounting the component E, the surface mounter 1 alternately repeats a transport operation for transporting the printed circuit board to the work position B by the transport conveyor 11 and a mounting operation for mounting the component E on the printed circuit board transported to the work position B. .
In the mounting operation, a suction operation in which the component E supplied by the feeder 21 is sucked by the plurality of suction nozzles 18B, and the sucked component E is moved above the imaging surface of the component imaging camera 14 and The imaging operation for imaging the component E and the mounting operation for mounting the component E at the mounting position on the printed board based on the image of the component E captured by the component imaging camera 14 are repeated.

  Here, the mounting operation described above will be described more specifically. In the mounting operation, the control unit 40 analyzes the image of the component E imaged by the component imaging camera 14, thereby determining the positional deviation amount of the component E with respect to the central axis of the mounting head 18 in the XY direction and the rotation angle around the central axis. recognize. Then, the control unit 40 corrects the mounting position and mounting angle of the component E according to the recognized positional deviation amount and rotation angle, and mounts them on the printed circuit board.

  Here, the case where the image of the component E is used for correcting the mounting position and the mounting angle has been described as an example. However, the control unit 40 also analyzes the image of the component E to recognize the shape of the component E, and recognizes it. In the case where the shape and the shape represented by the shape data stored in the storage unit 44 do not coincide with each other, a process of discarding the product as a defective product in the disposal box may be performed. What kind of processing is used for the image of the component E can be selected as appropriate.

  As described above, the barcode 38 indicating the identification information of the component imaging camera 14 is attached to the upper surface of the component imaging camera 14. The control unit 40 conveys the head unit 15 when the mounting of the component E is instructed, and moves the board imaging camera 17 above the barcode 38 and images the barcode 38 by the board imaging camera 17. Then, the control unit 40 recognizes identification information of the component imaging camera 14 from the captured image of the barcode 38. Then, when analyzing the image of the component E in the above-described mounting operation, the control unit 40 reads the unique information associated with the recognized identification information from the storage unit 44 and analyzes the image based on the read unique information. .

(6) Mounting Position of Component Imaging Camera The time required to mount each component E on one printed circuit board (hereinafter referred to as production time) varies depending on the mounting position of the component imaging camera 14. Therefore, in this embodiment, the production time is simulated for each position where the component imaging camera 14 can be attached by executing a camera arrangement position determination program by a computer such as a personal computer (so-called PC), and the production time is the shortest. The worker is notified of the attachment position as the recommended attachment position of the component imaging camera 14.

  Here, a case where the camera arrangement position determination program is executed by a computer such as a personal computer will be described as an example, but the camera arrangement position determination program may be executed by the control unit 40.

  The production time described above can be calculated, for example, by dividing the total moving distance of the head unit 15 when each component E is mounted on one printed circuit board by the average moving speed of the head unit 15. However, the total movement distance is originally calculated by faithfully tracing the movement path of the head unit 15 when each component E is mounted on the printed circuit board. It is only necessary to be able to determine the magnitude relationship, and a highly accurate total travel distance is not necessarily required. For this reason, here, an example will be described in which the total movement distance is calculated in a simplified manner to the extent that the production time relationship can be determined. For this reason, there may be a large difference between the total movement distance calculated in the present embodiment and the actual total movement distance.

  Various positions are conceivable as the initial position of the component imaging camera 14 when the simulation is started. Here, the central position on the feeder plate 22 (the central position in the left-right direction) is used as the initial position of the component imaging camera 14. A case where simulation is started will be described as an example. However, since the position where each feeder 21 is attached is calculated by the optimization program as described above, there may be a case where there is no space for attaching the component imaging camera 14 at the central position on the feeder plate 22. In that case, the space for attaching the component imaging camera 14 is secured by shifting the position of the feeder 21 to the left and right.

  Hereinafter, with reference to FIG. 7, a recommended attachment position determination process executed by a computer that executes a camera arrangement position determination program will be described.

In S101, it is assumed that the computer has attached the component imaging camera 14 to the central position on the feeder plate 22, and among the feeders 21 arranged on the feeder plate 22, each feeder 21 and components used for production of the printed circuit board. The distance L1 between the imaging camera 14 and the distance L2 between the component imaging camera 14 and the mounting position on the printed circuit board are determined.
Here, although the mounting position on the printed circuit board varies depending on the part E, the distance L2 is assumed to be the same for all the parts E in order to simplify the calculation. Specifically, for example, for all components E, the distance from the center point in the XY direction of the glass plate 31A of the component imaging camera 14 to the center point in the XY direction of the printed board is assumed to be a distance L2.

  In S <b> 102, the computer determines the number N of components supplied per printed board of each feeder 21 based on various data stored in a storage unit included in the computer. Various types of data include information on the number and type of printed circuit boards that are scheduled to be produced, information including the number and type of components E mounted on the printed circuit boards, and information on the mounting positions of the components E on the printed circuit boards. , Information on the number and type of parts E held in each feeder 21 is included.

  In S103, the computer calculates the production time T1 based on the number N of parts supplied and the distances L1 and L2. Specifically, for example, the computer first calculates the total moving distance Lt for each feeder 21 according to the following formula 1. In Equation 1, 5 is the number of mounting heads 18.

  Lt = (L1 + L2) × 2 × N / 5 Formula 1

Here, the reason why L1 + L2 is doubled is that L1 + L2 is the distance of the forward path from the feeder 21 to the mounting position, and there is also the distance of the return path from the mounting position to the feeder 21. The distance of the forward path and the distance of the return path are not necessarily the same, but are simply doubled here to simplify the calculation.
The reason for dividing by 5 which is the number of mounting heads 18 is that the head unit 15 does not reciprocate between the feeder 21 and the mounting position for each component, but a plurality (here, 5) of mounting. Since each of the components E is adsorbed to the head 18 and then moved onto the printed circuit board and the plurality of components E are mounted on the printed circuit board, the movement from the feeder 21 to the mounting position is performed once for five components E. It is. For this reason, it is divided by 5 which is the number of mounting heads 18.

  Then, the computer calculates the production time T1 at the current mounting position by the following equation 2. In Equation 2, ΣLt is the sum of the total moving distances Lt calculated for each feeder 21, and V is the average moving speed of the head unit 15.

  T1 = ΣLt / V Expression 2

In S104, the computer calculates the production times T2, T3,... At each mounting position while sequentially shifting the mounting position of the component imaging camera 14 left and right on the feeder plate 22 by predetermined slots.
Specifically, for example, the computer calculates the production time while shifting the part imaging camera 14 from the central position to the left by one slot, and when reaching the left end, the computer calculates the production time by shifting from the central position to the right by one slot. . Here, when the component imaging camera 14 is shifted, if there is a feeder 21 at the destination, the position of the feeder 21 is changed across the component imaging camera 14.

In S105, the computer compares the production times T1, T2, T3... And stores the attachment position with the shortest production time as the recommended attachment position. S101 to S105 described above are an example of a determination process.
In S106, the computer displays the feeder plate 22 on the display device, and displays (that is, notifies) the stored recommended attachment position on the feeder plate 22. If the feeder plate 22 is provided with a position indicating LED, the computer may turn on the LED corresponding to the stored recommended mounting position. S106 is an example of a notification process.

Here, the case where the distance L2 between the component imaging camera 14 and the mounting position is the same for all the components E has been described as an example, but the component E is actually mounted from the component imaging camera 14 for each component E. The distance to the mounting position may be the distance L2 for the part E.
In addition, here, the case where the production times are compared has been described as an example. However, since the total of the production time and the total movement distance is substantially proportional, the recommended attachment position may be determined by comparing the total of the total movement distances. .

  Although the case where the total movement distance is simply calculated has been described as an example here, this is an example, and the calculation of the total movement distance is not limited thereto. For example, the total movement distance may be calculated by faithfully tracing the movement path of the head unit 15 when each component E is mounted on one printed circuit board. Alternatively, the total movement distance may be simply calculated by a method different from the method described here.

(7) Effects of the embodiment According to the surface mounter 1 according to the first embodiment described above, the component imaging camera 14 is attached to the carriage 20, so that a space for arranging the component imaging camera 14 as in the conventional case is secured. There is no need to divide the cart 20 into two. For this reason, it becomes possible to arrange | position the feeder 21 also in the position which was between the two trolley | bogies 20 conventionally. For this reason, the freedom degree of arrangement | positioning of the feeder 21 can be improved.
And according to the surface mounting machine 1, since the component imaging camera 14 is attached to the trolley | bogie 20, compared with the case where the component imaging camera 14 is arrange | positioned between the trolley | bogie 20 and the conveyance conveyor 11, the space | interval of the trolley 20 and the conveyance conveyor 11 is. Can be narrowed. Thereby, it can suppress that the production time of a printed circuit board becomes long, and can make it as short as possible.
Therefore, according to the surface mounter 1, while improving the freedom degree of arrangement | positioning of the feeder 21, it can suppress that the production time of a printed circuit board becomes long, and can shorten as much as possible.

  Furthermore, according to the surface mounter 1, since the component imaging camera 14 is attached to the slot 25 for attaching the feeder 21, the carriage 20 is compared with the case where a dedicated slot 25 for attaching the component imaging camera 14 is separately provided in the carriage 20. The configuration can be simplified. Since the carriage 20 has a plurality of slots 25, if the component imaging camera 14 is attached to the slot 25, the mounting position of the component imaging camera 14 is changed by changing the slot 25 to which the component imaging camera 14 is attached. Can be easily changed.

  Furthermore, according to the surface mounter 1, the component imaging camera 14 is mounted across two or more slots 25. Since the component imaging camera 14 is wider in the left-right direction than the feeder 21, if the component imaging camera 14 is attached to only one slot 25, the posture of the component imaging camera 14 becomes unstable. According to the surface mounter 1, since the component imaging camera 14 is mounted across two or more slots 25, the posture of the component imaging camera 14 can be stabilized.

  Further, according to the surface mounter 1, the component imaging camera 14 is locked using the sandwiched portion 22A for locking the feeder 21 provided on the carriage 20, so that a locking mechanism for locking the component imaging camera 14 is provided. The configuration of the carriage 20 can be simplified compared to the case where it is provided separately.

  Furthermore, according to the surface mounter 1, the component imaging camera 14 is provided with a communication connector 33 to which a communication cable is connected, and the other end of the communication cable whose one end is connected to the control unit 40 is connected to the connection connector. As a result, the component imaging camera 14 and the control unit 40 are communicably connected. When the component imaging camera 14 and the control unit 40 are communicably connected, the component imaging camera 14 is provided with a camera-side connector, and the dedicated connector to which the camera-side connector is fitted and connected is provided on the cart 20 side. When 14 is attached to the carriage 20, the camera-side connector can be fitted and connected to the dedicated connector. However, in such a case, a dedicated connector must be arranged at each position where the component imaging camera 14 can be attached, and the configuration becomes complicated. According to the surface mounter 1, the component imaging camera 14 is provided with the communication connector 33, and the component imaging camera 14 and the control unit 40 are communicably connected via the communication cable connected to the communication connector 33. The configuration can be simplified.

  Further, according to the surface mounter 1, the identification information of the component imaging camera 14 attached to the carriage 20 is recognized by the board imaging camera 17, and the unique information associated with the recognized identification information is read from the storage unit 44. Therefore, the image of the part E can be appropriately analyzed based on the unique information.

  Furthermore, according to the camera arrangement position determination program according to the first embodiment, the position at which the total movement distance of the head unit 15 when mounting a plurality of components E on the printed circuit board is the shortest is set as the recommended mounting position of the component imaging camera 14. Since it notifies to a person, it can suppress more that the production time of a printed circuit board becomes long, and can make it shorter.

<Embodiment 2>
A second embodiment will be described with reference to FIG. In the first embodiment described above, the case where the simulation is started using the center position on the feeder plate 22 as the initial position of the component imaging camera 14 has been described as an example. On the other hand, in the second embodiment, the production time simulation is started from the state in which the component imaging camera 14 is arranged next to the feeder 21 having the largest component supply number N. Here, it is conceivable that there is no space for mounting the component imaging camera 14 next to the feeder 21 having the largest component supply number N. In that case, a space for mounting the component imaging camera 14 is secured by shifting the feeder 21.

  With reference to FIG. 8, the recommended attachment position determination process executed by the computer that executes the camera arrangement position determination program according to the second embodiment will be described. Here, processes substantially the same as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

In S <b> 201, the computer determines the component supply number N of each feeder 21 used for production of the printed circuit board among the feeders 21 on the feeder plate 22.
In S202, it is assumed that the computer has mounted the component imaging camera 14 next to the feeder 21 with the largest component supply number N, and the distance L1 between each feeder 21 and the component imaging camera 14 used for the production of the printed circuit board, and Then, the distance L2 between the component imaging camera 14 and the mounting position is determined.

  According to the surface mounting machine 1 according to the second embodiment described above, it is possible to suppress the increase in the production time of the printed circuit board and improve the flexibility of the arrangement of the feeder 21 as much as possible.

<Embodiment 3>
A third embodiment will be described with reference to FIG. The third embodiment is a modification of the first or second embodiment. In the first and second embodiments, a communication connector 33 to which a communication cable is connected is provided in the component imaging camera 14, and an image captured by the component imaging camera 14 is transmitted to the control unit 40 via the communication cable. Explained in the example.

  In contrast, the component imaging camera 214 according to the third embodiment is provided with a camera-side connector 215 having the same shape as the feeder-side connector 30 instead of the communication connector 33, and the camera-side connector 215 is fitted to the cart-side connector 24. The component imaging camera 14 and the control unit 40 are communicably connected by being connected together. The image captured by the component imaging camera 14 is transmitted to the control unit 40 via the camera side connector 215 and the cart side connector 24.

  According to the surface mounter 1 according to the third embodiment described above, since the cart-side connector 24 is also used for fitting connection of the feeder-side connector 30 and fitting connection of the camera-side connector 215, the cart 20 has a dedicated connector for the camera. Compared with the case where the vehicle is separately provided, the configuration of the carriage 20 can be simplified while providing the camera connector 215 in the component imaging camera 14.

<Embodiment 4>
The fourth embodiment is a modification of the first or second embodiment. In the first and second embodiments, when the barcode 38 attached to the upper surface of the component imaging camera 14 is imaged by the board imaging camera 17, the identification information of the component imaging camera 14 is recognized, and the identification information corresponding to the recognized identification information is identified. The case where information is read from the storage unit 44 has been described as an example.

  On the other hand, the component imaging camera 14 according to the fourth embodiment is provided with a nonvolatile memory, and unique information of the component imaging camera 14 is stored in the memory. The component imaging camera 14 is provided with a communication connector such as a USB (Universal Serial Bus) connector, and the control unit 40 receives specific information from the component imaging camera 14 via a communication cable connected to the communication connector. .

  Here, in the first and second embodiments, the component imaging camera 14 is already provided with the communication connector 33, but the communication connector 33 is for transmitting an image signal, and is connected to the communication connector 33. The cable is connected to the image processing unit 45. For this reason, as described above, in the fourth embodiment, a communication connector for transmitting unique information is separately provided, and a communication cable connected to the communication connector is connected to the external input / output unit 46.

  The fourth embodiment can be a modification of the third embodiment. In that case, the control unit 40 communicatively connected to the component imaging camera 14 via the feeder-side connector 30 and the cart-side connector 24 may receive unique information from the component imaging camera 14 via these connectors. .

According to the surface mounter 1 according to the fourth embodiment described above, the unique information is received from the component imaging camera 14 attached to the carriage 20, and therefore based on the unique information of the component imaging camera 14 attached to the carriage 20. Thus, the image of the part E can be analyzed appropriately.
Since the unique information is received from the component imaging camera 14, the unique information of each component imaging camera 14 need not be stored in the storage unit 44 of the surface mounter 1 in association with the identification information.

<Other embodiments>
The technology disclosed in this specification is not limited to the embodiments described with reference to the above description and the drawings. For example, the following embodiments are also included in the technical scope.

  (1) In the above embodiment, a case is described in which the slot 25 for detachably attaching the feeder 21 is provided in the feeder plate 22, and the component imaging camera 14 is also attached to the feeder plate 22 using the slot 25. did. In contrast to this, apart from the slot 25, an attachment / detachment mechanism for detachably attaching the component imaging camera 14 may be provided in the feeder plate 22.

(2) In the above embodiment, the acceleration distance of the head unit 15 is not considered when determining the recommended mounting position of the component imaging camera 14. On the other hand, the acceleration distance of the head unit 15 may be considered. This will be specifically described below.
When the component E is imaged by the component imaging camera 14, it is desirable that the component E crosses the upper surface of the imaging surface at a certain speed. For this purpose, a section for accelerating the head unit 15 to the constant speed is required between the position where the feeder 21 is attached and the component imaging camera 14. For this reason, you may calculate production time, shifting the feeder 21 so that the distance for the area may be ensured between the feeder 21 and the components imaging camera 14. FIG.

  (3) In the above embodiment, the case where the recommended attachment position is determined by the camera arrangement position determination program has been described as an example. However, the attachment position may be determined by the operator's judgment without using the camera arrangement position judgment program. In that case, you may make it notify the control part 40 the position which the operator operated the operation part 41 and attached. Alternatively, in the case of the third embodiment, the controller 40 may determine at which attachment position the component imaging camera 14 is attached by communicating with the component imaging camera 14 via the cart side connector 24.

  (4) Although the case where the cross-sectional shape of the slot 25 is rectangular has been described as an example in the above embodiment, the shape of the slot 25 is not limited to this. For example, as shown in FIG. 10, the slot 25 may have a T-shaped cross section. The cross sections of the guide groove 28 provided in the feeder 21 and the guide groove 28 provided in the component imaging camera 14 may be formed in a T shape corresponding to the T-shaped slot 25. .

  (5) In the above embodiment, when the recommended mounting position of the component imaging camera 14 is calculated, the case where the position of the feeder 21 is shifted when there is no space for mounting the component imaging camera 14 on the feeder plate 22 has been described as an example. On the other hand, the position of the feeder 21 may be fixed, and the position where the production time is the shortest among positions where the component imaging camera 14 can be mounted without shifting the feeder 21 may be set as the recommended mounting position.

  (6) In the above embodiment, the case where only one component imaging camera 14 is attached to one feeder plate 22 has been described as an example. However, a plurality of component imaging cameras 14 may be attached to one feeder plate 22. .

  (7) In the above embodiment, the suction is described as an example of holding the component E. However, the component E may be held by so-called chucking that holds the component E in between.

DESCRIPTION OF SYMBOLS 1 ... Surface mounter, 11 ... Conveyor (an example of a board | substrate conveyance part), 13 ... Mounting part, 14 ... Component imaging camera, 15 ... Head unit, 16 ... Head conveyance part, 17 ... Board imaging camera (an example of an acquisition part) ), 20... Trolley (an example of a feeder mounting portion), 21... Feeder, 22 A... Sandwiched portion (an example of locking mechanism), 24. (Example), 28 ... Guide groove (an example of a mechanism to be attached), 30 ... Feeder side connector, 33 ... Communication connector, 44 ... Storage unit, 214 ... Part imaging camera, 215 ... Camera side connector, E ... Part

Claims (9)

A substrate transport section for transporting the substrate;
A feeder for supplying parts;
A feeder attaching portion to which the feeder is detachably attached;
A component imaging camera that is detachably attached to the feeder attachment portion in a posture with the imaging surface facing upward;
Holding the component supplied by the feeder and moving it above the imaging surface, and mounting the component on the board based on the image of the component imaged by the component imaging camera;
A surface mounting machine.   The surface mounter according to claim 1, wherein the feeder attachment portion has a plurality of attachment mechanisms to which the feeder is attached, and the component imaging camera is attached to the attachment mechanism.   The surface mounter according to claim 2, wherein the component imaging camera has two or more mounted mechanisms corresponding to the mounting mechanism, and is mounted across the two or more mounting mechanisms.   The said feeder attachment part has a locking mechanism for locking the said feeder, and the said component imaging camera is locked to the said feeder attachment part using the said locking mechanism. The surface mounter according to one item.   The component imaging camera is provided with a communication connector to which a communication cable is connected, and the other end of the communication cable having one end connected to the mounting portion is connected to the communication connector and is imaged by the component imaging camera. The surface mounter according to any one of claims 1 to 4, wherein the image is transmitted to the mounting unit via the communication cable. A plurality of attachment portion side connectors provided in the feeder attachment portion and connected to the mounting portion in a communicable manner;
A feeder-side connector provided in each of the feeders, and fitted and connected to the attachment portion-side connector;
A camera-side connector provided in the component imaging camera, and fitted and connected to the attachment-side connector;
The image captured by the component imaging camera is further transmitted to the mounting unit via the camera-side connector and the attachment unit-side connector. The surface mount machine described. The mounting part is
A storage unit in which identification information of the component imaging camera and unique information of the component imaging camera are stored in association with each other;
An acquisition unit for acquiring identification information of the component imaging camera attached to the feeder attachment unit;
The surface mounter according to claim 1, further comprising: reading out the unique information associated with the identification information acquired by the acquisition unit from the storage unit. The component imaging camera stores unique information of the component imaging camera,
The said mounting part is connected so as to be communicable with the said component imaging camera attached to the said feeder attachment part, The said specific information is received from the said component imaging camera. Surface mount machine. A camera arrangement position determination program for causing a computer to execute a process of determining a recommended attachment position when attaching the component imaging camera to the feeder attachment portion of the surface mounter according to any one of claims 1 to 8. There,
The mounting unit includes a head unit that holds and releases components supplied by the feeder, and a head transport unit that transports the head unit.
The camera placement position determination program is
Judgment processing for judging the position where the total movement distance of the head unit when mounting a plurality of the components on one of the substrates among the positions where the component imaging camera of the feeder attachment portion can be attached,
A notification process for notifying the position determined in the determination process as a recommended mounting position of the component imaging camera;
A camera arrangement position determination program for causing the computer to execute the above.

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