JP6794529B2 - Surface mounter - Google Patents

Description

The techniques disclosed herein relate to surface mounters.

Conventionally, in a surface mounter that mounts a component on a substrate by using a mounting head that attracts and releases the component, it is known that the mounting head is equipped with a dust collecting filter (see, for example, Patent Document 1). ).

Specifically, in the component mounting device described in Patent Document 1, an air filter is provided in a suction nozzle that is used by loading the mounting head. Then, the component mounting device removes the suction nozzle from the mounting head and stores it in the nozzle station, and determines the brightness of the reflected light of the light applied from above to the air filter of the suction nozzle stored in the nozzle station. The dirty state of the air filter is detected based on the detected brightness.

Japanese Unexamined Patent Publication No. 2003-101292

By the way, the mounting head is composed of a tubular nozzle shaft and a suction nozzle detachably attached to the nozzle shaft, and the dust collecting filter may be mounted on the nozzle shaft instead of the suction nozzle. is there. However, the component mounting device described in Patent Document 1 detects a dirty state of a filter provided on a suction nozzle, and has a problem that it cannot be applied when a filter is mounted on a nozzle shaft.

This specification discloses a technique capable of determining the state of a filter mounted on a nozzle shaft.

The surface mounter disclosed in the present specification is a surface mounter that sucks parts and mounts them on a substrate, and is detachably attached to a tubular nozzle shaft and the nozzle shaft, and the nozzle shaft is attached to the nozzle shaft. A suction nozzle that attracts the parts by negative pressure supplied through the nozzle shaft, a dust collecting filter mounted inside the nozzle shaft, an imaging unit for imaging the inside of the nozzle shaft, and a control unit. The control unit takes an image of the inside of the nozzle shaft by the image pickup unit, and determines whether the filter is in a normal state or an abnormal state based on the image taken by the image pickup unit. Execute the judgment process.

According to the above surface mounter, the state of the filter mounted on the nozzle shaft can be determined.

Further, the imaging unit may image the inside of the nozzle shaft from the opening on the side of the nozzle shaft on which the suction nozzle is attached.

In the filter, the opening side of the nozzle shaft on the side where the suction nozzle is attached is the side exposed to dirt. According to the above surface mounter, since the inside of the nozzle shaft is imaged from the opening on the side where the suction nozzle of the nozzle shaft is attached, the state of dirt on the filter can be accurately determined.

Further, when the control unit determines in the determination process that the filter is in an abnormal state, the control unit may execute at least one of a process of notifying the abnormality of the filter and a process of automatically replacing the filter.

According to the above surface mounter, for example, when executing a process of notifying an abnormality of a filter, the operator can be notified that the filter is in an abnormal state, so that a component is mounted while the filter is in an abnormal state. It is possible to suppress mounting defects due to this. Further, when the process of automatically replacing the filter is executed, by automatically replacing the filter, it is possible to suppress a mounting defect due to mounting of parts while the filter is in an abnormal state.

Further, the control unit may execute the determination process when the filter is attached to the nozzle shaft.

According to the surface mounter described above, since the determination process is executed when the filter is mounted, it is possible to prevent the component from being mounted by using the filter in the abnormal state.

Further, the control unit may execute the determination process when the number of times of suction of the suction nozzle reaches the set number of times.

According to the surface mounter described above, it is possible to limit the continued use of the filter in an abnormal state.

Further, the control unit may execute the determination process when the operator instructs the execution of the determination process.

According to the surface mounter described above, the operator can let the surface mounter determine whether the filter is in a normal state or an abnormal state, if necessary.

Further, the control unit may execute the determination process when the suction nozzle is not attached to the nozzle shaft.

It is necessary to remove the suction nozzle to image the inside of the nozzle shaft, but it is inefficient to remove the suction nozzle only to image the inside of the nozzle shaft. According to the above surface mounter, it is possible to efficiently determine whether the suction nozzle is in a normal state or an abnormal state by executing the determination process when the suction nozzle is not attached for some reason.

Further, an air pressure sensor for detecting the air pressure in the nozzle shaft may be provided, and the control unit may execute the determination process when an abnormal air pressure is detected by the air pressure sensor.

If the filter is in an abnormal state, there is a high possibility that the air pressure sensor will detect the abnormal air pressure. According to the surface mounter described above, since the determination process is executed when an abnormal air pressure is detected by the air pressure sensor, it is possible to suppress the mounting of parts by using the filter in the abnormal state.

Further, the control unit detects the roundness of the filter on the image in the determination process, and the absolute value of the difference between the detected roundness and the roundness of the roundness is the first reference value. In the above case, it may be determined that the filter is in an abnormal state of being deformed.

According to the above surface mounter, it is possible to determine an abnormal state in which the filter is deformed by comparing the detected roundness with the roundness of the roundness.

Further, the control unit detects the size of the filter on the image in the determination process, and the absolute value of the difference between the detected size and the size detected when the filter is in the normal state is the second. If it is equal to or more than the reference value of, it may be determined that the filter is in an abnormal state in which the filter is deformed or the position of the filter in the axial direction of the nozzle shaft is defective.

According to the above surface mounter, by comparing the detected size of the filter with the size detected when the filter is in the normal state, the filter is deformed in an abnormal state or the filter in the axial direction of the nozzle shaft. It can be determined that the position of is one of the abnormal states which is defective.

Further, the control unit detects the overall pixel density of the filter on the image in the determination process, and if the detected overall pixel density is darker than the first reference density, the filter is not attached. It may be determined that the filter is in an abnormal state or the filter is in a dirty abnormal state.

According to the above surface mounter, it can be determined from the detected overall pixel density that it is either an abnormal state in which the filter is not attached or an abnormal state in which the filter is dirty.

Further, the filter is formed in a cup shape, and is mounted inside the nozzle shaft in a posture of opening toward the side opposite to the opening side of the nozzle shaft on the side where the suction nozzle is attached. In the determination process, the control unit detects the central pixel density of the filter on the image, and when the detected central pixel density is darker than the second reference density, the filter is mounted in the opposite direction. It may be determined that the abnormal state is, the abnormal state in which the filter is not attached, or the abnormal state in which the filter is dirty.

According to the above surface mounter, from the detected central pixel density, either an abnormal state in which the filter is mounted in the opposite direction, an abnormal state in which the filter is not mounted, or an abnormal state in which the filter is dirty You can judge that there is.

Further, an air pressure sensor for detecting the air pressure in the nozzle shaft is provided, and the control unit detects the air pressure by the air pressure sensor in the determination process, and the detected air pressure is less than the third reference value. If this is the case, it may be determined that the filter is not attached to the abnormal state.

According to the above surface mounter, it is possible to determine from the air pressure detected by the air pressure sensor whether or not it is in an abnormal state in which the filter is not attached.

Top view of the surface mounter according to the first embodiment Side view of the head unit and head transport unit as viewed from the front side Cross-sectional view of nozzle shaft, suction nozzle and filter Perspective view of the filter Block diagram showing the electrical configuration of the surface mounter Schematic diagram for explaining automatic filter replacement (removal) Schematic diagram for explaining automatic filter replacement (installation) Schematic diagram for explaining the relationship between the state of the filter and the image and features Filter check flowchart Flowchart to explain when to perform a filter check Flowchart to explain when to perform a filter check Flowchart to explain when to perform a filter check Flowchart to explain when to perform a filter check Flowchart to explain when to perform a filter check Schematic diagram for explaining the relationship between the state of the filter and the feature amount according to the second embodiment.

<Embodiment 1>
The first embodiment will be described with reference to FIGS. 1 to 14. In the following description, the left-right direction shown in FIG. 1 is referred to as an X-axis direction, the front-back direction is referred to as a Y-axis direction, and the up-down direction shown in FIG. 2 is referred to as a Z-axis direction. Further, in the following description, the right side shown in FIG. 1 is referred to as an upstream side, and the left side is referred to as a downstream side. Further, in the following description, the reference numerals of the drawings may be omitted for the same constituent members except for a part.

(1) Overall Configuration of Surface Mounter The overall configuration of the surface mounter 1 according to the first embodiment will be described with reference to FIGS. 1 to 14. The surface mounter 1 attracts component E (see FIG. 1) and mounts it on a printed circuit board (not shown), and has a base 10, a conveyor 11, four component supply devices 12, a head unit 13, and It includes a head transport unit 14, two component imaging cameras 15 (an example of an imaging unit), a nozzle changer 16, a filter changer 17, a control unit 51 shown in FIG. 5, an operation unit 52, a nozzle imaging camera 19, and the like.

As shown in FIG. 1, the base 10 has a rectangular shape in a plan view and a flat upper surface. The rectangular frame A shown by the alternate long and short dash line in FIG. 1 indicates the working position when the component E is mounted on the printed circuit board.

The conveyor 11 carries the printed circuit board from the upstream side in the X-axis direction to the working position A, and carries out the printed circuit board on which the component E is mounted at the working position A 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, a conveyor drive motor 63 that drives the conveyor belts 11A and 11B (see FIG. 5), and the like.

The parts supply device 12 is arranged at two locations along the X-axis direction on both sides of the conveyor 11 in the Y-axis direction, for a total of four locations. A plurality of feeders 20 are attached to these component supply devices 12 side by side in the X-axis direction.
Each feeder 20 is a so-called tape feeder, and is a reel (not shown) on which a component tape (not shown) containing a plurality of parts E is wound, and an electric sending device (not shown) that pulls out the component tape from the reel. (Fig.) Etc. are provided, and parts E are supplied one by one from a part supply position provided at an end on the transfer conveyor 11 side.

Although the component supply device 12 for supplying the component E using the tape feeder will be described here as an example, the component supply device 12 may supply a tray or a semiconductor wafer on which the component E is placed. Good.

The head unit 13 supports a plurality of (here, five) mounting heads 21 so as to be able to move up and down and rotatably around an axis. The head unit 13 according to this embodiment is a so-called in-line type, and a plurality of mounting heads 21 are arranged side by side in the X-axis direction. Further, the head unit 13 includes a Z-axis servomotor 61 (see FIG. 5) that raises and lowers these mounting heads 21 individually, and an R-axis servomotor 62 (see FIG. 5) that simultaneously rotates these mounting heads 21 around an axis. ) Etc. are provided.

As shown in FIG. 2, each mounting head 21 is attached to the nozzle shaft 22, the suction nozzle 23 detachably attached to the lower end of the nozzle shaft 22, and the dust collecting not shown inside the nozzle shaft 22. Has a filter 30 (see FIG. 4). Negative pressure and positive pressure are supplied to the suction nozzle 23 from the air supply device via the nozzle shaft 22. The suction nozzle 23 sucks the component E when a negative pressure is supplied, and releases the component E when a positive pressure is supplied.

Further, as shown in FIG. 2, each nozzle shaft 22 is provided with an air pressure sensor 18 for detecting the air pressure in the nozzle shaft 22.
Further, the head unit 13 is provided with a suction nozzle 23 and a nozzle imaging camera 19 (see FIG. 5) (see FIG. 5) that images the component E sucked by the suction nozzle 23 from the horizontal direction. The nozzle imaging camera 19 is for determining the posture of the component E sucked on the suction nozzle 23, whether or not the suction nozzle 23 is attached to the nozzle shaft 22, and the like.

Although the in-line type head unit 13 has been described here as an example, the head unit 13 may be, for example, a so-called rotary head in which a plurality of mounting heads 21 are arranged on the circumference.

The head transport unit 14 shown in FIG. 1 transports the head unit 13 in the X-axis direction and the Y-axis direction within a predetermined movable range. The head transport unit 14 includes a beam 24 that supports the head unit 13 so as to be reciprocally movable in the X-axis direction, a pair of Y-axis guide rails 25 that support the beam 24 so that they can be reciprocated in the Y-axis direction, and a head unit 13. The X-axis servomotor 59 reciprocates in the X-axis direction, the Y-axis servomotor 60 reciprocates the beam 24 in the Y-axis direction, and the like.

The component imaging camera 15 is for capturing an image of the component E adsorbed on the suction nozzle 23 from below to recognize the angle of the component E, the shape of the component E, and the like. The component image pickup camera 15 has a light source such as an LED that irradiates the component E, an image pickup element, and the like, and is provided with the image pickup surface facing upward.
Further, as will be described in detail later, the component imaging camera 15 is also used to determine the state of the filter 30 mounted on the nozzle shaft 22.

The nozzle changer 16 is for automatically replacing the suction nozzle 23, and is provided between the rear component supply device 12 and the conveyor 11 in a posture extending in the X-axis direction. The nozzle changer 16 has a nozzle station having a plurality of storage holes in which the suction nozzle 23 is stored, a shutter, a shutter drive unit for sliding the shutter, and the like.

The filter changer 17 is for automatically replacing the filter 30 mounted on the nozzle shaft 22, and has a plurality of convex members 17A (see FIG. 6) arranged in an upwardly convex posture. .. A description of automatic replacement of the filter 30 using the filter changer 17 will be described later.

(2) Nozzle Shaft, Filter, and Suction Nozzle Next, the nozzle shaft 22, the filter 30, and the suction nozzle 23 will be described more specifically with reference to FIGS. 3, 4, and 6 (A).
As shown in FIG. 3, the nozzle shaft 22 is formed in a cylindrical shape and is supported by the head unit 13 in a posture extending in the vertical direction. The lower end of the nozzle shaft 22 has a large inner diameter, and a dust collecting filter 30 is mounted inside. Here, the opening 22A on the lower side of the nozzle shaft 22 is an example of "the opening on the side where the suction nozzle of the nozzle shaft is attached".

As shown in FIG. 6A, an opening 22B is formed on the outer peripheral wall of the lower end portion of the nozzle shaft 22 to expose the filter 30 to the outside when the suction nozzle 23 is removed. The opening 22B is provided for removing the filter 30 when the filter 30 is automatically replaced. When the suction nozzle 23 is attached, the opening 22B is closed by the suction nozzle 23.
As shown in FIG. 4, the filter 30 is formed in a cup shape (in other words, a bottomed tubular shape) by a foaming agent or the like, and has a posture of opening upward (the opening side on the side where the suction nozzle of the nozzle shaft is attached). It is mounted inside the lower end of the nozzle shaft 22 in an example of a posture in which it opens toward the opposite side).

(3) Electrical Configuration of Surface Mount Machine As shown in FIG. 5, the surface mount machine 1 includes a control unit 51 and an operation unit 52. The control unit 51 includes an arithmetic processing unit 53, a motor control unit 54, a storage unit 55, an image processing unit 56, an external input / output unit 57, a feeder communication unit 58, and the like.

The arithmetic processing unit 53 includes a CPU, ROM, RAM, and the like, and controls each unit of the surface mounter 1 by executing a control program stored in the ROM.
The motor control unit 54 rotates each motor such as the X-axis servo motor 59, the Y-axis servo motor 60, the Z-axis servo motor 61, the R-axis servo motor 62, and the conveyor drive motor 63 under the control of the arithmetic processing unit 53.

Various types of data are stored in the storage unit 55. Various data includes information on the number and types of printed circuit boards to be produced, information on the types of parts E mounted on the printed circuit boards and mounting positions of each parts E, and parts held in the parts supply device 12. Information on the number and types of E, information on the mounting order of parts E, and the like are included.

The image processing unit 56 is configured to capture image signals output from the component image pickup camera 15 and the nozzle image pickup camera 19, and generates a digital image based on the output image signals.
The external input / output unit 57 is a so-called interface, and is configured to capture detection signals output from various sensors 64 (including the air pressure sensor 18) provided in the main body of the surface mounter 1. Further, the external input / output unit 57 is configured to perform operation control on various actuators 65 based on a control signal output from the arithmetic processing unit 53.

The feeder communication unit 58 is connected to the feeder 20 and controls the feeder 20 in an integrated manner.
The operation unit 52 includes a display device such as a liquid crystal display and an input device such as a touch panel, a keyboard, and a mouse. The operator can operate the operation unit 52 to give an instruction to execute the filter check described later.

(4) Automatic replacement of the filter using the filter changer In the automatic replacement of the filter, the filter 30 is automatically removed and the filter 30 is attached.
First, the removal of the filter 30 will be described with reference to FIG. When removing the filter 30, the control unit 51 moves the mounting head 21 above the convex member 17A as shown in FIG. 6A. Next, the control unit 51 lowers the mounting head 21 as shown in FIG. 6B, and compresses the filter 30 by the convex member 17A. Next, as shown in FIG. 6C, the control unit 51 raises the mounting head 21 to a height at which the upper end of the convex member 17A is located near the lower end of the opening 22B. Next, the control unit 51 causes the air supply device to supply a positive pressure as shown in FIG. 6 (D). When a positive pressure is supplied, the compressed filter 30 is blown out from the opening 22B. As a result, the filter 30 is removed.

Next, the attachment of the filter 30 will be described with reference to FIG. 7. As shown in FIG. 7A, when the filter 30 is attached, the filter 30 is first placed on the convex member 17A. The filter 30 may be placed manually by the operator, or may be automatically placed by providing a mechanism for placing the filter 30. Then, as shown in FIG. 7B, the control unit 51 lowers the mounting head 21 in that state and pushes the filter 30 to a predetermined position of the nozzle shaft 22. As a result, the filter 30 is attached.

(5) Judgment of Filter State The filter 30 may be in an abnormal state (in other words, an abnormal state) due to being dirty or deformed. If the filter 30 is in an abnormal state, the filter 30 cannot exhibit its performance, and the component E may be poorly attracted or poorly mounted (hereinafter referred to as poor suction and mounting).

Therefore, when the preset timing arrives, the control unit 51 executes a filter check (an example of the determination process) to determine the state of the filter 30. There are multiple timings for executing the filter check, and a description of these timings will be described later.
In the filter check, the control unit 51 images the inside of the nozzle shaft 22 from below by the component imaging camera 15 in a state where the suction nozzle 23 is not attached, analyzes the captured image, and detects the feature amount. Then, the control unit 51 determines the state of the filter 30 from the detected feature amount.

As will be described in detail later, in the present embodiment, the control unit 51 detects the negative air pressure in the shaft (an example of air pressure) by the air pressure sensor 18 provided on the nozzle shaft 22, and in addition to the above-mentioned image. The state of the filter 30 is also determined by using the negative air pressure in the shaft.

(5-1) Relationship between the state of the filter and the captured image and the feature amount First, the relationship between the state of the filter 30 and the captured image will be described with reference to FIG. Note that FIG. 8 shows the shape of the nozzle shaft 22 in a simplified form. The state of the filter 30 includes a normal state and an abnormal state. Here, deformation, improper position, upside down, forgetting to install, and dirt will be described as examples of abnormal states. The abnormal state described here is an example, and the abnormal state of the filter is not limited to these.

In the image when the filter 30 is in the normal state, the white portion represents the filter 30. When the filter 30 is in a normal state, the filter 30 has a circular shape having a substantially predetermined diameter in the captured image.

Deformation (an example of an abnormal state in which the filter is deformed) is an abnormal state in which the filter 30 has an irregular shape other than a circle when viewed from below due to being tilted or crushed. For example, if the filter is pushed too far by automatic replacement, such a state may occur. When the filter 30 is deformed, the filter 30 (the region represented by white) has an irregular shape other than a circle in the captured image.

Poor position (an example of an abnormal state in which the position of the filter in the axial direction of the nozzle shaft is defective) is an abnormal state in which the filter 30 is not pushed to the normal position and the vertical position is below the normal position. is there. In the case of a poor position, the distance between the filter 30 and the component imaging camera 15 becomes short, so that the diameter of the filter 30 becomes larger than the normal state in the captured image, and the filter 30 becomes brighter as a whole.

Upside down (an example of an abnormal state in which the filter is mounted upside down) is an abnormal state in which the filter 30 is mounted upside down. When the filter 30 is mounted upside down, the distance between the central portion of the filter 30 and the component imaging camera 15 becomes long, so that the central portion of the filter 30 becomes dark in the captured image.

Forgetting to attach (an example of an abnormal state in which the filter is not attached) is an abnormal state in which the filter 30 is not attached. For example, if the operator forgets to place the filter 30 on the convex member 17A at the time of automatic replacement of the filter, the installation is forgotten. If it is forgotten to be attached, the light emitted from the component imaging camera 15 is not reflected by the filter 30, so that the image becomes dark as a whole and the outline of the filter 30 cannot be recognized.

Dirt (an example of an abnormal state in which the filter is dirty) is an abnormal state in which dust and the like adhere to the lower surface of the filter 30 due to repeated suction and mounting. In the case of dirt, the light emitted from the component imaging camera 15 is less likely to be reflected by the filter 30, so that the image becomes darker as a whole and it becomes difficult to recognize the outline of the filter 30.

Next, the relationship between the state of the filter 30 and the feature amount will be described with reference to FIG. Here, as feature quantities, roundness, diameter, pixel density in the entire portion, pixel density in the central portion, and negative air pressure in the shaft will be described as examples. The roundness, diameter, overall pixel density, and central pixel density are feature quantities detected by analyzing the image, and the air negative pressure in the shaft is a feature quantity detected by the air pressure sensor 18.

・・・ 式１The roundness indicates whether or not the filter 30 is a perfect circle. In the present embodiment, the control unit 51 calculates the roundness by the following equation 1.

・ ・ ・ Equation 1

Here, c is the peripheral length of the filter 30, and S is the area of the filter 30. When the filter 30 is a perfect circle, the roundness is a constant value. Therefore, the control unit 51 compares the absolute value of the difference between the calculated roundness and the constant value with the preset first reference value, and is true if the difference is less than the first reference value. The roundness is judged to be good, and if it is equal to or higher than the first reference value, the roundness is judged to be bad. In FIG. 8, "○" means good and "x" means bad.

For example, when the filter 30 is deformed, it is not a perfect circle, so the difference is equal to or greater than the first reference value, and the roundness is “x”. If the filter 30 is forgotten to be attached or is dirty, the contour of the filter 30 cannot be recognized, so that the roundness cannot be measured.
The method for determining whether or not the filter 30 is a perfect circle is not limited to the above-mentioned method, and can be determined by an appropriate method.

・・・ 式２The diameter (an example of the size of the filter) indicates whether or not the diameter of the filter 30 matches the diameter in the normal state. In the present embodiment, the control unit 51 calculates the diameter of the filter 30 by the following equation 2.

・ ・ ・ Equation 2

Here, Ln (n is an integer of 1 to N) is the distance from the center of gravity of the contour of the filter 30 to each point on the contour. When the filter 30 is in the normal state, the calculated diameter substantially matches the diameter stored in advance. Therefore, the control unit 51 compares the absolute value of the difference between the calculated diameter and the diameter stored in advance with the second reference value, and if the difference is less than the second reference value, the diameter is set to "○". If it is equal to or greater than the second reference value, the diameter is set to "x".

For example, when the filter 30 is deformed, the diameter becomes smaller, so that the difference becomes greater than or equal to the second reference value. Further, even in the case of a poor position, the diameter becomes large, so that the difference becomes equal to or larger than the second reference value. Therefore, these have a diameter of "x". If the filter 30 is forgotten to be attached or is dirty, the contour of the filter 30 cannot be recognized, so the diameter cannot be measured.

The overall pixel density indicates whether or not the range within the radius r from the center of gravity of the contour of the filter 30 is bright. Here, the radius r refers to the radius of the filter 30 in the normal state. The control unit 51 compares the average density (or may be the total density) of the pixels within the radius r with the preset first reference density, and if the average density is equal to or higher than the first reference density, the whole unit The pixel density is set to "bright", and if it is less than the first reference density, the overall pixel density is set to "dark". Here, the pixel density is represented by, for example, 256 gradations from 0 (black) to 255 (white), and the closer it is to 255, the brighter it is.
For example, if the image is forgotten to be attached or is dirty, the image will be dark as a whole, so that the density will be less than the first reference density, and the pixel density of the entire portion will be "dark".

The central pixel density indicates whether or not the range within the radius r / 3 from the center of gravity of the contour of the filter 30 is bright. The control unit 51 compares the average density (or the total density) of the pixels within the radius r / 3 with the second reference density, and when the average density is equal to or higher than the second reference density, the central pixel density is set to ". If it is less than the second reference density, the central pixel density is set to "dark".

For example, in the case of upside down, the image becomes dark in the central portion, so that the density is less than the second reference density, and the pixel density in the central portion becomes “dark”. Even if the image is forgotten to be attached or is dirty, the image becomes dark as a whole, so the density becomes less than the second reference density, and the pixel density at the center becomes “dark”.
Here, the range within the radius r / 3 as the central portion has been described as an example, but the central portion is not limited to the range within the radius r / 3, and is appropriately set according to the shape of the filter 30. be able to.

The air negative pressure in the shaft is a pressure value detected by the air pressure sensor 18 provided on the nozzle shaft 22 as described above. If the installation is forgotten, the air negative pressure in the shaft does not increase even if a negative pressure is supplied to the nozzle shaft 22. On the other hand, the air negative pressure in the shaft becomes high except when the installation is forgotten. The control unit 51 compares the negative air pressure in the shaft with the preset third reference value, and if the negative air pressure in the shaft is less than the third reference value, the negative air pressure in the shaft is set to "small". If it is equal to or higher than the third reference value, the negative air pressure in the shaft is set to "normal".

As shown in FIG. 8, the control unit 51 can determine whether the filter 30 is in a normal state or an abnormal state from the roundness, the diameter, the overall pixel density, and the central pixel density. Then, in the case of an abnormal state, the control unit 51 can determine which of the abnormal state is deformation, improper position, upside down, or "forgot to install or dirty". For example, if the roundness is poor, it can be determined that the state is deformed and abnormal.
The reason for "forgot to install or dirty" here is that it is not possible to judge whether the image is forgotten to install or dirty from the image alone. Whether it is forgotten to install or dirty can be determined by whether the air negative pressure in the shaft is "small" or "normal".

(5-2) Filter Check Next, the flow of the filter check will be described with reference to FIG. In the filter check, the control unit 51 determines the state of the filter 30, and in the case of an abnormal state, turns on the state flag corresponding to the abnormal state. Here, there are five state flags: a deformation flag, a position defect flag, an upside down flag, a forget-to-install flag, and a dirt flag. Off means a normal state, and on means an abnormal state.

Here, the filter check is performed in a state where the suction nozzle 23 is not attached to the nozzle shaft 22. Here, the description will be made on the premise that the suction nozzle 23 is not attached to the nozzle shaft 22.

In S101, the control unit 51 initializes each state flag to off (that is, a normal state).
In S102, the control unit 51 controls the head unit 13 to move the nozzle shaft 22 above the component imaging camera 15, and the component imaging camera 15 images the inside of the nozzle shaft 22 from below.

In S103, the control unit 51 analyzes the captured image and calculates the feature amounts (roundness, diameter, overall pixel density, and central pixel density) of the filter 30.
In S104, the control unit 51 makes a primary filter state determination based on the calculated feature amount. In the filter state primary determination, the control unit 51 determines whether the state of the filter 30 is a normal state, deformation, improper position, upside down, or "forgot to install or dirty".

In S105, the control unit 51 determines from the determination result of S104 whether or not the filter 30 is in an abnormal state (that is, deformation, misalignment, upside down, or "forgot to install or dirty"), and if it is not in an abnormal state. (That is, in the case of a normal state), this process ends, and in the case of an abnormal state, the process proceeds to S106.
In S106, the control unit 51 determines whether or not the abnormal state is "forgot to install or dirty", proceeds to S107 if "forgot to install or dirty", and in other cases (that is, deformation, misalignment, or dirt). , Upside down) proceeds to S108.

In S107, the control unit 51 makes a secondary determination of the filter state. In the secondary determination of the filter state, the control unit 51 controls the air supply device to supply a negative pressure to the nozzle shaft 22, and the air pressure sensor 18 detects the negative air pressure in the shaft. Then, the control unit 51 determines that the installation is forgotten when the negative air pressure in the shaft is less than the third reference value, and determines that it is dirty when it is equal to or more than the third reference value.
In S108, the control unit 51 turns on the state flag corresponding to the determined abnormal state among the five state flags of the nozzle shaft 22.

(5-3) Timing of executing the filter check Next, the timing of executing the filter check will be described. Here, the following five timings will be described as examples of the timings for executing the filter check.

(A) When the filter 30 is attached (or replaced) to the nozzle shaft 22 by automatic filter replacement (b) When the number of suctions of the suction nozzle 23 reaches the set number (c) Execution of the filter check by the operator (D) When it is detected that the suction nozzle 23 is not attached to the nozzle shaft 22 by confirming the attachment of the suction nozzle 23 (e) An abnormal negative air pressure in the shaft is detected by the air pressure sensor 18. When

Hereinafter, the processing executed by the control unit 51 when each timing arrives will be described. In addition, in order to facilitate understanding, in the following description, it is assumed that the number of mounting heads provided in the head unit is only one. Further, in the following description, the same reference numerals will be given to the processes that are substantially the same as the processes already described, and the description thereof will be omitted.

First, with reference to FIG. 10, “(a) when the filter 30 is attached (or replaced) to the nozzle shaft 22 by automatic replacement of the filter” will be described.
Here, the automatic filter replacement may be executed when the operator operates the operation unit 52 to instruct the automatic replacement of the filter 30, or when the operating time of the surface mounter 1 reaches the specified time. It may be executed when the number of times that the suction mounting operation is performed reaches the set number of times. In what case the automatic replacement of the filter 30 is performed can be appropriately determined.

In S201, the control unit 51 automatically replaces the filter 30.
In S202, the control unit 51 executes a filter check.
In S203, the control unit 51 determines whether or not any of the state flags is on (abnormal state), and if any of the state flags is on, the process proceeds to S204, and all the state flags are off (normal state). ), This process ends.

In S204, the control unit 51 executes a process of notifying the operator of an abnormality of the filter 30 or a process of automatically replacing the filter 30. The abnormality can be notified by an appropriate method. For example, it may be performed by displaying a warning message on a display device, or by issuing a warning sound. The control unit 51 may execute both a process of notifying an abnormality of the filter 30 and a process of automatically exchanging the filter.

Next, with reference to FIG. 11, “(b) when the number of times of suction of the suction nozzle 23 reaches the set number of times” will be described. The process described below is executed every time one component E is mounted on the printed circuit board by the suction nozzle 23.
In S301, the control unit 51 adds 1 to the number of times of adsorption.
In S302, the control unit 51 determines whether or not the number of times of adsorption has reached the set number of times, and if not, the present process is terminated, and if it has been reached, the process proceeds to S303.

In S303, the control unit 51 removes the suction nozzle 23 mounted on the nozzle shaft 22 and stores it in the nozzle station.
Since the processes of S202 to S204 are as described above, the description thereof will be omitted.
In S304, the control unit 51 attaches the suction nozzle 23 to the nozzle shaft 22.

Next, with reference to FIG. 12, “(c) when the operator instructs the execution of the filter check” will be described.
In S401, the control unit 51 removes the suction nozzle 23 mounted on the nozzle shaft 22 and stores it in the nozzle station.
Since the processes of S202 to S204 and S304 are as described above, the description thereof will be omitted.

Next, with reference to FIG. 13, “(d) when it is detected that the suction nozzle 23 is not attached to the nozzle shaft 22 by confirming the attachment of the suction nozzle 23” will be described.
Here, the attachment confirmation of the suction nozzle 23 may be performed every time the operation of the surface mounter 1 is started, or the cover is opened while the surface mounter 1 is stopped in order to reduce unnecessary confirmation. It may be performed at the start of operation only in the case. This is because if the cover is not opened, it is unlikely that the suction nozzle 23 has been removed, so it is not necessary to confirm the installation.

Alternatively, when the surface mounter 1 returns from the emergency stop, the attachment confirmation of the suction nozzle 23 may be executed. This is because, in the case of an emergency stop, the operator may have opened the cover and removed the suction nozzle 23, and at that time, the suction nozzle 23 may have been forgotten to be attached. When to confirm the attachment of the suction nozzle 23 can be appropriately determined.

In S501, the control unit 51 executes confirmation of attachment of the suction nozzle 23. In the confirmation of attachment of the suction nozzle 23, the control unit 51 takes an image of the mounting head 21 from the horizontal direction by the nozzle imaging camera 19, and determines from the image taken whether or not the suction nozzle 23 is attached.
In S502, the control unit 51 determines whether or not the suction nozzle 23 is attached, proceeds to S202 if the suction nozzle 23 is not attached, and ends this process if it is attached.
Since the processes of S202 to S204 and S304 are as described above, the description thereof will be omitted.

Next, with reference to FIG. 14, “(e) when an abnormal negative air pressure in the shaft is detected by the air pressure sensor 18” will be described.
Here, the detection of the negative air pressure in the shaft by the air pressure sensor 18 may be performed every time the operation of the surface mounter 1 is started, or only when the cover is opened while the surface mounter 1 is stopped. It may be performed at the start of operation. In what case the negative air pressure in the shaft is detected can be appropriately determined.

In S601, the control unit 51 detects the negative air pressure in the shaft by the air pressure sensor 18.
In S602, the control unit 51 proceeds to S603 when the negative air pressure in the shaft is less than the reference value, and ends this process when it is equal to or more than the reference value.
In S603, the control unit 51 removes the suction nozzle 23 mounted on the nozzle shaft 22 and stores it in the nozzle station.
Since the processes of S202 to S204 and S304 are as described above, the description thereof will be omitted.

(6) Effect of Embodiment According to the surface mounter 1 according to the first embodiment described above, the state of the filter 30 mounted on the nozzle shaft 22 can be determined.

Further, according to the surface mounter 1, the inside of the nozzle shaft 22 is imaged from the opening 22A facing the lower side of the nozzle shaft 22 (that is, the opening on the side where the suction nozzle 23 of the nozzle shaft 22 is attached). Since the lower side is the side where the filter 30 is exposed to dirt, if the inside of the nozzle shaft 22 is imaged from the lower opening 22A, the state of dirt on the filter 30 can be accurately determined.

Further, according to the surface mounter 1, when it is determined that the filter 30 is not in a normal state, at least one of a process of notifying an abnormality of the filter 30 and a process of automatically replacing the filter 30 is executed. For example, when executing the process of notifying the abnormality of the filter 30, the operator can be notified that the filter 30 is in the abnormal state, so that the component E is sucked and mounted while the filter 30 is in the abnormal state. It is possible to suppress improper mounting. Further, when the process of automatically replacing the filter 30 is executed, the filter 30 is automatically replaced to suppress the suction and mounting failure due to the component E being sucked and mounted while the filter 30 is in an abnormal state. Can be done.

Further, according to the surface mounter 1, since the filter check is executed when the filter 30 is mounted on the nozzle shaft 22, it is possible to prevent the component E from being mounted by using the filter 30 in the abnormal state. ..

Further, according to the surface mounter 1, since the filter check is executed when the number of times of suction of the suction nozzle 23 reaches the set number of times, it is possible to limit that the filter 30 in the abnormal state continues to be used.

Further, according to the surface mounter 1, the filter check is executed when the operator instructs the execution of the filter check, so that the operator mounts the filter 30 in a normal state or an abnormal state as necessary. You can let the machine 1 make a decision.

Further, according to the surface mounter 1, the filter check is executed when the suction nozzle 23 is not attached to the nozzle shaft 22. It is necessary to remove the suction nozzle 23 in order to image the inside of the nozzle shaft 22, but it is inefficient to remove the suction nozzle 23 only to image the inside of the nozzle shaft 22. According to the surface mounter 1, it is possible to efficiently determine whether the suction nozzle 23 is in a normal state or an abnormal state by executing a filter check when the suction nozzle 23 is not attached for some reason. ..

Further, according to the surface mounter 1, a filter check is executed when an abnormal air pressure (pressure less than the above-mentioned reference value) is detected by the air pressure sensor 18. For example, when the filter 30 is not attached, the air pressure sensor 18 detects an abnormal air pressure. According to the surface mounter 1, since the filter check is executed when an abnormal air pressure is detected, it is possible to prevent the component E from being mounted by using the filter 30 in the abnormal state.

Further, according to the surface mounter 1, the deformation of the filter 30 can be determined by comparing the detected roundness with the roundness of the roundness.

Further, according to the surface mounter 1, by comparing the detected diameter (the size of the filter 30) with the diameter detected when the filter 30 is in the normal state, the abnormal state of the filter 30 is deformed or misaligned. It can be determined that it is either.

Further, according to the surface mounter 1, it can be determined from the detected overall pixel density that the abnormal state of the filter 30 is either forgotten to be attached or dirty.

Further, according to the surface mounter 1, it can be determined from the detected central pixel density that the abnormal state of the filter 30 is either upside down, forgotten to be attached, or dirty.

Further, according to the surface mounter 1, when the abnormal state of the filter 30 is either forgotten to be attached or dirty, whether or not the filter 30 is forgotten to be attached is determined from the negative air pressure in the shaft detected by the air pressure sensor 18. You can judge.

<Embodiment 2>
Next, the second embodiment will be described with reference to FIG. In the second embodiment, the deformation and the defective position of the filter are classified in more detail.

In FIG. 15, "deformation and defective diameter" is an abnormal state in which the filter is deformed and the diameter is also defective. That is, "deformation and poor diameter" corresponds to "deformation" of the first embodiment. The control unit 51 according to the second embodiment determines that the roundness is poor and the diameter is smaller than the diameter in the normal state as "deformation and poor diameter".
"Deformed and good diameter" is an abnormal state in which the filter is deformed but the diameter is good. Even if the filter is deformed, the diameter may be good depending on the deformation method. Therefore, when the roundness is poor and the diameter is good, the control unit 51 determines that it is "deformed and has a good diameter".

"Poor position (bottom)" is an abnormal state in which the vertical position of the filter is below the normal position. That is, "Poor position (bottom)" corresponds to "Poor position" of the first embodiment. When the roundness is good and the diameter is larger than the diameter in the normal state, the control unit 51 determines that the position is defective (bottom).
"Poor position (upper)" is an abnormal state in which the vertical position of the filter is above the normal position. If the filter is pushed too far, the filter may be misaligned above the normal position. If the filter is above the normal position, the diameter will be smaller. Therefore, when the roundness is good and the diameter is smaller than the diameter in the normal state, the control unit 51 determines that the position is defective (upper).

"Poor position (bottom) and deformation" is an abnormal state in which the vertical position of the filter is below the normal position and the filter is deformed. If the filter is deformed, the roundness will be poor. Further, if the vertical position of the filter is lower than the normal position, the diameter becomes large. Therefore, if the roundness is poor and the diameter is larger than the diameter in the normal state, the control unit 51 determines that the position is poor (bottom) and deformed. If the roundness is poor and the diameter is smaller than the diameter in the normal state, the control unit 51 determines that the above-mentioned "deformation and diameter is poor".

According to the surface mounter 1 according to the second embodiment described above, the abnormal state of the filter can be determined in more detail.

<Other embodiments>
The technology disclosed herein is not limited to the embodiments described above and in the drawings, and for example, the following embodiments are also included in the technical scope disclosed herein.

(1) In the above-described first embodiment, five abnormal states have been described as an example, but the abnormal states are not limited to these, and if the abnormal states can be determined based on the image, the abnormal states other than these can be used. You may judge. Alternatively, instead of judging all the above-mentioned five abnormal states, only one of the abnormal states may be judged.

(2) In the above embodiment, the cup-shaped filter 30 has been described as an example, but the filter 30 does not necessarily have to be cup-shaped, and may be, for example, a disk-shaped filter. In that case, it is not necessary to detect the central pixel density.

(3) In the above embodiment, the case where the filter 30 is automatically replaced has been described as an example, but the operator may manually replace the filter 30 using tweezers or the like. However, in that case, deformation, improper position, forgetting to install, etc. may easily occur.

(4) In the above embodiment, the case where the inside of the nozzle shaft 22 is imaged from the lower opening 22A (the opening on the side where the suction nozzle 23 of the nozzle shaft 22 is attached) is described as an example. On the other hand, since the nozzle shaft 22 is also formed with an opening 22B for removing the filter, the nozzle imaging camera 19 may take an image of the inside of the nozzle shaft 22 from the opening 22B.

(5) In the above embodiment, the case where it is determined whether the installation is forgotten or dirty by the air negative pressure in the shaft in the case of either "forgot to install or dirty" has been described as an example, but the forgotten installation is also dirty. Is still in an abnormal state, so it is not necessary to judge which one it is.

(6) In the above embodiment, a plurality of timings have been described as examples of the timing for executing the filter check, but the timing for executing the filter check is not limited to these, and can be executed at an appropriate timing.

(7) In the above embodiment, the case where whether or not the suction nozzle is attached is determined by the nozzle imaging camera 19 has been described as an example, but it may be determined by the component imaging camera 15, or the case where the camera is not used is used. You may judge by the method of.

(8) In the above embodiment, the case where the surface mounter 1 is provided with the air pressure sensor 18 has been described as an example, but the surface mounter 1 does not necessarily have to be provided with the air pressure sensor 18.

(9) In the above embodiment, the case where the cross section of the internal space of the nozzle shaft 22 is circular and the cross section of the filter 30 is also circular has been described as an example. However, the cross section of the internal space of the nozzle shaft 22 is not limited to a circle, and may be, for example, a square. In that case, the cross section of the filter is also formed into a square. Then, in that case, an index other than roundness is used as an index indicating the degree of deformation of the filter. That is, the index indicating the degree of deformation of the filter is not limited to the roundness, and an appropriate index can be used according to the shape of the filter.

1 ... Surface mounter, 15 ... Parts imaging camera (example of imaging unit), 18 ... Air pressure sensor, 19 ... Nozzle imaging camera, 22 ... Nozzle shaft, 22A ... Aperture (on the side of the nozzle shaft to which the suction nozzle is attached) Example of opening), 23 ... suction nozzle, 24 ... beam, 30 ... filter, 51 ... control unit, E ... parts

Claims (13)

A surface mounter that attracts parts and mounts them on a board.
With a tubular nozzle shaft
A suction nozzle that is detachably attached to the nozzle shaft and attracts the component by negative pressure supplied via the nozzle shaft,
A dust collecting filter mounted inside the nozzle shaft,
An imaging unit for imaging the inside of the nozzle shaft and
Control unit and
With
Wherein the control unit imaging an interior of the nozzle shaft by the imaging unit, wherein the filter performs a determination process to determine based on the image captured by either the image pickup unit is or abnormal state in a normal state ,
The abnormal state of the filter is at least one of a state in which the filter is deformed, a state in which the position of the filter in the axial direction of the nozzle shaft is defective, and a state in which the filter is mounted in the opposite direction. Is a surface mounter. The surface mounter according to claim 1, wherein the imaging unit images the inside of the nozzle shaft from an opening on the side of the nozzle shaft on which the suction nozzle is attached. When the control unit determines that the filter is in an abnormal state in the determination process, the control unit executes at least one of a process of notifying the abnormality of the filter and a process of automatically replacing the filter, claim 1 or claim 2. The surface mounter described in. The surface mounter according to any one of claims 1 to 3 , wherein the control unit executes the determination process when the number of times of suction of the suction nozzle reaches a set number of times. The surface mounter according to any one of claims 1 to 4 , wherein the control unit executes the determination process when the operator instructs the execution of the determination process. The surface mounter according to any one of claims 1 to 5 , wherein the control unit executes the determination process when the suction nozzle is not attached to the nozzle shaft. An air pressure sensor for detecting the air pressure in the nozzle shaft is provided.
The surface mounter according to any one of claims 1 to 6 , wherein the control unit executes the determination process when an abnormal air pressure is detected by the air pressure sensor. A surface mounter that attracts parts and mounts them on a board.
With a tubular nozzle shaft
A suction nozzle that is detachably attached to the nozzle shaft and that attracts the component by the negative pressure supplied through the nozzle shaft.
A dust collecting filter mounted inside the nozzle shaft,
An imaging unit for imaging the inside of the nozzle shaft and
Control unit and
With
The control unit
The inside of the nozzle shaft is imaged by the imaging unit, and a determination process is executed to determine whether the filter is in a normal state or an abnormal state based on the image captured by the imaging unit.
A surface mounter that executes the determination process when the filter is mounted on the nozzle shaft. A surface mounter that attracts parts and mounts them on a board.
With a tubular nozzle shaft
A suction nozzle that is detachably attached to the nozzle shaft and that attracts the component by the negative pressure supplied through the nozzle shaft.
A dust collecting filter mounted inside the nozzle shaft,
An imaging unit for imaging the inside of the nozzle shaft and
Control unit and
With
The control unit takes an image of the inside of the nozzle shaft by the image pickup unit, and executes a determination process of determining whether the filter is in a normal state or an abnormal state based on the image taken by the image pickup unit. ,
In the determination process, the roundness of the filter is detected on the image, and when the absolute value of the difference between the detected roundness and the roundness of the roundness is equal to or greater than the first reference value, the filter A surface mounter that determines that it is in a deformed abnormal state. A surface mounter that attracts parts and mounts them on a board.
With a tubular nozzle shaft
A suction nozzle that is detachably attached to the nozzle shaft and that attracts the component by the negative pressure supplied through the nozzle shaft.
A dust collecting filter mounted inside the nozzle shaft,
An imaging unit for imaging the inside of the nozzle shaft and
Control unit and
With
The control unit takes an image of the inside of the nozzle shaft by the image pickup unit, and executes a determination process of determining whether the filter is in a normal state or an abnormal state based on the image taken by the image pickup unit. ,
In the determination process, the size of the filter is detected on the image, and when the absolute value of the difference between the detected size and the size detected when the filter is in the normal state is equal to or larger than the second reference value. , A surface mounter that determines that the filter is in an abnormal state of being deformed or in an abnormal state in which the position of the filter in the axial direction of the nozzle shaft is defective. A surface mounter that attracts parts and mounts them on a board.
With a tubular nozzle shaft
A suction nozzle that is detachably attached to the nozzle shaft and that attracts the component by the negative pressure supplied through the nozzle shaft.
A dust collecting filter mounted inside the nozzle shaft,
An imaging unit for imaging the inside of the nozzle shaft and
Control unit and
An air pressure sensor that detects the air pressure in the nozzle shaft ,
With
The control unit takes an image of the inside of the nozzle shaft by the image pickup unit, and executes a determination process of determining whether the filter is in a normal state or an abnormal state based on the image taken by the image pickup unit. ,
A surface mounter that detects air pressure by the air pressure sensor in the determination process, and if the detected air pressure is less than the third reference value, it is determined that the filter is not attached and is in an abnormal state. The control unit detects the overall pixel density of the filter on the image in the determination process, and if the detected overall pixel density is darker than the first reference density, an abnormal state in which the filter is not attached. The surface mounter according to any one of claims 1 to 11 , wherein it is determined that the filter is in an abnormal state in which the filter is dirty. The filter is formed in a cup shape, and is mounted inside the nozzle shaft in a posture of opening toward the side opposite to the opening side of the nozzle shaft on which the suction nozzle is attached.
In the determination process, the control unit detects the central pixel density of the filter on the image, and when the detected central pixel density is darker than the second reference density, the filter is mounted in the opposite direction. The surface mount according to any one of claims 1 to 12 , which is determined to be an abnormal state in which the filter is attached, an abnormal state in which the filter is not attached, or an abnormal state in which the filter is dirty. Machine.

Images