JP7108695B2 - Control device for component mounting machine - Google Patents

Description

The present invention relates to a management device for a component mounting machine.

The component mounting machine executes a mounting process for mounting a component at a predetermined position on the board. A holding member that is used to hold a component in the mounting process may change its state, such as dirt adhering to it, as it is used. Patent Literature 1 discloses a configuration for performing maintenance such as cleaning and inspection of a suction nozzle, which is one of the holding members. Maintenance of the holding member is performed periodically according to, for example, the period of use and the number of times of use. Further, when it is presumed that one of the causes of the error that occurred in the mounting process is the holding member, maintenance of the holding member may be performed.

WO2016/016929

As described above, the holding member requires maintenance for the purpose of maintaining the performance of the holding member. On the other hand, if maintenance of the holding member is performed more than necessary, the workload may increase.

An object of the present specification is to provide a management apparatus for a component mounting machine that can reduce the workload involved in maintaining the performance of a holding member by more reliably determining whether maintenance of the holding member is required.

The present specification is directed to a management apparatus applied to a component mounting machine, wherein the component mounting machine includes a holding member that holds the component in a mounting process for mounting the component on a substrate; a first camera that captures an image of a component; and a control device that executes the mounting process using first image data acquired by capturing the image of the first camera, wherein the management device is the same as the first camera. second image data acquired by imaging the holding member in a state where the component is not held by a second camera capable of imaging the holding member at an angle before execution of the mounting process; and the second image data. a storage unit for storing reference data that is at least one of the results of predetermined image processing performed on the component; and a determination unit that determines whether or not maintenance of the holding member is necessary based on the first image data.

According to such a configuration, whether or not maintenance of the holding member is necessary is determined based on the reference data and the first image data, so changes in the state of the holding member can be reflected in the determination process. As a result, it is possible to recognize that the holding member is soiled or deformed, and to more accurately determine whether maintenance of the holding member is necessary. Therefore, the workload associated with maintaining the performance of the holding member can be reduced.

BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic diagram which shows the production system containing the component mounting machine and management apparatus in embodiment. FIG. 4 is an enlarged side view showing the inside of the mounting head and the head camera unit; 4 is a flowchart showing mounting processing by a component mounting machine; It is a figure which shows the downward view image data acquired by the imaging of the components camera. FIG. 4 is a diagram showing side-view image data acquired by imaging with a head camera unit; 6 is a flow chart showing suction nozzle management processing by a management device.

1. Overview of Management Apparatus for Component Mounting Machine The management apparatus manages holding members used in the mounting process by the component mounting machine 10 . The component mounting machine 10 described above constitutes, for example, a production line for producing various board products. The production line is configured by installing a plurality of board-facing working machines including the component mounting machine 10 in the conveying direction of the board 80 . Each of the plurality of board-working machines is communicably connected to the host computer 61 .

2. Configuration of Component Mounting Machine 10 The component mounting machine 10 executes mounting processing for mounting components on the substrate 80 . As shown in FIG. 1, the component mounting machine 10 includes a substrate conveying device 11, a component supply device 12, a component transfer device 13, a component camera 14, a substrate camera 15, a nozzle station 16, a head camera unit 30, and a control device 40. Prepare. In the following description, the horizontal direction, which is the left-right direction of the component mounting machine 10, is defined as the X direction, and the horizontal direction intersecting the X direction, which is the front-rear direction of the component mounting machine 10, is defined as the Y direction. The perpendicular direction (the front-rear direction in FIG. 1) is defined as the Z-direction.

The substrate transport device 11 is composed of a belt conveyor, a positioning device, and the like. The substrate conveying device 11 sequentially conveys the substrates 80 in the conveying direction and positions the substrates 80 at predetermined positions within the apparatus. After the component mounting process by the component mounting machine 10 is completed, the board transfer device 11 carries the board 80 out of the component mounting machine 10 .

The component supply device 12 supplies components to be mounted on the board 80 . The component supply device 12 includes a plurality of slots 121 arranged side by side in the X direction, and feeders 122 set in the plurality of slots 121 respectively. A feeder 122 feeds and moves a carrier tape containing a large number of components. As a result, the feeder 122 supplies components so that they can be picked up at the supply position provided on the tip side of the feeder 122 .

The component transfer device 13 transfers the component supplied by the component supply device 12 to a predetermined mounting position on the substrate 80 carried into the machine by the substrate transfer device 11 . The head driving device 131 of the component transfer device 13 moves the moving table 132 in the horizontal direction (X direction and Y direction) by a linear motion mechanism. The mounting head 20 is exchangeably fixed to the moving table 132 by a clamp member (not shown).

The mounting head 20 supports a plurality of suction nozzles 23 horizontally movably and detachably in the apparatus. The suction nozzle 23 sucks the component supplied from the feeder 122 by the supplied negative pressure air. As described above, the suction nozzle 23 is a holding member that sucks and holds a component with the supplied negative pressure air. As the above holding member, a chuck for gripping and holding a component can be adopted in addition to the suction nozzle 23 . A detailed configuration of the mounting head 20 will be described later.

The component camera 14, board camera 15, and head camera unit 30 are digital imaging devices having imaging elements such as CMOS. The component camera 14, the board camera 15, and the head camera unit 30 perform imaging based on control signals input from the outside, and transmit image data obtained by the imaging.

The component camera 14 is fixed to the base of the component mounting machine 10 so that the optical axis faces upward in the Z direction. The component camera 14 is configured to be able to image the component held by the suction nozzle 23 of the mounting head 20 from below. The substrate camera 15 is provided on the moving table 132 of the component transfer device 13 so that the optical axis faces downward in the Z direction. The board camera 15 is configured to be able to image the board 80 from above.

The head camera unit 30 is provided on the mounting head 20 as shown in FIG. The head camera unit 30 subjects the suction nozzle 23 attached to the mounting head 20 and the component 91 held by the suction nozzle 23 . The head camera unit 30 is configured to be able to image a subject from the side while irradiating the subject with light. A detailed configuration of the head camera unit 30 will be described later.

The nozzle station 16 exchangeably holds a plurality of suction nozzles 23 . The nozzle station 16 holds the plurality of suction nozzles 23 in a posture in which the tips of the plurality of suction nozzles 23 are directed downward. The nozzle station 16 is detachably provided on the base of the component mounting machine 10 .

The control device 40 is mainly composed of a CPU, various memories, and a control circuit. The control device 40 executes a mounting process for mounting components on the board 80 . In the above-described mounting process, a pick-and-place cycle (hereinafter referred to as a "PP cycle") for picking up the components supplied by the component supply device 12 and mounting the components at the mounting positions on the substrate 80 is repeated a plurality of times. Includes repetitive processing. The details of the mounting process by the component mounting machine 10 will be described later.

3. Detailed Configuration of Mounting Head 20 The mounting head 20 has a rotary head 21 rotatable around the R-axis parallel to the Z-axis. As shown in FIGS. 2 and 4, the rotary head 21 has a cylindrical overall shape. The rotary head 21 has a plurality (12 in this embodiment) of holders 22 arranged at equal intervals in the circumferential direction on a circumference concentric with the R axis. The rotary head 21 supports a plurality of holders 22 slidably in the Z direction. Suction nozzles 23 are replaceably attached to the lower ends of the plurality of holders 22 .

Compression springs 24 are arranged on the outer peripheral sides of the plurality of holders 22, respectively. A compression spring 24 urges the holder 22 upward against the rotary head 21 . As a result, each of the plurality of holders 22 is positioned at the rising edge of the predetermined height in the initial state. The nozzle lever 25 contacts the upper end of the holder 22 indexed to the elevation position H0 (see FIG. 4) among the plurality of holders 22 . The movement of the nozzle lever 25 in the Z direction is controlled by a direct acting mechanism such as a ball screw mechanism (not shown).

The holder 22 indexed to the elevation position H0 descends against the elastic force of the compression spring 24 when the nozzle lever 25 moves downward in the Z direction. Further, when the nozzle lever 25 moves upward in the Z direction, the holder 22 rises toward the rising end side due to the elastic force of the compression spring 24 . Also, the suction nozzle 23 attached to the holder 22 indexed to the elevation position H0 moves downward and upward integrally with the holder 22 due to the configuration described above.

Also, the rotary head 21 is connected to an index shaft 26 as shown in FIG. The index shaft 26 rotates integrally with the rotary head 21 around the R-axis by being driven by an R-axis motor (not shown). The plurality of holders 22 and the plurality of suction nozzles 23 rotate about the R axis as the rotary head 21 rotates.

Driven gears 27 are fixed to the upper ends of the plurality of holders 22, respectively. The driven gear 27 meshes with a driving gear 28 arranged on the outer peripheral side of the index shaft 26 so as to be slidable in the Z direction. The drive gear 28 is driven by a θ-axis motor (not shown) to rotate around the R-axis, and rotates all the driven gears 27 that mesh with it around the θ-axis. The plurality of holders 22 and the plurality of suction nozzles 23 rotate around the θ axis as the drive gear 28 rotates. In this manner, the suction nozzle 23 is supported by the mounting head 20 so as to be rotatable around the rotation axis (θ axis) passing through the held component 91 .

As described above, the mounting head 20 is configured to be movable in the X-axis direction and the Y-axis direction by moving the movable table 132 . Further, the mounting head 20 sequentially indexes the plurality of suction nozzles 23 to the elevation position H0 in the mounting head 20 by setting the rotary head 21 to a predetermined angle. Furthermore, the suction nozzle 23 positioned at the elevation position H0 has its angle around the θ axis and its height in the Z direction adjusted. With such a configuration, the mounting head 20 supports the plurality of suction nozzles 23 via the plurality of holders 22 so as to be able to move up and down.

Negative pressure air is supplied to each of the plurality of suction nozzles 23 through the holder 22 from a negative pressure air supply source. Thereby, each of the plurality of suction nozzles 23 sucks and holds the component 91 at the tip. The negative pressure air supply source is configured by an air pump or the like provided inside the mounting head 20, for example.

In the following, as shown in FIG. 4, the positions of the two suction nozzles 23 adjacent to the suction nozzle 23 positioned at the elevation position H0 that is raised and lowered by the mounting head 20 are defined as the front standby position H−1 and the rear standby position H+1. and The previous standby position H-1 is a position where the suction nozzle 23 to be indexed next time to the elevation position H0 by the rotation of the rotary head 21 is made to wait. The rear stand-by position H+1 is a position where the suction nozzle 23 previously indexed to the elevation position H0 by the rotation of the rotary head 21 is made to stand by.

4. Detailed Configuration of Head Camera Unit 30 As described above, the head camera unit 30 moves integrally with the mounting head 20 as the moving table 132 moves. The head camera unit 30 takes an image of the suction nozzle 23 and the component 91 held by the suction nozzle 23 from the side based on an imaging command from the control device 40 . The side view image data 74 (see FIG. 5) acquired by imaging is sent to the control device 40 and used for holding inspection of parts and the like.

The head camera unit 30 includes a case 31, a camera device 32, a light source 33, a reflecting member 34, and an optical member 35, as shown in FIG. The case 31 is provided so as to surround part of the plurality of suction nozzles 23 arranged on the circumference of the rotary head 21 from the outer peripheral side. The camera device 32 is provided on the moving table 132 via the mounting head 20 in this embodiment. The camera device 32 images the two suction nozzles 23 positioned at the front standby position H−1 and the rear standby position H+1.

The light source 33 is arranged on the cylindrical inner peripheral surface of the case 31 facing the suction nozzle 23 . The light source 33 is composed of a plurality of light emitting diodes or the like that emit light toward the center of the rotary head 21 (direction toward the R axis). The reflecting member 34 is formed in a columnar shape and reflects light on the cylindrical outer peripheral surface. The reflecting member 34 is arranged at the lower end of the rotary head 21 so as to be coaxial with the R axis. The reflecting member 34 reflects the light emitted by the light source 33 .

The optical member 35 is arranged inside the case 31 and forms an optical path from the tip of the suction nozzle 23 , which is an object to be imaged, to the camera device 32 . Specifically, the optical member 35 forms an optical path so that the two suction nozzles 23 irradiated with the light reflected by the reflecting member 34 are within the field of view of the camera device 32 . Accordingly, the camera device 32 is configured to be capable of imaging the tip portions of the two suction nozzles 23 indexed to the front standby position H−1 and the rear standby position H+1 in the rotary head 21 . As a result, the head camera unit 30 generates side view image data 74 as shown in FIG.

Note that the side-view image data 74 is imaged so that the reflection member 34 is used as a background, and the range where the holder 22, the suction nozzle 23, and the component 91 exist is shaded. Further, the side view image data 74 is subjected to image processing such as binarization in the camera device 32 or the control device 40 to enhance the contrast with the background. FIG. 5 shows shaded portions that are black due to the above binarization.

5. Mounting Processing by Component Mounting Machine 10 Mounting processing by the component mounting machine 10 will be described with reference to FIGS. 3 and 4. FIG. In the mounting process, the control device 40 first executes the loading process of the substrate 80 (S11). In the loading process of the board 80, the board transfer device 11 loads the board 80 into the component mounting machine 10 and positions the board 80 at a predetermined position inside the machine.

Next, the control device 40 executes a suction cycle in which the plurality of suction nozzles 23 sequentially pick up the components (S12). More specifically, the control device 40 moves the mounting head 20 above the feeder 122 that supplies a predetermined type of component in the component supply device 12 . Then, the controller 40 lowers the suction nozzle 23 to suck the component, and then raises the suction nozzle 23 again. In the suction cycle, the movement of the mounting head 20, the rotation of the rotary head 21, and the lifting and lowering of the suction nozzle 23 are repeated as described above, and a plurality of components are held by the suction nozzle 23, respectively.

Subsequently, the control device 40 executes state recognition processing for recognizing the holding states of the components respectively held by the plurality of suction nozzles 23 (S13). More specifically, the control device 40 moves the mounting head 20 above the component camera 14 and sends an imaging command to the component camera 14 . The control device 40 performs image processing on the downward-view image data (the first image data 71 shown in FIG. 4) acquired by imaging by the component camera 14, and determines the orientation of the component held by each of the plurality of suction nozzles 23 ( position and angle).

After that, the control device 40 executes a mounting cycle for sequentially mounting the components on the substrate 80 with the plurality of suction nozzles 23 (S14). More specifically, the control device 40 moves the mounting head 20 above a predetermined mounting position on the board 80 based on the control program. At this time, the control device 40 corrects the position and angle of the suction nozzle 23 based on the result of the state recognition processing (S13).

After lowering the suction nozzle 23 to mount the component at the mounting position on the substrate 80, the controller 40 raises the suction nozzle 23 again. In the mounting cycle, the movement of the mounting head 20, the rotation of the rotary head 21, and the lifting and lowering of the suction nozzle 23 are repeated to mount a plurality of components on the substrate 80, respectively.

If the mounting of all components to be mounted on the current substrate 80 has not been completed (S15: No), the control device 40 repeatedly executes the PP cycle (S12-S14) until the mounting is completed. When all components have been mounted (S15: Yes), the control device 40 carries out the unloading process of the board 80 (S16). In carrying out the substrate 80 , the substrate transfer device 11 releases the positioned substrate 80 and carries the substrate 80 out of the component mounting machine 10 .

6. Configuration of Management Device 50 of Component Mounting Machine 10 The management device 50 manages the necessity of maintenance of holding members such as the suction nozzle 23 . Here, the state of the holding member used in the mounting process by the component mounting machine 10 may change due to staining or deformation of the part that comes into contact with the component during use. In order to prevent such a state of the holding member from affecting the holding performance of the component, the holding member is periodically maintained according to, for example, the period of use and the number of times of use.

More specifically, a plurality of suction nozzles 23 that have been used for a predetermined period of time are collectively held in the nozzle station 16 and maintained by a nozzle cleaner 62 (see FIG. 1). In this embodiment, the nozzle cleaner 62 cleans, inspects, and stores the suction nozzle 23 carried into the machine. Further, the nozzle cleaner 62 transfers the stored suction nozzles 23 to the nozzle station 16 upon request, thereby supporting the changeover of the component mounting machine 10 .

The nozzle cleaner 62 takes an image of the suction nozzle 23 with an inspection camera (not shown) in the inspection of the suction nozzle 23 as described above. Then, the nozzle cleaner 62 performs predetermined image processing on the image data obtained by the imaging, and inspects the outer shape of the suction nozzle 23 based on the result of the image processing. As a result, the nozzle cleaner 62 confirms whether the suction nozzle 23 is distorted, damaged, or has any deposits.

Further, even if the periodic maintenance as described above is performed, an abnormality in the holding of the component by the holding member may be detected during the mounting process. The retention anomalies mentioned above include pick errors, move errors, and mount errors. A picking error is an error in which the holding member does not hold the part when trying to pick up the part in the picking cycle (S12). A holding abnormality, which is a sampling error, is detected in the state recognition process (S13) when the part whose state is to be recognized is not held by the holding member in the image data acquired by the part camera 14.

A movement error is an error in which the holding of a component is not maintained while the holding member moves the collected component to the mounting position on the board 80 . The holding abnormality, which is the movement error, means that the suction nozzle 23 indexed to the front standby position H-1 does not hold the component in the image data obtained by imaging the head camera unit 30 in the mounting cycle (S14). detected by

A mounting error is an error in which a component adheres to the holding member when attempting to mount the component to the mounting position in the mounting cycle (S14). This holding abnormality, which is a mounting error, is caused by the fact that a component is attached to the suction nozzle 23 indexed to the rear standby position H+1 in the image data obtained by imaging the head camera unit 30 in the mounting cycle (S14). detected.

Maintenance of the holding members is performed by using the nozzle cleaner 62 or by cleaning them individually by the operator, and a work load is generated according to the number of holding members. It should be noted that, in addition to those caused by fluctuations in the state of the holding member, the above-described holding abnormalities may also be caused by malfunctions of the component supply device 12 or the mounting head 20, defects in the template indicating the ideal shape of the component in the state recognition process, and the like. can be attributed to In such a case, maintenance of the holding member does not resolve the holding abnormality, resulting in excessive maintenance. Due to such circumstances, it is desired that the maintenance of the holding member is carried out in an appropriate manner.

Therefore, the management device 50 of the present embodiment employs a configuration for determining whether or not maintenance of the holding member is necessary in the holding member management processing. The management device 50 more accurately determines whether or not maintenance is necessary, thereby reducing the workload involved in maintaining the performance of the holding member. Specifically, the management device 50 includes a storage unit 51, a determination unit 52, and a data acquisition unit 53, as shown in FIG. The storage unit 51 is configured by an optical drive device such as a hard disk device, a flash memory, or the like.

In the present embodiment, the storage unit 51 stores reference data Ms used for determining the necessity of maintenance. Here, the reference data Ms means that the holding member in the state in which the component 91 is not held by the second camera capable of imaging the holding member at the same angle as the first camera provided in the component mounting machine 10 is used for the mounting process. It is at least one of the second image data 72 captured and acquired before execution and the result of predetermined image processing executed on the second image data 72 .

The first camera and the second camera described above are the same or different cameras each having an optical axis parallel to the rotation axis of the holding member. In this embodiment, the first camera and the second camera are the same component camera 14 that captures an image of the component 91 held by the suction nozzle 23 that is the holding member in the mounting process from below.

Further, the second image data 72 is acquired by imaging the suction nozzle 23 in a state where the component 91 is not held by the component camera 14 before execution of the mounting process (from the first image data 71 in FIG. 4). (equivalent to the state without the part 91). More specifically, the second image data 72 is image data used for calibration processing. The calibration process described above is a process based on the positional relationship between the mounting head 20 and the suction nozzle 23 before execution of the mounting process. Specifically, in the calibration process, the controller 40 first captures images of the plurality of suction nozzles 23 supported by the mounting head 20 using the component camera 14 .

Next, the control device 40 recognizes the position of each of the plurality of suction nozzles 23 included in the second image data 72 acquired by the above imaging. Then, the control device 40 acquires the positional relationship of the positions (eg, θ-axis) of the plurality of suction nozzles 23 with respect to the reference position (eg, R-axis) of the mounting head 20 as a calibration value. The control device 40 reflects the result (calibration value) of the image processing described above in the amount of movement of the mounting head 20 in the collection cycle (S12) and the mounting cycle (S14), thereby improving the accuracy of the mounting process. ing.

Also, the second image data 72 may be image data used for the support confirmation process. The support confirmation process described above is a process for confirming whether or not the suction nozzles 23 are supported by the mounting head 20 after the suction nozzles 23 supported by the mounting head 20 are replaced before the mounting process is executed. The exchange of the suction nozzle 23 includes a case where the operator performs a setup change for the mounting process, and a case where the exchange is automatically performed between the nozzle stations 16 before execution of the mounting process.

In the support confirmation process, the control device 40 first uses the component camera 14 to image the plurality of suction nozzles 23 supported by the mounting head 20 . Next, the control device 40 recognizes the shapes of the plurality of suction nozzles 23 included in the second image data 72 acquired by the imaging process described above. Then, the control device 40 recognizes whether or not the plurality of suction nozzles 23 are supported by the mounting head 20 at predetermined positions. The control device 40 uses the result of the above image processing (whether or not the suction nozzle 23 is present) to determine whether or not the mounting process can be executed.

The storage unit 51 stores the second image data 72 used in the calibration process and the support confirmation process as the reference data Ms. In addition to or instead of the second image data 72, the storage unit 51 may store the result of predetermined image processing performed on the second image data 72 as the reference data Ms. Note that the above-mentioned "result of image processing" includes not only the calibration value by the calibration process and the presence or absence of the suction nozzle 23 by the support confirmation process, but also binarization and edge processing executed during these image processing, It may be the processed second image data 72 that has undergone a shape recognition process or the like for recognizing the shape of the portion that contacts the part 91 .

The determination unit 52 determines whether or not maintenance of the suction nozzle 23 is necessary based on the reference data Ms and the first image data 71 when an abnormality in the holding of the component 91 by the suction nozzle 23 is detected during the mounting process. . Here, the above "first image data 71" is the downward view image data used in the state recognition process (S13), as described in the mounting process by the component mounting machine 10 in this embodiment.

Various modes can be adopted for the determination processing by the determination unit 52 . As a first aspect of the determination process, the determination unit 52 performs the same image processing on the first image data 71 and the second image data 72, and compares the results of the respective image processing to determine whether maintenance is necessary. do. At this time, the storage unit 51 stores the second image data 72 before being subjected to various image processing for calculating a calibration value, for example. The determination unit 52 then performs the same image processing on the first image data 71 and the second image data 72 .

The image processing described above differs from image processing for calculating calibration values, for example, and shape recognition processing for recognizing the shape of a portion (tip) of the suction nozzle 23 that contacts the component 91 can be applied. In addition, brightness recognition processing for recognizing the brightness of each part can be applied to the image processing. The determination unit 52 compares the results of each image processing (for example, the results of shape recognition processing), and determines that the lower the degree of matching, the higher the need for maintenance.

As a second mode of determination processing, the determination unit 52 performs predetermined image processing on the first image data 71 and compares the results of each image processing to determine whether maintenance is necessary. At this time, the storage unit 51 stores, for example, the image processing result (calibration value or processed second image data 72) in the calibration process. Then, the determination unit 52 performs image processing similar to the calibration processing on the first image data 71, for example. The determination unit 52 compares the respective image processing results (for example, the calculated calibration values), and determines that the lower the degree of matching, the higher the need for maintenance.

Further, in the determination processing by the determination unit 52, there is a state in which it cannot be concluded that maintenance is definitely required depending on, for example, the matching degree of the result of the image processing. Therefore, in the present embodiment, when the determination unit 52 determines that the necessity of maintenance of the suction nozzle 23 (corresponding to the degree of disagreement in the result of image processing) is greater than or equal to a specified value, the data acquisition unit 53 The determination is made using the acquired third image data 73 (similar to the first image data 71 or the second image data 72 in FIG. 4).

The data acquisition unit 53 acquires the third image data 73 by imaging the suction nozzle 23 with the component camera 14 when the determination unit 52 determines that the maintenance of the suction nozzle 23 is required more than the specified value. Specifically, the data acquisition unit 53 acquires the third image data 73 when the degree of matching is within a specified range in the first determination processing (the determination processing using the first image data 71) by the determination unit 52. do. Therefore, in the present embodiment, the data acquisition unit 53 determines that the determination unit 52 does not need to perform the determination process again when the degree of matching is off the lower side or the higher side of the specified range. Omit acquisition.

Also, various modes can be adopted for acquiring the third image data 73 described above. As a first aspect of the acquisition process of the third image data 73 , the data acquisition section 53 acquires the third image data 73 with a resolution higher than that of the first image data 71 . Specifically, the data acquisition unit 53 first acquires a plurality of image data by imaging the suction nozzles 23 positioned at a plurality of positions different from each other with respect to the component camera 14 by the component camera 14 . The intervals between the plurality of positions correspond to a predetermined distance that is smaller than the center-to-center distance between adjacent pixels in the imaging device.

Next, the data acquisition unit 53 performs super-resolution processing using the acquired plurality of image data, and acquires third image data 73 having a resolution higher than that of the first image data 71 . Note that the above-described super-resolution processing may be performed only on a partial area in the field of view of the component camera 14 in which the suction nozzle 23, which is the target of the determination processing, is captured. As a result, the load of super-resolution processing can be reduced, and the time required for the processing can be shortened. The determination unit 52 uses the third image data 73 and the reference data Ms (the second image data 72 or the image processing result) instead of the first image data 71 to perform the determination process again.

As a second aspect of the acquisition process of the third image data 73 , the data acquisition unit 53 acquires the third image data 73 by changing the imaging conditions more appropriate than the first image data 71 . Specifically, the data acquisition unit 53 moves the suction nozzle 23 to the parts camera under an imaging condition that is closer to the imaging condition when the second image data 72 is captured than the imaging condition when the first image data 71 is captured. 14 to acquire the third image data 73 .

Here, the second image data 72 used for the calibration process and the support confirmation process are acquired by imaging under the imaging conditions necessary to achieve each purpose. On the other hand, the first image data 71 acquired during execution of the mounting process is used, for example, in the state recognition process, and has a different purpose from the calibration process and the support confirmation process. It can be different. The imaging conditions described above include the stop time of the suction nozzle 23 during imaging, the relative position of the suction nozzle 23 with respect to the component camera 14, the irradiation time and amount of light from the light source, and the like.

As described above, when the result of the first determination process by the determination unit 52 is within the specified range, there is a possibility that it is due to the difference in imaging conditions. Therefore, the data acquisition unit 53 acquires the third image data 73 by changing the imaging conditions as described above. The determination unit 52 uses the third image data 73 and the reference data Ms (the second image data 72 or the image processing result) instead of the first image data 71 to perform the determination process again.

The management device 50 configured as described above performs predetermined error processing when the determination unit 52 determines that maintenance of the suction nozzle 23 is necessary. In this embodiment, the management device 50 notifies the operator that maintenance is required as error processing in the management process. As a result, the suction nozzle 23 is the cause of the holding abnormality, and the execution of maintenance for this suction nozzle 23 can be urged.

In addition, as error processing, the management device 50 instructs the control device 40 to replace the suction nozzle 23 that requires maintenance. As a result, the controller 40 replaces the problematic suction nozzle 23 with another suction nozzle 23 held in the nozzle station 16 at an appropriate timing during the mounting process. Therefore, the mounting process can be continued, and a decrease in production efficiency can be suppressed.

Further, as error processing, the management device 50 instructs the control device 40 to restrict the use of the suction nozzles 23 that require maintenance in subsequent mounting processing. As a result, the control device 40 skips picking and mounting of the component 91 by the suction nozzle 23 that has a problem in the mounting process. Therefore, it is possible to prevent the occurrence of a holding abnormality caused by using the problematic suction nozzle 23 in the subsequent mounting process. As a result, a decrease in production efficiency can be suppressed.

7. Management Processing of Suction Nozzles 23 by Management Device 50 Management processing of the suction nozzles 23 by the management device 50 configured as described above will be described with reference to FIG. Here, before execution of the mounting process by the component mounting machine 10, the calibration process is executed in advance, and the storage unit 51 of the management device 50 stores a second image of the plurality of suction nozzles 23 in a state where no component is held. Assume that image data 72 is stored as reference data Ms.

It is assumed that the mounting process by the component mounting machine 10 is executed, and in the state recognition process (S13), a picking error (holding abnormality) in which the component 91 is not held by a certain suction nozzle 23 occurs. At this time, the storage unit 51 stores the first image data 71 used in the state recognition process (S13) in which the sampling error was detected. The management device 50 starts management processing of the suction nozzles 23 as shown in FIG. First, the determination unit 52 executes determination processing using the first image data 71 and the reference data Ms (S20).

Specifically, the determination unit 52 identifies the problematic suction nozzle 23 in the first image data 71 (S21). Then, the determination unit 52 identifies the same suction nozzle 23 as the above suction nozzle 23 in the reference data Ms (S22). Subsequently, the determination unit 52 performs the same image processing on the first image data 71 and the reference data Ms (S23). Further, the determination unit 52 calculates the matching degree based on the first image data 71 subjected to the image processing and the reference data Ms (S24).

Specifically, the determination unit 52 extracts, for example, a region including the problematic suction nozzle 23 from the first image data 71, and overlaps the suction nozzle 23 in the reference data Ms so as to match the angle. Thereby, the determination unit 52 calculates the matching degree based on the correlation for each comparison item such as the shape, position, angle, or brightness of the suction nozzle 23 in both image data. In addition to the above calculation mode, for example, a calibration value may be calculated as in calibration processing, and the difference between the two calibration values may be used as the matching degree.

Subsequently, when the determination unit 52 determines that the matching degree is smaller than the first specified value T1 (S25: Yes) and equal to or greater than the second specified value T2 (S26: No), the data acquisition unit 53 selects the suction nozzle 23 may have a problem, acquisition processing of the third image data 73 is executed (S31). Then, the determination unit 52 further executes determination processing using the third image data 73 and the reference data Ms (S40). Since this re-determination process (S40) is substantially the same as the first determination process (S20), detailed description thereof will be omitted. Specifically, each process (S41-S44) in the second determination process (S40) corresponds to each process (S21, S23-S25) in the first determination process (S20).

If the determination unit 52 determines that the matching degree is smaller than the second specified value T2 (S26: Yes) in the first determination process (S20), or the management device 50 determines that the determination unit 52 If it is determined that the degree of coincidence is smaller than the first specified value T1 (S44: Yes), it is assumed that the suction nozzle 23 requires maintenance, and error processing is executed (S51). Specifically, as error processing, the management device 50 notifies the operator, instructs the control device 40 to replace the problematic suction nozzle 23, and restricts the use of the problematic suction nozzle 23 in subsequent mounting processing. Carry out at least one of the directives.

On the other hand, if the determining unit 52 determines in the first determination process (S20) that the degree of matching is equal to or greater than the first prescribed value T1 (S25: No), the management device 50 determines in the second determination process (S40) If the unit 52 determines that the degree of matching is equal to or greater than the first specified value T1 (S44: No), it determines that the suction nozzle 23 does not require maintenance, and executes notification processing (S52). Specifically, the management device 50 notifies that the maintenance of the suction nozzle 23 is currently unnecessary, and that the holding abnormality is caused by equipment other than the suction nozzle 23 or processing conditions.

8. Effects of the Configuration of the Embodiment The management device 50 in the embodiment captures the component 91 with the second camera (component camera 14) capable of imaging the holding member (suction nozzle 23) at the same angle as the first camera (component camera 14). A reference that is at least one of the second image data 72 acquired by imaging the holding member in a non-held state before execution of the mounting process, and the result of predetermined image processing executed on the second image data 72 A storage unit 51 for storing data Ms is provided. In addition, the management device 50 determines whether maintenance of the holding member is necessary based on the reference data Ms and the first image data 71 when an abnormality in the holding of the component 91 by the holding member is detected during the mounting process. A determination unit 52 is provided.

According to such a configuration, the need for maintenance of the suction nozzles 23 is determined based on the reference data Ms and the first image data 71, so that changes in the state of the suction nozzles 23 can be reflected in the determination process. As a result, it is possible to recognize that the suction nozzle 23 is soiled or deformed, and to more accurately determine whether or not maintenance of the suction nozzle 23 is necessary. Therefore, the workload involved in maintaining the performance of the suction nozzle 23 can be reduced.

9. Modification of Embodiment 9-1. Processing for Reflecting Necessity of Maintenance In the embodiment, the storage unit 51 stores at least one of the second image data 72 and the result of image processing on the second image data 72 as the reference data Ms. The storage unit 51 may store, as the reference data Ms, only the second image data 72 or the result of the image processing according to the subsequent image processing of the first image data 71 . In the configuration in which the second image data 72 is the reference data Ms, various image processing can be executed later, so versatility is high. On the other hand, in the configuration in which the result of image processing is used as the reference data Ms, the capacity required for storage can be reduced.

Further, in the embodiment, in a predetermined case, the data acquisition unit 53 acquires the third image data 73, and the determination unit 52 performs determination processing (S40) again using the third image data 73 and the reference data Ms. It was supposed to be executed. On the other hand, the acquisition processing (S31) of the third image data and the re-determining processing (S40) are omitted, and the maintenance is required more than the specified value (the matching degree of the image processing result is the first specified value T1 smaller), it may be determined that the suction nozzle 23 requires maintenance.

In addition to or in place of the acquisition processing (S31) of the third image data 73 and the re-determination processing (S40), the management device 50 uses a camera capable of capturing an image of the suction nozzle 23 at an angle different from that of the parts camera 14. You may perform the determination process using image data by imaging. For example, the management device 50 instructs the head camera unit 30 to capture an image of the suction nozzle 23 corresponding to the error, and executes the determination process using the side view image data acquired by the image capturing of the head camera unit 30. may At this time, the side view image data acquired by the head camera unit 30 in the past is stored in advance in the storage unit 51 as the reference data Ms.

Moreover, in the embodiment, the management process of the suction nozzle 23 is exemplified as being executed when a collection error as a holding abnormality is detected. On the other hand, the management device 50 may perform management processing similar to the above when a movement error or a mounting error other than a collection error is detected as a holding error. When a mounting error is detected, the component 91 is attached to the suction nozzle 23, so the component 91 is discarded and then the next PP cycle is started.

Also, when a movement error or mounting error is detected, the control device 40 skips picking of the component 91 by the suction nozzle 23 corresponding to the error in the picking cycle (S12) of the next PP cycle. As a result, the first image data 71 including the suction nozzle 23 that does not hold a component is obtained by imaging with the component camera 14 in the state recognition process (S13). After that, by executing management processing similar to the aspect illustrated in the embodiment, it is possible to determine whether or not maintenance of the suction nozzle 23 is necessary, and to execute error processing (S51) as necessary.

9-2. Configuration of Management Device 50 In the embodiment, the management device 50 is configured to be incorporated in the component mounting machine 10 . On the other hand, the management device 50 may be incorporated in an external device of the component mounting machine 10 such as the host computer 61, or may be a dedicated device communicatively connected to the component mounting machine 10. FIG. However, from the viewpoint of performing control and various processes in cooperation with the control device 40 in response to a holding abnormality detected during execution of the mounting process, the aspect illustrated in the embodiment is preferable.

Further, in the embodiment, the first camera and the second camera for acquiring various image data used by the management device 50 for management processing of the suction nozzles 23 are assumed to be the same component camera 14 . On the other hand, the first camera and the second camera can adopt various aspects as long as they can image the suction nozzle 23 at the same angle. For example, when the first camera is the parts camera 14 , the second camera may be an inspection camera provided on the nozzle cleaner 62 .

Further, the first camera and the second camera may be configured to be able to image the suction nozzle 23 from below, or may be configured to be able to image the suction nozzle 23 from the side. Specifically, the first camera and the second camera may be, for example, the head camera unit 30 illustrated in the embodiment. However, in a mode in which the holding member is the suction nozzle 23, since the portion of the suction nozzle 23 that contacts the component 91 is the lower surface of the tip portion, as illustrated in the embodiment, the tip portion of the suction nozzle 23 is It is preferable to use the component cameras 14 capable of imaging the entire bottom surface as the first camera and the second camera.

9-3. Configuration of Component Mounting Machine 10 In the embodiment, the holding member of the component mounting machine 10 is the suction nozzle 23 as an example. Alternatively, the holding member may be a chuck that holds the part 91 by gripping it. In the embodiment, the component mounting machine 10 detects a holding abnormality when the holding member does not hold the component 91 in the state recognition process (S13). On the other hand, the component mounting machine 10 may detect a holding abnormality by detecting leakage of negative pressure air or positive pressure air supplied to the holding member, for example.

Moreover, in the mounting process by the component mounting machine 10, in addition to the electronic components supplied from the feeder 122, large-sized components such as various lead components, cover components, and connector components can also be subjected to mounting. In this specification, "mounting" includes not only the action of placing an electronic component on a board, but also the insertion of a lead of a lead component into a hole, and the insertion of a cover component or a connector component into a hole of a board. It includes an imposition operation such as inserting. Such a configuration also has the same effect as the embodiment.

10: Component mounting machine 13: Component transfer device 20: Mounting head 23: Suction nozzle (holding member) 14: Component camera (first camera, second camera) 30: Head camera unit 40: Control Apparatus 50: Management device 51: Storage unit 52: Determination unit 53: Data acquisition unit 71: First image data 72: Second image data 73: Third image data 74: Side view image Data 80: Board 91: Parts H-1: Front standby position H0: Lifting position H+1: Rear standby position Ms: Reference data

Claims (15)

A management device applied to a component mounting machine,
The component mounting machine is
a plurality of holding members for holding the components in a mounting process for mounting the components on the substrate;
a first camera that images the component held by the plurality of holding members;
A control device that executes the mounting process using the first image data acquired by imaging with the first camera,
The management device
Second image data acquired by imaging the holding member in a state where the part is not held by a second camera capable of imaging the holding member at the same angle as the first camera, before execution of the mounting process; and a storage unit that stores reference data that is at least one of results of predetermined image processing performed on the second image data;
a determination unit that determines whether or not maintenance of the holding member is necessary based on the reference data and the first image data when an abnormality in the holding of the component by the holding member is detected during execution of the mounting process;
with
The holding abnormality includes a movement error in which the holding of the component is not maintained during the period in which the component picked up by the holding member is moved to the mounting position on the substrate, and an error in which the component is not maintained in the mounting position when the component is tried to be mounted on the mounting position. at least one mounting error in which the component is attached to the holding member;
The control device controls the holding corresponding to the detected movement error or mounting error in a picking cycle that causes the plurality of holding members to pick up the component, which is performed after the movement error or the mounting error is detected. A management device for a component mounting machine that skips the picking of the component by a member . The storage unit stores the second image data as the reference data,
2. The determining unit according to claim 1, wherein the determining unit performs the same image processing on the first image data and the second image data, and determines whether or not the maintenance is necessary by comparing results of the respective image processing. management device for the component mounting machine. The storage unit stores a result of the predetermined image processing as the reference data,
3. The component mounting according to claim 1, wherein said determination unit performs said predetermined image processing on said first image data, and determines whether or not said maintenance is necessary by comparing respective image processing results. machine management device. 4. The management device for a component mounting machine according to claim 2, wherein said image processing includes shape recognition processing for recognizing a shape of a portion of said holding member that contacts said component. 5. The management device for a component mounting machine according to claim 2, wherein said judgment unit judges that the necessity of said maintenance is higher as the degree of matching between respective image processing results is lower. The holding member is rotatably supported around a rotation axis passing through the held component,
6. The management device for a component mounting machine according to claim 1, wherein said first camera and said second camera have respective optical axes parallel to said rotation axis of said holding member. 7. The management device for a component mounting machine according to claim 6, wherein said first camera and said second camera are the same component camera that captures an image of said component held by said holding member from below in said mounting process. The component mounting machine includes a mounting head that horizontally movably supports the holding member in the machine,
8. The management device of a component mounting machine according to claim 7, wherein said second image data is image data used for calibration processing based on the positional relationship between said mounting head and said holding member before execution of said mounting processing. . The component mounting machine includes a mounting head that supports the holding member horizontally and detachably in the machine,
The second image data is used for support confirmation processing to determine whether the holding member is supported by the mounting head after the holding member supported by the mounting head is replaced before execution of the mounting processing. The management device for a component mounting machine according to any one of claims 1 to 8, which is image data. Data for acquiring third image data by causing the first camera to image the holding member when the determination unit determines that the maintenance of the holding member is required at a prescribed value or more. further comprising an acquisition unit,
The management device for a component mounting machine according to any one of claims 1 to 9, wherein the determination unit further determines necessity of maintenance of the holding member based on the reference data and the third image data. . The third image data is generated by super-resolution processing using a plurality of image data acquired by imaging the first camera of the holding member positioned at a plurality of positions different from each other with respect to the first camera. 11. The management device for a component mounting machine according to claim 10, wherein the image data is high-resolution image data. The third image data is obtained by imaging the holding member with the first camera under an imaging condition that is closer to the imaging condition when the second image data is captured than the imaging condition when the first image data is acquired. 12. The management device for a component mounting machine according to claim 10 or 11, wherein the image data is obtained by: The holding abnormality is a picking error in which the holding member does not hold the part when picking the part is attempted, and the part held by the holding member based on the first image data. 13. The management device for a component mounting machine according to claim 1, wherein the collection error detected in the process of recognizing the state is included . 14. The management device for a component mounting machine according to claim 1 , wherein said holding member is a suction nozzle that sucks and holds said component with supplied negative pressure air. When the determination unit determines that the maintenance of the holding member is required, the management device notifies an operator that the maintenance is required and the maintenance is required to the control device. and at least one of a command to replace the holding member, and a command to restrict the use of the holding member that requires maintenance in the subsequent mounting process to the control device. 1. A management device for a component mounting machine according to claim 1.

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