JP6199985B2 - Electronic component mounting device extension device and electronic component mounting device - Google Patents

Description

The present invention relates to an extension device for an electronic component mounting device that extends the transmission distance of image data and an electronic component mounting device including the extension device for the electronic component mounting device .

  2. Description of the Related Art Conventionally, work robots, for example, electronic component mounting apparatuses, have a mounting head that holds electronic components and is mounted on a circuit board, and a control device that controls the mounting head connected by a digital interface that can communicate at high speed. (Patent Document 1, etc.). In the electronic component mounting apparatus disclosed in Patent Document 1, a mounting head and a control device are connected by an optical fiber cable, and control data for controlling a drive unit of the mounting head is transferred via the optical fiber cable. In addition, this type of electronic component mounting apparatus may be equipped with a camera for imaging electronic components and the like on the mounting head, and, similar to control data, image data captured by the camera is transferred to the control apparatus via high-speed communication. A digital interface is needed.

JP 2009-246284 A

  The above-described digital interface for transferring image data is used as an interface for connecting, for example, a camera mounted on a mounting head of a working robot and an image processing board mounted on a control device and processing image data. This digital interface is provided between the mounting head (camera) and the control device (image processing board) so that the mounting head can freely move in the X direction and the Y direction on the main body of the electronic component mounting apparatus in accordance with the mounting work. It is preferable that the connectable distance between the two devices is not limited. However, the distance that the digital interface can be connected may be limited depending on a digital interface unique to a device such as an interface for transferring image data included in the image processing board of the control device.

The present invention has been made in view of the above problems, without being limited to the device-specific digital interface for transferring image data to the image processing board, electrons can extend the transmission distance of the image data at a low cost and compact An object is to provide an extension device for a component mounting device and an electronic component mounting device .

An extension device for an electronic component mounting apparatus according to a technique disclosed in the present application made in view of the above problems includes a remote-side extender provided in a mounting head movable in the XY direction on the electronic component mounting device , and an electronic component mounting and local side extender connected to the image processing board of the apparatus, is an extension device for an electronic component mounting apparatus to be connected, remote extender includes an imaging device that outputs an image data obtained by imaging an electronic component, A first programmable logic device that is connected to the imaging device and performs processing for capturing image data and processing for transmitting image data using a unique digital interface, using the same device; Image processing that receives image data sent by the interface and processes image data from its own digital interface A second programmable logic device that converts the image data into a data format of a digital interface unique to the device that transfers the image data to the card, and outputs the converted image data to the image processing board via the digital interface unique to the device; The extender does not have a device-specific digital interface. Note that a programmable logic device is a logic device in which a circuit is constructed based on configuration information.

An electronic component mounting apparatus according to a technique disclosed in the present application made in view of the above problems includes the electronic device mounting apparatus extension device according to any one of claims 1 to 3, and mounts the electronic component. An electronic component mounting apparatus that transmits lens distortion correction data or defect point correction data as an eigenvalue from the remote-side extender to the local-side extender, and from the local-side extender to the remote-side extender. In addition, as a control command, a command requesting the product number of an image sensor or a camera including the image sensor is transmitted.

According to the technology disclosed in the present application, an extension device for an electronic component mounting device that can extend the transmission distance of image data at a low cost without being limited to a digital interface unique to a device that transfers image data to an image processing board. In addition, an electronic component mounting apparatus can be provided.

The schematic diagram for demonstrating the electronic component mounting apparatus with which the extension apparatus for electronic component mounting apparatuses of a present Example is applied. The figure for demonstrating the data structure of the frame data in data transfer mode and command transfer mode. The figure which shows the content of the data bit-assigned to the frame data of data transfer mode. The figure which shows the content of the data bit-assigned to the frame data of command transfer mode. The figure which shows the content of the data bit-assigned to the frame data of command transfer mode. The figure which shows the content of the data bit-assigned to the frame data of command transfer mode. The figure for demonstrating allocation of the K code of a control command. The figure for demonstrating allocation of the bit value of an eigenvalue. The figure which shows the operation | movement sequence for demonstrating the process using the control command of an image processing board and a remote side extension device. The schematic diagram for demonstrating the electronic component mounting apparatus with which the extension apparatus for electronic component mounting apparatuses of a comparative example is applied.

An embodiment of the present invention will be described below with reference to FIG. First, an electronic component mounting device (hereinafter sometimes abbreviated as “mounting device”) will be described as an example of an electronic component mounting device to which the extension device for an electronic component mounting device of the present application is applied. FIG. 1 shows a part of the mounting device 10 of the present embodiment, and this application is used to transfer data between a remote-side extender 2 and a local-side extender 3 that are communicably connected in the mounting device 10. The structure to which the extension device for electronic component mounting apparatus is applied is illustrated.

  The mounting device 10 is, for example, an electronic component mounting device that mounts a plurality of electronic components on a circuit board in an integrated circuit production line. The mounting apparatus 10 includes a remote side extender 2, a local side extender 3, and an image processing board 5. The remote side extender 2 includes, for example, an image sensor 11 incorporated in the mounting apparatus 10 for imaging an electronic component or a circuit board. The mounting apparatus 10 includes, for example, a remote-side extender 2 on a mounting head that holds electronic components and mounts them on a circuit board. The remote-side extender 2 and the local-side extender 3 are communicably connected by an optical fiber cable 6 and extend the data transmission distance between the image sensor 11 and the image processing board 5 provided in the remote-side extender 2. It is.

  The remote side extender 2 includes an image sensor 11, a lens unit 12, and a communication unit 13. The local side extender 3 includes a communication unit 21 and a physical layer IC (hereinafter referred to as PHY-IC) 27. The SFP 15 of the communication unit 13 transfers various data via the SFP 25 provided in the communication unit 21 of the local side extender 3 and the optical fiber cable 6. The SFPs 15 and 25 include, for example, optical transceivers conforming to the SFP + standard. The SFPs 15 and 25, for example, have frame data FRMD composed of 40 bits per frame, the period per frame is set to 8 nsec (frequency is 125 MHz), and the communication speed is 5 Gbps (40 bits × 125 MHz). Configure the digital interface.

  The lens unit 12 of the remote extension device 2 includes a lens, a lens holding member, and the like, and forms an image of light from an object (circuit board, electronic component, etc.) that is a subject on the imaging surface of the imaging device 11. The image sensor 11 is an image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The image sensor 11 photoelectrically converts the light imaged on the imaging surface by the lens unit 12 and outputs it as an analog image signal. The imaging signal output from the imaging element 11 is converted into a digital signal by an A / D conversion circuit (not shown) and output to the FPGA 16 of the communication unit 13. The FPGA 16 is a programmable logic device, and is composed of, for example, an FPGA (Field Programmable Gate Array). For example, the FPGA 16 drives the image sensor 11 in response to a trigger signal indicating the start of imaging from the image processing board 5. The mounting apparatus 10 may transfer the trigger signal through a communication line provided separately from the optical fiber cable 6 or may transmit the trigger signal via the optical fiber cable 6. The FPGA 16 performs preprocessing such as gain adjustment on the image data of the digital signal input from the A / D conversion circuit. The image data is, for example, data having a pixel value of 8 bits. The FPGA 16 encodes the 8-bit pixel value of the image data into 10-bit data by the 8B / 10B encoding method. The FPGA 16 encodes an 8-bit pixel value with a D code assigned for data provided by, for example, the 8B / 10B encoding method. The data encoded by the 8B / 10B encoding method is kept constant in DC balance. The FPGA 16 temporarily stores the encoded 10-bit data in a buffer or the like, and outputs four encoded data (for 40 bits) to the SFP 15. The SFP 15 assigns the 40-bit data input from the FPGA 16 to one frame data FRMD, converts it into an optical signal, and transmits it to the SFP 25 of the local side extender 3. The FPGA 26 of the local side extender 3 processes the encoded pixel value (image data) included in the data converted by the SFP 25 from the frame data FRMD.

  The image processing board 5 is a processing board for connecting a control device (not shown) for overall control of the mounting device 10 to another device, and processes image data captured by the image sensor 11. The image processing board 5 has a processing board (hereinafter referred to as “expansion board”) 31 having an interface compatible with, for example, the USB (Universal Serial Bus) 3.0 standard as an interface for inputting image data. It is connected. Therefore, the image processing board 5 includes an interface compatible with the USB 3.0 standard as an interface for transferring image data included in the image processing board 5, that is, a device-specific digital interface. The local side extender 3 includes a PHY-IC 27 that conforms to the USB 3.0 standard. The PHY-IC 27 is electrically connected to a USB port or the like of the expansion board 31 via a dedicated connection cable 8. The PHY-IC 27 converts, for example, an analog signal input via the connection cable 8 into a digital signal and transfers it to the FPGA 26, or converts a digital signal input from the FPGA 26 into an analog signal and expands it via the connection cable 8. A process of transferring to the board 31 is executed. The FPGA 26 of the local side extender 3 transmits the image data received by the SFP 25 toward the image processing board 5. The FPGA 26 decodes the image data (10-bit pixel value data) encoded by the 8B / 10B encoding method into 8 bits, and converts the decoded image data into a data format compliant with the USB 3.0 standard. The data is transmitted toward the expansion board 31 via the PHY-IC 27. The image processing board 5 processes image data input from the expansion board 31 through the internal bus. The control device performs the following control according to the processing result of the image data.

  The mounting apparatus 10 of this embodiment operates in two modes: a data transfer mode in which data such as image data is transferred, and a command transfer mode in which control is performed using a control command. The image processing board 5 processes a control command for the remote-side extender 2. The control command is, for example, control data for changing the output gain of the image sensor 11 with respect to the trigger signal or the FPGA 16 of the remote extension device 2 described above. The image processing board 5 transmits a control command to the PHY-IC 27 of the local side extender 3 via the extension board 31. The FPGA 26 encodes the control command received from the image processing board 5 using the K code associated with the control command, and transmits the encoded control command from the SFP 25 to the SFP 15 of the remote-side extender 2. The K code here is a control code provided separately from the D code for data provided in the 8B / 10B encoding method. Although the mounting device 10 of the present embodiment transfers the control command via the optical fiber cable 6, it may be changed to a configuration in which a communication line for transferring the control command is provided separately from the optical fiber cable 6. That is, the mounting apparatus 10 may be configured to transfer the image data and the control command through different communication lines. The FPGA 16 of the remote side extender 2 decodes the encoded control command included in the frame data FRMD received by the SFP 15 from the SFP 25. The FPGA 16 performs control to change the output gain of the image sensor 11 based on, for example, a decoded control command.

  Here, image data, control commands, and the like transferred between the remote-side extender 2 and the local-side extender 3 are encoded by the 8B / 10B encoding method, and are bit-assigned and transferred to the frame data FRMD. FIG. 2 shows an example of the data structure of 40-bit frame data FRMD. In the following description, in order to distinguish the 40-bit frame data FRMD in units of 10 bits in order from the first bit, each data in units of 10 bits will be referred to as blocks A to D for convenience of description. For example, the block A is data assigned to a 10-bit bit position from 0 bit (first bit) to 9 bits of the frame data FRMD.

  In the table shown in FIG. 2, each row corresponds to blocks A to D. The third column labeled “data transfer mode” is, for example, a case where data (image data or the like) encoded using the D code is set in all four blocks A to D of the frame data FRMD. The data structure is shown. In the frame data FRMD in the data transfer mode, 10-bit data encoded by the D code is assigned to each of the blocks A to D. FIG. 3 shows specific data contents to be assigned to the frame data FRMD in the data transfer mode. The third column labeled “communication direction” indicates the direction in which the frame data FRMD is transferred. For example, image data may be transferred from the remote-side extender 2 toward the local-side extender 3. It is shown. In the case of transferring image data, the frame data FRMD is, for example, bit-assigned in order of pixel value 1 for block A, pixel value 2 for block B, pixel value 3 for block C, and pixel value 4 for block D. The pixel values 1 to 4 are, for example, data sequentially indicating pixel values arranged in the horizontal direction of the image data, and pixel values represented by 8 bits (values representing each pixel value of monochrome or RGB in 256 gradations). Are encoded.

  In addition to the image data, the mounting device 10 transfers, for example, the unique value between the remote side extender 2 and the local side extender 3 in the data transfer mode. The eigenvalue here is data indicating the characteristics of the lens unit 12 and the image sensor 11 such as lens distortion correction and defect point correction, and is data that the image processing board 5 refers to when processing image data. For example, the memory (not shown) included in the remote-side extender 2 stores data necessary for correction of eigenvalues such as lens distortion correction and defect point correction. The lens distortion correction data is data for correcting image data in which a subject is distorted due to, for example, an error in the attachment position of the lens of the lens unit 12 or the image sensor 11. The defect point correction data is, for example, data related to a pixel (element) that does not react to brightness and does not output a normal pixel value among a plurality of elements (such as CMOS) included in the image sensor 11. .

  The image processing board 5 executes processing for reading and writing the stored eigenvalues with respect to the memory of the remote-side extender 2. The frame data FRMD is written in all the blocks A to D in the frame data FRMD transmitted from the local side extender 3 to the remote side extender 2 when the image processing board 5 performs the writing process of the eigenvalue. Eigenvalues are set (see FIG. 3). This eigenvalue data is encoded into a D code in units of 8 bits and set in the frame data FRMD. In the frame data FRMD, when the image processing board 5 performs the reading process of the unique value, the unique value to be read is set in the blocks A to D.

  In the table shown in FIG. 2, the fourth column labeled “command transfer mode” indicates the data configuration when a control command is set in an arbitrary block among the four blocks A to D of the frame data FRMD. Is shown. In the frame data FRMD in the command transfer mode, K codes associated with numbers (hereinafter referred to as “K code numbers”) for identifying the types of control commands are set in the blocks A and B among the blocks A to D. Is done. In the frame data FRMD in the command transfer mode, the parameters used by the control command identified by the K code of the blocks A and B are set in the remaining blocks C and D. Accordingly, the FPGAs 16 and 26 of the remote side extender 2 and the local side extender 3 according to the present embodiment execute a process of converting the control command processed by the image processing board 5 into one corresponding to the K code and transferring it. .

  4 to 6 show correspondences between control commands and K codes, and show a part of specific data contents set in the frame data FRMD in the command transfer mode. The first column labeled “No” is a number that roughly classifies the control commands used in the mounting apparatus 10, and corresponds to the K code number shown in FIG. For example, the frame data FRMD classified as “No. 0” is used for initialization of communication. The frame data FRMD of “No. 0” has two types of positive and negative K codes (the K code in the figure is K28.5 (1)) associated with the K code number “0” shown in FIG. Bit data (10 bits) of the running disparity (RD−, RD +) is assigned to the block A. As shown in FIG. 4, in the frame data FRMD of “No. 0”, the K code (K28.5 (1)) is set only in the block A. For example, the remote side extender 2 and the local side extender 3 transmit and receive the frame data FRMD bidirectionally in order to maintain clock synchronization while there is no data transfer. In the blank portion of the tables shown in FIGS. 4 to 6, for example, data indicating a non-processing target (such as a value whose bit values are all “0”) is set.

  Further, for example, the frame data FRMD classified as “No. 1” in FIG. 4 is used for initialization processing at the time of activation. In the frame data FRMD of “No. 1”, the K code (K28.1) associated with the K code number “1” shown in FIG. As shown in FIG. 4, the frame data FRMD of “No. 1” is associated with control commands classified in more detail by the K code number set in the block B (the third data in FIG. 4). (See “Sub-classification” in the column.) As for the frame data FRMD of “No. 1”, the K code (K28.1) having the K code number “1” is set in the block A and the block B, for example, from the local side extender 3 (image processing board 5). When it is transmitted to the remote side extension device 2, it becomes a control command for instructing processing for reading out the product number of the camera. Similarly, in the frame data FRMD of “No. 1”, the block A and the block B in which the K code with the K code number “1” is set is directed from the remote side extender 2 to the local side extender 3. When it is transmitted, it becomes a control command that responds to a request for reading the product number of the camera. In the response frame data FRMD, a bit value obtained by encoding the product number of the camera using, for example, the D code of the 8B / 10B encoding method is set in the block C and the block D.

  Further, for example, the frame data FRMD classified as “No. 4” shown in FIG. 5 is used for executing correction processing for image data in the remote-side extender 2 or processing for selecting stop. In the frame data FRMD of “No. 4”, for example, the K code number “4” is set in the block A, and the K code number “1” is set in the block B. On the other hand, it becomes a control command for executing the brightness for changing the brightness of the image data. Further, for example, the frame data FRMD classified as “No. 8” shown in FIG. 6 is used for reading and writing eigenvalues to / from the memory (flash memory or the like) of the remote extension device 2. In the frame data FRMD of “No. 8”, the K code (K27.7) with the K code number “8” is set in the block A (see FIG. 7), and the detailed classification of the control commands in the block B (see FIG. 6). The K code corresponding to the “small classification” in the third column in the middle) is set. For example, in the frame data FRMD of “No. 8”, the K code number “8” is set in the block A and the K code with the K code number “1” is set in the block B, and the transfer of the eigenvalue is requested. It becomes a control command. In the frame data FRMD requesting transfer of the unique value, the unique value type (“data type” in FIG. 6) is set in the block C. As shown in FIG. 8, eigenvalues are associated with a plurality of types of data, for example. For example, in the frame data FRMD of “No. 8” in FIG. 6, when a 10-bit value obtained by encoding the bit value “1” with the D code is set in the block C, the eigenvalue (brightness) of the brightness is set. This indicates that a correction value for increasing the value is designated. As the eigenvalue, the number of each data type may be associated with the K code.

  As described above, the image data and control commands transferred between the remote side extender 2 and the local side extender 3 are transferred after the encoded bit values are set in the four blocks A to D of the frame data FRMD. The The remote side extender 2 and the local side extender 3 store a conversion table in which a control command and a K code shown in FIGS. 4 to 6 are associated with each other in a memory or the like. For example, the FPGA 26 of the local side extender 3 encodes the control command transferred from the image processing board 5 based on the conversion table.

  Next, the control that the image processing board 5 performs on the remote-side extender 2 using the control command described above will be described. FIG. 9 shows an example of an operation sequence showing processing using the control commands CTLD1 and CTLD2 between the image processing board 5 and the remote-side extender 2. A control device (not shown) of the mounting apparatus 10 performs initialization processing using the frame data FRMD of “No. 1” in FIG. The image processing board 5 performs processing for requesting the product number of the camera of the remote extension device 2 based on the control of the control device.

  As shown in FIG. 9, the image processing board 5 transmits a control command CTLD 1 to the local side extender 3. The control command CTLD1 is a control command for requesting the product number of the camera. The FPGA 26 of the local side extender 3 converts the control command CTLD1 received from the image processing board 5 into a unique control command corresponding to the K code shown in FIGS. 4 to 6 and converts the SFP 25 to the SFP 15 of the remote side extender 2. Send to. For example, the FPGA 26 encodes the control command CTLD1 that requests the product number of the camera based on the conversion table in which the control command and the K code are associated with each other. In the encoded frame data FRMD, a K code having a K code number “1” is set in the block A and a K code number “1” is set in the block B (see FIG. 4).

  The FPGA 16 of the remote-side extender 2 performs a process of returning a response ACK1 in response to a request from the image processing board 5 based on the decoded control command CTLD1. This response ACK1 is a control command directed from the remote-side extender 2 to the local-side extender 3 (image processing board 5). In this case, the product number of the camera is included. The FPGA 16 receives frame data FRMD in which a K code having a K code number “1” is set in the block A and the block B shown in FIG. 4 and a bit value obtained by encoding the product number of the camera is set in the block C and the block D. It transmits as response ACK1. The FPGA 26 of the local side extender 3 decodes the response ACK 1 received from the remote side extender 2 and transfers it to the image processing board 5.

  Note that the FPGA 26 of the local side extender 3 may be configured to artificially transmit a response to the image processing board 5 according to the time until the response ACK1 from the remote side extender 2 is received. More specifically, in the mounting apparatus 10 of the present embodiment, the image processing board 5 and the local side extender 3 are connected via a USB 3.0 standard digital interface, and the image processing board 5 is the master and the local side extender 3. The remote-side extender 2 connected to the is connected to become a slave. In this case, if the reply of the response ACK1 to the transmission of the control command CTLD1 is delayed by, for example, encoding or transfer processing in the remote side extender 2, the master image processing board 5 may be processed as a timeout. . For this reason, when the FPGA 26 receives the control command CTLD1 from the image processing board 5, the FPGA 26 sends back a response indicating that the command has been normally received in order to prevent timeout, while the remote side The control command CTLD1 is transferred to the extender 2. Then, when there is a response ACK1 to the control command CTLD1 from the remote side extender 2, the FPGA 26 transfers the data obtained by decoding the response ACK1 to the image processing board 5. The FPGA 26 configured as described above can normally process the control command CTLD1 without causing an error due to a timeout even in the digital interface standard in which a short time limit is provided for the response to the transmission of the control command CTLD1. It becomes.

Next, a process in which the image processing board 5 acquires image data from the remote-side extender 2 using the control command described above will be described.
As illustrated in FIG. 9, when the control device (not shown) of the mounting device 10 performs initialization processing using a plurality of control commands (not shown) including the control command CTLD1, for example, the image data is acquired as the next control. The image processing board 5 is caused to execute processing to be performed. The image processing board 5 performs processing for acquiring image data after setting a trigger for the FPGA 16 of the remote extension device 2 based on the control of the control device. The image processing board 5 transmits a control command CTLD2 to the local side extender 3. The control command CTLD2 is a control command corresponding to the trigger setting indicated by “No. 3” in FIG. The FPGA 26 of the local side extender 3 encodes the control command CTLD2 received from the image processing board 5 and transmits it from the SFP 25 to the SFP 15 of the remote side extender 2. In the encoded frame data FRMD, for example, the K code number “3” is set in the block A and the K code number “1” is set in the block B, and the bit value corresponding to the trigger mode is encoded in the block C. The converted data is set (see FIG. 4). The bit value of the trigger mode is, for example, a mode in which the FPGA 16 captures an image in response to a trigger signal from an external device when “0” is set in the block C, and when “1” is set in the block C. In this mode, imaging is executed a plurality of times at a predetermined timing by the internal processing of the FPGA 16.

  The FPGA 16 of the remote-side extender 2 is set to a mode for imaging in accordance with, for example, a trigger signal from an external device based on the decoded control command CTLD2. Further, the FPGA 16 performs a process of returning a response ACK2 to the request for the control command CTLD2. The FPGA 16 sets data (bit values corresponding to ACK, NAK, BUSY, etc.) indicating whether or not the trigger setting has been processed normally in the block C of the response ACK2. As the response ACK2, for example, the FPGA 16 sets the frame data FRMD in which the K code number is “3” in the block A, the K code number is “1” in the block B, and data (ACK) indicating that the setting is completed in the block C is set. Send. For the data set in the block C, for example, a value indicating a bit value of “0” for ACK and a value indicating a bit value of “1” for NAK is encoded and set. The FPGA 26 of the local side extender 3 decodes the response ACK 1 received from the remote side extender 2 and transfers it to the image processing board 5.

  Then, the FPGA 16 of the remote-side extender 2 drives the image sensor 11 in accordance with a trigger signal transferred from the image processing board 5 through a communication line provided separately from the optical fiber cable 6, for example. The FPGA 16 performs preprocessing such as gain adjustment on the image data and encodes it. In the frame data FRMD obtained by encoding the image data, pixel values of the image data are set in the blocks A to D (refer to the item “image data” in the large classification of FIG. 3). The remote-side extender 2 transmits frame data FRMD encoded image data to the local-side extender 3 (image processing board 5). In this way, the image processing board 5 performs a process of sequentially reading out each pixel value of the image data from the remote extension device 2.

As described above, according to the present embodiment described in detail, the following effects can be obtained.
<Effect 1> The mounting apparatus 10 of the present embodiment includes a unique digital interface that transfers image data captured by the image sensor 11 from the remote-side extender 2 to the local-side extender 3, and the image data is transferred to the local-side extender. 3 to a device-specific digital interface for transferring from 3 to the image processing board 5. More specifically, in the mounting device 10, the FPGA 16 of the remote extension device 2 takes in image data (pixel value) obtained by imaging the object (circuit board, electronic component, etc.) by the imaging device 11. The FPGA 16 encodes the captured image data (8-bit pixel value) into 10-bit data by the 8B / 10B encoding method, and outputs four pixel values encoded into 10 bits to the SFP 15. The SFP 15 converts the 40-bit data input from the FPGA 16 to the SFP 25 of the local extender 3 as frame data FRMD. On the other hand, in the local side extender 3 that has received the image data, the FPGA 26 converts the image data into a data format conforming to the digital interface (USB 3.0) unique to the device, and is directed to the expansion board 31 via the PHY-IC 27. Send. The image processing board 5 processes image data input from the expansion board 31 through the internal bus.

Next, a mounting apparatus 100 to which the extension device for an electronic component mounting apparatus according to the comparative example is applied will be described with reference to FIG. In FIG. 10, the same components as those in FIG. 1 are denoted by the same reference numerals. In the following description, the same configuration as in FIG. 1 is omitted as appropriate. In the mounting apparatus 100 shown in FIG. 10, the remote-side extender 2 </ b> A and the local-side extender 3 are inserted between the camera 110 having the PHY-IC 111 compliant with the USB 3.0 standard as a standard interface and the image processing board 5. Thus, the transmission distance of the image data is extended. Unlike the remote-side extender 2 in FIG. 1, the remote-side extender 2 </ b> A is electrically connected to the PHY-IC 111 of the mounting apparatus 100 via the dedicated connection cable 120 via the PHY-IC 19 compliant with the USB 3.0 standard. Has been. The camera 110 includes a capturing unit 112 made of, for example, an FPGA. The capturing unit 112 transfers the image data captured by the image sensor 11 from the PHY-IC 111 to the PHY-IC 19. The FPGA 16 of the remote-side extender 2 </ b> A transmits image data input from the PHY-IC 19 via the optical fiber cable 6 toward the local-side extender 3.

Here, a digital interface used in a camera (such as a machine vision camera) provided in a work robot including the mounting devices 10 and 100 has a transmission distance of image data limited according to the type of communication standard. For example, the maximum transmission distance for communication conforming to the USB 3.0 standard is 3 to 5 m. Further, for example, the maximum transmission distance of communication conforming to the CameraLink standard is 5 to 10 m. Further, for example, the maximum transmission distance for communication conforming to IEEE 1394a is 4.5 m. For this reason, when trying to transmit image data beyond the transmission distance limited by the standard of such a digital interface, the mounting apparatus is electronic between the camera (including the image sensor) and the image processing board. It becomes necessary to insert an extension device for a component mounting device . In addition, the mounting apparatuses 10 and 100 are designed when the transmission distance of data of two apparatuses, that is, a movable part such as a mounting head on which the camera is mounted and an image processing board that processes image data of the camera is limited. It is preferable that the transmission distance is not limited as much as possible because problems such as a decrease in the degree of freedom occur. In the mounting apparatus 100 shown in FIG. 10, the transmission distance of communication conforming to the USB 3.0 standard is extended by communication of the SFPs 15 and 25 via the optical fiber cable 6. Therefore, the mounting apparatus 100 can extend the transmission distance of the image data beyond the limit of the device-specific digital interface standard of the image processing board 5 (extension board 31).

  However, the mounting apparatus 100 shown in FIG. 10 has a configuration in which the remote-side extender 2 </ b> A and the local-side extender 3 are inserted between the camera 110 having a digital interface compliant with the USB 3.0 standard and the expansion board 31. Therefore, the remote-side extender 2A connected to the camera 110 needs to include a PHY-IC 19 that conforms to the USB 3.0 standard. The camera 110 has a configuration in which a capturing unit 112 (FPGA) that processes image data output from the image sensor 11 and a PHY-IC 111 are mounted. As a result, in the configuration of the mounting apparatus 100, there is a possibility that the processing circuit on the remote extension device 2A side and the like increase, leading to an increase in manufacturing cost. Further, when the camera 110 and the remote-side extender 2A are mounted on the mounting head, the mounting apparatus 100 causes an increase in the size of the mounting head apparatus itself as the number of parts increases.

  On the other hand, the remote side extender 2 of the mounting apparatus 10 according to the present embodiment performs processing in which the FPGA 16 takes in image data (pixel values) captured by the image sensor 11. Further, the FPGA 16 performs a process of outputting data obtained by encoding the captured image data by the 8B / 10B encoding method to the SFP 15. Therefore, in such a configuration, the number of parts such as a processing circuit on the remote extension device 2 side is reduced as compared with the mounting device 100 shown in FIG. 10 to reduce the manufacturing cost, and the remote extension device 2 is mounted. It is possible to reduce the size of the mounting head.

  Further, the remote side extender 2 includes an FPGA 16 that executes both processing of capturing image data and processing of transmitting the captured image data from the SFP 15. Here, the mounting device 100 of the comparative example shown in FIG. 10 is configured to include the PHY-IC 19 in the remote-side extender 2A. In the mounting apparatus 100, if it is desired to mount the camera 110 or the expansion board 31 having a digital interface compliant with a standard (CameraLink standard) different from USB 3.0, the communication standard (master / slave system etc.) Significant design changes are required in consideration of the changes. On the other hand, the mounting apparatus 10 of the present embodiment shown in FIG. 1 receives the frame data FRMD even if the expansion board 31 connected to the local side extender 3 is changed to a different digital interface. However, this can be dealt with by changing the local side extender 3 (FPGA 26 or the like) for changing the data format. Accordingly, the remote side extender 2 including the FPGA 16 has a configuration in which the image data from the image sensor 11 is captured and output from the SFP 15 without using a device-specific digital interface. Therefore, versatility can be improved. The FPGA 16 is configured by a programmable logic device (FPGA). As a result, the FPGA 16 can cope with a change in the internal logic of the FPGA when the data format of the imaging signal is changed due to a change in the image sensor 11 of a different type. It has a configuration that enhances.

<Effect 2> The remote side extender 2 encodes the image data into a D code by the 8B / 10B encoding method, and transmits the D data to the local side extender 3. Further, the local side extender 3 encodes a control command for the image processing board 5 to control the remote side extender 2 with a conversion table associated with the K code, and transmits the encoded control command to the remote side extender 2. Thereby, the mounting apparatus 10 can transfer the image data and the control command in the optical fiber cable 6 in a state where the DC balance is kept constant. As a result, in the data transfer of the image data and the control command, the mounting apparatus 10 prevents erroneous detection of the bit value due to the inversion of the signal level because, for example, a high level signal does not continue during a certain clock cycle. Communication quality can be improved.

<Effect 3> The mounting device 10 has a unique digital interface formed by the optical fiber cable 6, can construct a communication path that satisfies the communication speed defined by the digital interface standard unique to the device, and can reduce the transmission distance of image data. It becomes possible to extend it stably.

<Effect 4> The mounting device 10 can extend the transmission distance between the remote-side extender 2 and the local-side extender 3 regardless of the device-specific digital interface depending on the image processing board 5 (extension board 31). Since the position where the mounting head provided with the image pickup device 11 and the like is installed in the apparatus is not limited, the degree of freedom in design is improved.

Here, the F PGA 16 is an example of a first programmable logic device. The FPGA 26 is an example of a second programmable logic device. Data transfer by the frame data FRMD is an example of image data transfer by a unique digital interface. The PHY-IC 27, the connection cable 8, and the expansion board 31 compliant with the USB 3.0 standard are an example of a device-specific digital interface. The control commands CTLD1, CTLD2 are examples of control data.

Needless to say, the present invention is not limited to the above-described embodiments, and various improvements and modifications can be made without departing from the spirit of the present invention.
For example, in this embodiment, the remote-side extender 2 and the local-side extender 3 are connected via the optical fiber cable 6, but the connection is changed to another connection via wired communication (for example, a LAN cable). It is also possible to change to wireless communication instead of wired communication. In addition, when applying each communication method, the structure of the frame data FRMD, etc. are changed suitably.

In the above embodiment, the FPGAs 16 and 26 may be configured not to perform encoding by the 8B / 10B encoding method. For example, the FPGA 16 may be configured to output a plurality of pixel values of the image data captured from the image sensor 11 to the SFP 15 as they are, assign the bits to the frame data FRMD, and transmit them to the SFP 25 (local side extender 3). In this case, the FPGA 26 does not need to decode the pixel value converted by the SFP 25 from the frame data FRMD. That is, the unique digital interface between the remote-side extender 2 and the local-side extender 3 may be configured to collectively transfer a plurality of pixel values of image data to the frame data FRMD without encoding.
In the above embodiment, the optical fiber cable 6 may be changed to a configuration for transferring only image data. In this case, the mounting apparatus 10 is changed to a configuration in which other data (such as a control command) is transferred via a communication line different from the optical fiber cable 6.

Further, the FPGAs 16 and 26 may be changed to a configuration that performs error correction processing on image data and control commands. In this case, the error correction process may be changed according to the type of data to be transferred. For example, since a plurality of pixels (for example, four pixels) are transferred as one frame data FRMD in the image data, there is a possibility that an error occurs in a plurality of bits due to a burst error or the like. For this reason, the image data is preferably subjected to error correction processing using a Reed-Solomon code that can handle a plurality of bits as a symbol and correct the error for each symbol.
Further, the FPGAs 16 and 26 are not limited to programmable logic devices, and may be configured by processing circuits (IC or the like) that can perform the same processing.

  Moreover, although the said Example demonstrated the electronic component mounting apparatus 10 which mounts an electronic component on a circuit board, this application is not limited to this, It applies to the working robot etc. which operate | move in other various production lines can do. For example, the present invention may be applied to a working robot that performs assembly work such as a secondary battery (such as a solar battery or a fuel cell). The working robot is not limited to one that performs mounting or assembly, but includes, for example, a machine tool that performs cutting or the like.

2 Remote side extender, 3 Local side extender, 5 Image processing board, 6 Optical fiber cable, 10 Electronic component mounting device, 11 Image sensor, 16, 26 FPGA.

Claims (4)

And the remote-side extender provided an electronic component mounting apparatus on a mounting head which is movable in XY direction, and the local-side extender connected to the image processing board of the electronic component mounting apparatus, the electronic component mounting apparatus to be connected Extension device for
The remote extension is
An image sensor for outputting image data obtained by imaging an electronic component ;
A first programmable logic device that is connected to the image sensor and performs the process of capturing the image data and the process of transmitting the image data through a unique digital interface , using the same element;
The local side extender is
Wherein performs its own process of receiving the image data transmitted in a digital interface, the unique device-specific data format of the digital interface for transferring the image data to the image processing board for processing the image data from the digital interface A second programmable logic device that converts the image data and outputs the converted image data to the image processing board via a digital interface unique to the device,
An extension device for an electronic component mounting device, wherein the remote extension device does not include a digital interface unique to the device. The first programmable logic device encodes the image data using an 8B / 10B encoding method and transmits the encoded image data to the second programmable logic device.
The second programmable logic device encodes a trigger signal or an output gain change signal, which is a control command for controlling the remote-side extender, with a K code provided by the 8B / 10B encoding method, and the first programmable logic device 2. The extension device for an electronic component mounting apparatus according to claim 1, wherein transmission is performed toward the device. The remote side extender and the local side extender transmit and receive the image data with the unique digital interface via at least one communication medium of an optical fiber cable and a LAN cable . 3. The extension device for an electronic component mounting device according to claim 1, wherein the frame data transmitted and received includes a communication direction . The electronic component mounting apparatus comprising the extension device for an electronic component mounting device according to any one of claims 1 to 3, and mounting the electronic component,
Lens distortion correction data or defect point correction data is transmitted as an eigenvalue from the remote side extender to the local side extender,
The direction from the local side extender to the remote side extender, as a control command, the electronic component mounting apparatus command requesting part of a camera including the imaging device or the imaging device is characterized that you sent.

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