JP7400146B2 - Component mounter and nozzle imaging method - Google Patents

Description

The present invention relates to a technique for imaging a nozzle used to pick up components mounted on a board.

In a component mounting machine that mounts components on a board, images of the nozzle are taken at appropriate timing in order to check the state of the nozzle that picks up the component and transports it to the board. Furthermore, Patent Document 1 proposes a technique for imaging the nozzles of a so-called rotary head. The rotary head has a plurality of nozzles arranged circumferentially around a predetermined rotation axis, and the plurality of nozzles rotate around the rotation axis. Further, a cylindrical background member centered around the rotation axis is arranged inside the plurality of nozzles, and a lighting member is arranged outside the plurality of nozzles, and the background member fluoresces due to the ultraviolet rays irradiated from the lighting member. . A silhouette image of the nozzle is obtained by capturing an image of the nozzle while using the fluorescent background member as a background.

Japanese Patent Application Publication No. 2013-191771

When capturing an image of such a nozzle, it is preferable that the background member serving as the background of the nozzle has uniform brightness. Therefore, it is possible to employ a configuration in which a plurality of light emitting parts arranged in a circumferential manner around the rotation axis are opposed to the background member and light is irradiated from the light emitting parts to the background member. Thereby, brightness can be given to the background member according to the light emitted from the light emitting parts arranged along the shape of the background member. However, even if such a configuration is adopted, the brightness of the background member may be uneven. For example, the distance that light traveling from both ends of the background member toward the imaging section passes through the interior of the background member is longer than the distance that light traveling from the center of the background member toward the imaging section passes through the interior of the background member. , such unevenness may occur. Therefore, in the field of view from the imaging unit, unevenness may occur in which brightness decreases at both ends of the background member.

The present invention has been made in view of the above problems, and an object of the present invention is to make it possible to image a nozzle against a background member having uniform brightness.

A component mounting machine according to the present invention includes a plurality of nozzles arranged in a circumferential manner around a rotation axis which is a predetermined virtual straight line, and a cylindrical shape arranged inside the plurality of nozzles and centered around the rotation axis. A background member having a background member, a plurality of light emitting parts arranged circumferentially around a rotation axis and facing the background member, a plurality of nozzles, a background member and a plurality of light emitting parts, integrally arranged around a rotation axis. an imaging section that captures an image of a predetermined imaging range from the outside of the plurality of nozzles facing the side surface of the background member; and a control unit that executes an imaging process to image a nozzle located in the imaging range among the plurality of nozzles and obtain an image of the nozzle with the background member as the background, and the plurality of light emitting units , the background member emits light from the light emitting part by emitting light from the target area through the side surface in accordance with the irradiation of the light to the target area. The control unit controls the intensity of the light emitted by the light emitting units in accordance with the rotational positions of the plurality of light emitting units rotated by the rotation drive unit in the imaging process. .

The nozzle imaging method according to the present invention includes a plurality of nozzles arranged circumferentially around a rotation axis that is a predetermined virtual straight line, and a cylindrical shape arranged inside the plurality of nozzles and centered around the rotation axis. a step of integrally rotating a background member having a background member and a plurality of light emitting parts arranged circumferentially around a rotation axis and facing the background member; a step of executing an imaging process of acquiring an image of the nozzle with the background member as a background by imaging a predetermined imaging range from the outside of the plurality of nozzles with an imaging unit facing the side surface of the background member while irradiating the nozzle; The plurality of light emitting units irradiate light to a plurality of different target areas of the background member, and the background member emits light from the target area via the side surface in response to the irradiation of the light to the target area. As a result, the brightness corresponds to the intensity of the light emitted from the light emitting parts, and in the imaging process, the intensity of the light emitted by the light emitting parts is controlled according to the rotational position of the plurality of light emitting parts.

In the present invention (component mounting machine, nozzle imaging method) configured as described above, the plurality of light emitting units irradiate light to a plurality of mutually different target areas of the background member, and the background member irradiates light to the target areas. By emitting light from the target area through the side surface in response to light irradiation, it has brightness that corresponds to the intensity of the light emitted from the light emitting part. In the imaging process, the intensity of light emitted by the plurality of light emitting units is controlled according to the rotational positions of the plurality of light emitting units. This makes it possible to image the nozzle against a background member having uniform brightness.

The control unit also controls the control unit to control the intensity of the light irradiated to the end target regions located at both ends of the imaging range among the plurality of target regions to be different from the end target region. The component mounting machine may be configured to control the intensity of the light emitted by the light emitting section so that the light emitting section becomes larger. This makes it possible to image the nozzle with the background member as a background while suppressing the occurrence of uneven brightness such as reduction in brightness at both ends of the background member in the field of view from the imaging unit.

In addition, if the distance between one of the end target areas located at both ends of the imaging range and the rotation axis is longer than the distance between the other end target area and the rotation axis, the control The part controls the intensity of the light emitted by the light emitting part so that the intensity of the light emitted to the target area at one end is greater than the intensity of the light emitted to the target area at the other end. , a component mounting machine may be configured. This suppresses the influence of the difference between the distance that light passes through the background member from one end target area to the imaging unit and the distance that light passes through the background member from the other end target area to the imaging unit. As a result, uniform brightness can be given to the background member.

Further, the light emitting unit emits light with an intensity corresponding to the applied current, and the control unit has a table showing a correspondence relationship between the rotational position and the value of the current applied to each of the plurality of light emitting units, The component mounter may be configured to control the intensity of light emitted by the light emitting section depending on the rotational position by applying a current having a value indicated by the table to the light emitting section. With this configuration, uniform brightness can be given to the background member by appropriately suppressing uneven brightness of the background member through simple control using a table.

Further, the control unit performs test imaging in which an image of the background member irradiated with light from the light emitting unit is captured by the imaging unit by applying a current to the light emitting unit, and an image of the background member is acquired while changing the rotational position. The component mounter may be configured to create a table based on the results. By creating a table in this way, an appropriate value of current is applied to the light emitting part, and light of appropriate intensity is irradiated from the light emitting part to the background member, giving uniform brightness to the background member. be able to.

Further, the component mounting machine may be configured such that the background member is a light diffusion member that diffuses light irradiated onto the target area and emits light from the target area through the side surface. By using such a light diffusing member, it is possible to image the nozzle with a background of uniform brightness.

According to the present invention, it is possible to image a nozzle against a background member having uniform brightness.

FIG. 1 is a plan view schematically showing the configuration of an example of a component mounting machine according to the present invention. FIG. 2 is a block diagram showing the electrical configuration of the component mounting machine of FIG. 1. FIG. FIG. 3 is a bottom view schematically showing the configuration of a mounting head and a lighting section. FIG. 3 is a partial cross-sectional view schematically showing the configuration of a mounting head, an illumination section, and an imaging section. FIG. 3 is a bottom view schematically showing operations performed in a first example of imaging processing. FIG. 3 is a bottom view schematically showing operations performed in a first example of imaging processing. FIG. 3 is a bottom view schematically showing operations performed in a first example of imaging processing. FIG. 7 is a bottom view schematically showing operations performed in a second example of imaging processing. FIG. 7 is a bottom view schematically showing operations performed in a second example of imaging processing. FIG. 7 is a bottom view schematically showing operations performed in a second example of imaging processing. The figure which shows an example of the current value table which shows the correspondence relationship between the rotation angle and the value of the electric current applied to a light emitting element. Flowchart showing a method for creating a current value table.

FIG. 1 is a plan view schematically showing the configuration of an example of a component mounting machine according to the present invention. FIG. 2 is a block diagram showing the electrical configuration of the component mounter of FIG. 1. In FIG. 1 and the following figures, the X direction, which is a horizontal direction, the Y direction, which is a horizontal direction perpendicular to the X direction, and the Z direction, which is a vertical direction, are shown as appropriate.

As shown in FIG. 2, the component mounting machine 1 includes a controller 100 that centrally controls the entire device. The controller 100 includes an arithmetic processing section 110 that is a processor that includes a CPU (Central Processing Unit) and a RAM (Random Access Memory), and a storage section 120 that includes an HDD (Hard Disk Drive). Further, the controller 100 includes a drive control section 130 that controls the drive system of the component mounter 1, and an imaging control section 140 that controls imaging of the nozzle N (FIGS. 3 and 4), which will be described in detail later.

Then, the arithmetic processing section 110 controls the drive control section 130 according to the program stored in the storage section 120, thereby executing component mounting according to the procedure prescribed by the program. At this time, the arithmetic processing section 110 controls component mounting based on the image captured by the imaging control section 140 using the imaging section 6 and the illumination section 7 . The component mounter 1 is also provided with a display/operation unit 150, and the arithmetic processing unit 110 displays the operating status of the component mounter 1 on the display/operation unit 150, It accepts input instructions from the worker.

As shown in FIG. 1, the component mounting machine 1 includes a transport section 12 that transports the board B in the X direction (board transport direction). The transport unit 12 has a pair of conveyors 121 arranged in parallel in the X direction on the base 11, and the conveyors 121 transport the substrate B in the X direction. The interval between these conveyors 121 can be changed in the Y direction (width direction) orthogonal to the X direction, and the conveyance unit 12 adjusts the interval between the conveyors 121 according to the width of the substrate B to be conveyed. This transport unit 12 transports the board B from the upstream side in the X direction, which is the board transport direction, to a predetermined work position 123, and also transports the board B on which the component E is mounted at the work position 123 from the work position 123 to the downstream side in the X direction. Carry it out.

Two component supply sections 21 are lined up in the X direction on each side of the transport section 12 in the Y direction, and in each component supply section 21, a plurality of tape feeders 22 are lined up in the X direction. The component supply section 21 is provided with a plurality of component supply locations 23 arranged in the X direction, and a tape feeder 22 that supplies components E to be supplied to each component supply location 23 is associated with each component supply location 23. It is attached removably. That is, for each tape feeder 22, a component supply reel is arranged around which a carrier tape containing small pieces of components E such as integrated circuits, transistors, and capacitors at predetermined intervals is arranged. Reference numeral 22 supplies the component E to the component supply point 23 at the tip of the carrier tape by intermittently feeding out the carrier tape pulled out from the component supply reel.

In addition, the component mounting machine 1 is provided with a pair of Y-axis rails 31 extending in the Y direction, a Y-axis ball screw 32 extending in the Y-direction, and a Y-axis motor My that rotationally drives the Y-axis ball screw 32. 34 is fixed to a nut of the Y-axis ball screw 32 while being supported by the pair of Y-axis rails 31 so as to be movable in the Y direction. An X-axis ball screw 35 extending in the X direction and an X-axis motor Mx that rotationally drives the X-axis ball screw 35 are attached to the X-axis rail 34, and the head unit 40 can be moved on the X-axis rail 34 in the X direction. It is fixed to the nut of the X-axis ball screw 35 while being supported by the X-axis ball screw 35. Therefore, the drive control section 130 rotates the Y-axis ball screw 32 with the Y-axis motor My to move the head unit 40 in the Y direction, or rotates the X-axis ball screw 35 with the X-axis motor Mx to move the head unit 40 in the X direction. can be moved in the direction.

The component mounter 1 also includes a Z-axis motor Mz that moves the nozzle N up and down in the Z direction, and an R-axis motor Mr that rotates the nozzle N. The drive control unit 130 then adjusts the height of the nozzle N using the X-axis motor Mx, and adjusts the rotation angle of the nozzle N using the R-axis motor Mr.

The head unit 40 has a plurality of (three) mounting heads 4 arranged linearly in the X direction. The mounting head 4 is a rotary head having a plurality of nozzles N arranged on the circumference, and uses the nozzles N to suction and mount the component E. The image of the nozzle N that this mounting head 4 has is acquired using the imaging section 6 and the illumination section 7, as described above. Next, this point will be explained.

FIG. 3 is a bottom view schematically showing the configuration of the mounting head and the illumination section, and FIG. 4 is a partial cross-sectional view schematically showing the configuration of the mounting head, the illumination section, and the imaging section. The mounting head 4 has a rotating body 41 at its lower end. The rotating body 41 has a cylindrical shape centered on a rotation axis Az, which is a virtual straight line parallel to the Z direction, and is connected to the above-mentioned R-axis motor Mr. Therefore, when the R-axis motor Mr drives the rotating body 41, the rotating body 41 rotates around the rotation axis Az. On the bottom surface of the rotating body 41, a plurality of nozzles N (18 in this example) are arranged at equal pitches (20 degrees) in a circumferential shape centered on the rotation axis Az. As the rotating body 41 rotates, the plurality of nozzles N rotate around the rotation axis Az.

The illumination part 7 is attached to the bottom of the rotary body 41, and as the rotary body 41 rotates, the illumination part 7 rotates around the rotation axis Az. The lighting unit 7 includes a frame 71 extending along the rotation axis Az, a lighting board 72 attached to the frame 71, a light emitting element L mounted on the lighting board 72, and a light diffusing device attached to the frame 71. member 74. On the lighting board 72, a plurality of (eight in this example) light emitting elements L are arranged at equal pitches (45 degrees) in a circumferential shape centered on the rotation axis Az. The light emitting element L is an LED (Light Emitting Diode) that emits light with an intensity corresponding to an applied current. Then, the illumination board 72 applies a current having a value corresponding to a command from the imaging control unit 140 to the light emitting element L, thereby causing the light emitting element L to irradiate light with an intensity corresponding to the value of the current.

The light diffusing member 74 has a light diffusing body 741 disposed below the plurality of light emitting elements L, and each of the plurality of light emitting elements L faces the light diffusing body 741 from above to diffuse light. Light is irradiated toward the inside of the body 741. The light diffuser 741 has a cylindrical shape centered on the rotation axis Az, and diffuses the light emitted from the light emitting element L. Examples of materials that diffuse light include translucent acrylic resin and glass. In the light diffuser 741, the area where the light emitting element L faces (in other words, the area directly under the light emitting element L) becomes a light irradiation area Rl where the light from the light emitting element L is irradiated. That is, the light diffuser 741 is provided with a plurality of light irradiation regions Rl corresponding to the plurality of light emitting elements L, and each light irradiation region Rl diffuses the light irradiated from the corresponding light emitting element L. The light thus diffused by the light irradiation region Rl is emitted from the side surface 742 (cylindrical peripheral surface) of the light diffuser 741.

Further, the mounting head 4 is provided with an imaging position Pi for imaging the nozzle N. As shown in FIG. 3, two imaging positions Pi are arranged with an interval of 180° around the rotation axis Az, and two imaging units 6 are provided corresponding to the two imaging positions Pi. . Since these imaging units 6 have the same configuration, one imaging unit 6 will be explained.

As shown in FIG. 4, the imaging section 6 includes a prism 61 and a camera 63. The prism 61 faces the side surface 742 of the light diffuser 741 from the Y direction (horizontal direction) via the imaging position Pi, and reflects the light incident from the imaging position Pi toward the camera 63. The camera 63 outputs an image obtained by capturing the light incident from the prism 61 with a solid-state imaging device to the imaging control unit 140. That is, the imaging unit 6 faces the side surface 742 of the light diffuser 741 via the imaging position Pi, and images the imaging position Pi with the side surface 742 of the light diffuser 741 in the background. Note that the imaging section 6 is attached to the mounting head 4 and moves integrally with the mounting head 4.

In this way, when viewed from the bottom, the plurality of nozzles N are arranged circumferentially around the rotation axis Az. Further, inside the plurality of nozzles N, a plurality of light emitting elements L are arranged in a circumferential shape around the rotation axis Az. Note that the number of light emitting elements L is smaller than the number of nozzles N. Furthermore, inside the plurality of nozzles N, a light diffuser 741 having a circular shape centered on the rotation axis Az is arranged so as to overlap with the plurality of light emitting elements L. Then, when the rotating body 41 rotates around the rotation axis Az, the plurality of nozzles N, the plurality of light emitting elements L, and the light diffuser 741 rotate integrally around the rotation axis Az.

Then, the controller 100 rotates the plurality of nozzles N to sequentially position each nozzle N at the imaging position Pi, and captures an image of the nozzle N by using the imaging unit 6 to image the nozzle N at the imaging position Pi. Acquire (imaging processing). In this imaging process, the controller 100 emits light from the side surface 742 of the light diffuser 741 toward the imaging position Pi by irradiating light from the light emitting element L to the light irradiation region Rl. Thereby, a silhouette image of the nozzle N located at the imaging position Pi can be obtained with the light diffuser 741 having a brightness corresponding to the intensity of the light emitted from the light emitting element L as a background. In particular, as described below, the controller 100 adjusts the intensity of light emitted from the light emitting element L so that the brightness of the light diffuser 741 serving as the background is uniform.

FIGS. 5A, 5B, and 5C are bottom views schematically showing operations performed in a first example of imaging processing. Since the imaging process is executed in the same way at each of the two imaging positions Pi, the imaging process for the one imaging position Pi on the right side in these figures will be described. Further, each light emitting element L located on the opposite side of the imaging position Pi with respect to the virtual straight line Ax (light emitting element L on the left side of the virtual straight line Ax) is treated as not contributing to the imaging process for the imaging position Pi. Note that the virtual straight line Ax is a virtual straight line that intersects the rotation axis Az and is parallel to the X direction, and the position of the light emitting element L is determined as the position of the peak of the illuminance distribution in the bottom view of the light emitted by the light emitting element L. be able to. As shown in these figures, the imaging unit 6 images the nozzle N included in the imaging range Ri by imaging an imaging range Ri having a predetermined width centered on the imaging position Pi in the X direction (horizontal direction). .

When the rotation angle θ of the rotating body 41 around the rotation axis Az is θ1 (=0°), the imaging range is the five light irradiation regions Rl facing the five light emitting elements L that contribute to the imaging process. Arranged in the X direction in Ri. Here, the rotation angle θ is an angle centered on the rotation axis Az with respect to a virtual straight line extending from the rotation axis Az to the right side in the Y direction, and the counterclockwise direction is the positive direction of the rotation angle θ. Of the five light irradiation regions Rl, the light irradiation region Rl_r facing the light emitting element Lr located at 90° and the light irradiation region Rl_l facing the light emitting element Ll located at −90° are arranged in the X direction. located at both ends of Therefore, the imaging control unit 140 of the controller 100 controls the intensity of the light irradiated to the light irradiation areas Rl_r and Rl_l at both ends of the five light irradiation areas Rl to the light irradiation area Rl between them. The current applied to the light emitting element L is adjusted so that the intensity is greater than the intensity of the light emitted by the light emitting element L. For example, the controller 100 applies a current of the normal current value In to the light emitting element L facing the light irradiation area Rl between the light irradiation areas Rl_r and Rl_l, while applying a current of the normal current value In to the light emitting element L facing the light irradiation area Rl_r and Rl_l. An increased current value Ia larger than the normal current value In is applied to the element L.

When the rotation angle θ of the rotating body 41 is θ2 (=20°), four light irradiation regions Rl facing the four light emitting elements L contributing to the imaging process are lined up in the X direction in the imaging range Ri. Of the four light irradiation regions Rl, the light irradiation region Rl_r facing the light emitting element Lr located at 65° and the light irradiation region Rl_l facing the light emitting element Ll located at -70° are arranged in the X direction. located at both ends of Therefore, the imaging control unit 140 of the controller 100 controls the intensity of the light irradiated to the light irradiation areas Rl_r and Rl_l at both ends of the four light irradiation areas Rl to the light irradiation area Rl between them. The current applied to the light emitting element L is adjusted so that the intensity is greater than the intensity of the light emitted by the light emitting element L.

In this way, in order to sequentially change the nozzles N located at the imaging position Pi, as the rotation angle θ of the rotating body 41 is changed by the arrangement pitch (20 degrees) of the nozzles N, the rotation angle θ is changed in the X direction in the imaging range Ri. The light irradiation regions Rl_r and Rl_l located at both ends of the light irradiation region Rl_l are switched between a plurality of light irradiation regions Rl. In response to this, the controller 100 switches the light emitting element L to which the increased current value Ia is applied. That is, depending on the rotation angle θ of the rotating body 41, the current value of the current applied to the light emitting element L is switched between the normal current value In and the increased current value Ia. In this way, the controller 100 changes the intensity of light emitted from the light emitting element L according to the rotation angle θ.

In the first example of the imaging process, the plurality of light emitting elements L (light emitting sections) irradiate light onto a plurality of mutually different light irradiation regions Rl (target regions) of the light diffusion member 74 (background member). , the light diffusion member 74 emits light from the light irradiation area Rl through the side surface 742 in response to the irradiation of the light onto the light irradiation area Rl, thereby increasing the brightness according to the intensity of the light irradiated from the light emitting element L. It has a certain quality. In the imaging process, the intensity of light emitted by the light emitting elements L is controlled according to the rotation angle θ (rotation position) of the plurality of light emitting elements L. This makes it possible to image the nozzle N against the background of the light diffusing member 74 having uniform brightness.

Further, the controller 100 (control unit) controls the intensity of the light irradiated to the light irradiation areas Rl_r and Rl_l (end target areas) located at both ends in the imaging range Ri among the plurality of light irradiation areas Rl. The intensity of the light emitted by the light emitting element L is controlled so that it is greater than the intensity of the light emitted to the light irradiation region Rl between the irradiation regions Rl_r and Rl_l. This makes it possible to image the nozzle with the light diffusing member 74 in the background while suppressing the occurrence of uneven brightness such as a decrease in brightness at both ends of the light diffusing member 74 in the field of view from the imaging unit 6.

Further, a light diffusion member 74 that diffuses the light irradiated onto the light irradiation region Rl and emits light from the light irradiation region Rl through the side surface 742 is used as a background. By using such a light diffusing member 74, it is possible to image the nozzle N with a background of uniform brightness.

FIGS. 6A, 6B, and 6C are bottom views schematically showing operations performed in a second example of imaging processing. The second example of the imaging process differs from the first example of the imaging process in the manner of controlling the intensity of light irradiated to the light irradiation regions Rl_r and Rl_l. Here, differences from the first example will be mainly explained, and portions common to the first example will be given corresponding symbols and descriptions will be omitted as appropriate.

When the rotation angle θ of the rotating body 41 around the rotation axis Az is θ1 (=0°), among the five light irradiation regions Rl facing the five light emitting elements L contributing to the imaging process, A light irradiation region Rl_r facing the light emitting element Lr located at 90° and a light irradiation region Rl_l facing the light emitting element Ll located at −90° are located at both ends in the X direction. Therefore, the imaging control unit 140 of the controller 100 controls the intensity of the light irradiated to the light irradiation areas Rl_r and Rl_l at both ends of the five light irradiation areas Rl to the light irradiation area Rl between them. The current applied to the light emitting element L is adjusted so that the intensity is greater than the intensity of the light emitted by the light emitting element L.

Further, the distance Dr between the light irradiation area Rl_r and the rotation axis Az in the X direction is equal to the distance Dl between the light irradiation area Rl_l and the rotation axis Az in the X direction. Here, in the XY plane (in other words, viewed from the bottom), the position of the light irradiation area Rl can be determined as the position of the light emitting element L facing thereto. Therefore, the imaging control unit 140 of the controller 100 controls the light emitting element facing the light irradiation area Rl_r so that the intensity of the light irradiated to the light irradiation area Rl_r is equal to the intensity of the light irradiated to the light irradiation area Rl_l. The value of the current applied to L and the value of the current applied to the light emitting element L facing the light irradiation region Rl_l are adjusted.

When the rotation angle θ of the rotating body 41 is θ2 (=20°), the light emitting element located at 65° among the four light irradiation regions Rl facing the four light emitting elements L contributing to the imaging process. A light irradiation region Rl_r facing Lr and a light irradiation region Rl_l facing the light emitting element Ll located at −70° are located at both ends in the X direction. Therefore, the imaging control unit 140 of the controller 100 controls the intensity of the light irradiated to the light irradiation areas Rl_r and Rl_l at both ends of the four light irradiation areas Rl to the light irradiation area Rl between them. The current applied to the light emitting element L is adjusted so that the intensity is greater than the intensity of the light emitted by the light emitting element L.

Further, the distance Dl between the light irradiation area Rl_l and the rotation axis Az in the X direction is longer than the distance Dr between the light irradiation area Rl_r and the rotation axis Az in the X direction. Therefore, the imaging control unit 140 of the controller 100 controls the light emitting element facing the light irradiation region Rl_r so that the intensity of the light irradiated to the light irradiation region Rl_l is greater than the intensity of the light irradiated to the light irradiation region Rl_r. The value of the current applied to L and the value of the current applied to the light emitting element L facing the light irradiation region Rl_l are adjusted.

In other words, since the distance Dl is longer than the distance Dr, the distance that the light traveling from the light irradiation area Rl_l to the imaging unit 6 passes through the light diffuser 741 is the distance that the light traveling from the light irradiation area Rl_r to the imaging unit 6 passes through the light diffuser 741. It is longer than the distance passing through 741. Therefore, the light emitted from the light irradiation region Rl_l is greatly attenuated compared to the light emitted from the light irradiation region Rl_r. In order to correct such attenuation bias, the intensity of the light irradiated from the light emitting element L to each of the light irradiation regions Rl_l and Rl_r is adjusted as described above.

When the rotation angle θ of the rotating body 41 is θ3 (=40°), the light emitting element located at 85° among the four light irradiation regions Rl facing the four light emitting elements L contributing to the imaging process. A light irradiation region Rl_r facing Lr and a light irradiation region Rl_l facing the light emitting element Ll located at −50° are located at both ends in the X direction. Therefore, the imaging control unit 140 of the controller 100 controls the intensity of the light irradiated to the light irradiation areas Rl_r and Rl_l at both ends of the four light irradiation areas Rl to the light irradiation area Rl between them. The current applied to the light emitting element L is adjusted so that the intensity is greater than the intensity of the light emitted by the light emitting element L.

Further, the distance Dr between the light irradiation area Rl_r and the rotation axis Az in the X direction is longer than the distance Dl between the light irradiation area Rl_l and the rotation axis Az in the X direction. Therefore, the imaging control unit 140 of the controller 100 controls the light emitting element facing the light irradiation region Rl_r so that the intensity of the light irradiated to the light irradiation region Rl_r is greater than the intensity of the light irradiated to the light irradiation region Rl_l. The value of the current applied to L and the value of the current applied to the light emitting element L facing the light irradiation region Rl_l are adjusted.

In this way, in order to sequentially change the nozzles N located at the imaging position Pi, as the rotation angle θ of the rotating body 41 is changed by the arrangement pitch (20 degrees) of the nozzles N, the rotation angle θ is changed in the X direction in the imaging range Ri. The light irradiation regions Rl_r and Rl_l located at both ends of the light irradiation region Rl_l are switched between a plurality of light irradiation regions Rl. Accordingly, the controller 100 changes the intensity of light emitted from the light emitting element L facing the light irradiation areas Rl_r and Rl_l and the intensity of light emitted from the other light emitting elements L by changing the current applied to the light emitting element L. the intensity of the light being used. Moreover, the intensity of the light emitted from the light emitting elements L facing each of the light irradiation areas Rl_r and Rl_l is adjusted according to the distance in the X direction between each of the light irradiation areas Rl_r and Rl_l and the rotation axis Az.

In this way, in the second example of the imaging process, among the light irradiation areas Rl_r and Rl_l located at both ends of the imaging range Ri, the distance between one light irradiation area Rl and the rotation axis Az is longer than the other light irradiation area Rl. If the light irradiation region Rl is also long, the controller 100 causes the light emitting element L to irradiate the light so that the intensity of the light irradiated to one light irradiation region Rl is greater than the intensity of the light irradiated to the other light irradiation region Rl. Control light intensity. As a result, the distance that the light traveling from one of the light irradiation regions Rl to the imaging unit 6 passes through the light diffusion member 74 among the light irradiation regions Rl_r, Rl_l, and the distance that the light traveling from the other light irradiation region Rl to the imaging unit 6 Uniform brightness can be given to the light diffusing member 74 by suppressing the influence of the difference in the distance passing through the light diffusing member 74.

As described above, in the first and second examples of imaging processing, the brightness of the light diffuser 741 in the imaging range Ri is controlled by controlling the value of the current applied to the light emitting element L according to the rotation angle θ. Make it uniform. Such current control can be performed, for example, based on the current value table shown in FIG.

FIG. 7 is a diagram showing an example of a current value table showing the correspondence between rotation angles and values of current applied to the light emitting elements. In the figure, symbols L1 to L8 are used to identify the eight light emitting elements L. This current value table Ti shows the value of the current flowing through each of the light emitting elements L1 to L8 when the rotation angle θ is from θ1 to θ9. This current value table Ti is stored in advance in the storage unit 120 of the controller 100. In the imaging process, the controller 100 determines the value of the current to be applied to each light emitting element L based on the current value table Ti. As a result, a current having a value that the current value table Ti indicates for each light emitting element L according to the rotation angle θ is applied to each light emitting element L.

In this example, the controller 100 has a current value table Ti that shows the correspondence between the rotation angle θ and the value of the current applied to each of the plurality of light emitting elements L. Then, the controller 100 controls the intensity of light emitted by the light emitting element L according to the rotation angle θ by applying a current having a value indicated by the current value table Ti to the light emitting element L. With this configuration, uniform brightness can be given to the light diffusing member 74 by appropriately suppressing uneven brightness of the light diffusing member 74 through simple control using the current value table Ti.

FIG. 8 is a flowchart showing a method for creating a current value table. This flowchart is executed simultaneously for two imaging units 6 provided with an angular interval of 180°. However, since the contents executed are common to the two imaging units 6, only one imaging unit 6 will be described.

In step S101, the rotation angle θ of the rotating body 41 is set to zero. Then, in step S102, a reference value of current is applied to each of the plurality of (eight) light emitting elements L. As a result, the light diffusion member 74, which serves as a background in the imaging process by the imaging unit 6, has a brightness that corresponds to the intensity of the irradiated light. In step S103, the imaging control unit 140 of the controller 100 images the side surface 742 of the light diffusing body 741 of the light diffusing member 74 using the imaging unit 6 to obtain image data of the light diffusing body 741. This image data indicates the brightness value of each pixel output by the solid-state image sensor of the camera 63.

In step S104, the arithmetic processing unit 110 of the controller 100 searches for dark areas in the image data. Specifically, a range made up of a predetermined number or more of pixels having a luminance value lower than a predetermined threshold is searched from the image data as a dark area. In step S105, the arithmetic processing unit 110 determines whether a dark area exists. If a dark area is detected in the search in step S104 ("NO" in step S105), the process advances to step S106.

In step S106, the imaging control unit 140 increases the value of the current applied to the light emitting element L corresponding to the searched dark area by one step. Here, the light emitting element L corresponding to the dark area refers to the light irradiation area Rl that is closest to the dark area in the A light emitting element L is opposed to the light emitting element L. Further, the light-emitting element L that contributes to imaging by the imaging unit 6 can be defined in the same manner as the light-emitting element L that contributes to the above-mentioned imaging process. That is, in the controller 100, the light emitting elements L located on the opposite side of the virtual straight line Ax with respect to the imaging unit 6 do not contribute to the imaging by the imaging unit 6, and the light emitting elements L other than these do not contribute to the imaging by the imaging unit 6. Treated as contributing to imaging.

When step S106 is completed, the process returns to step S103, and the imaging control unit 140 images the side surface 742 of the light diffusing body 741 of the light diffusing member 74 using the imaging unit 6 to obtain image data of the light diffusing body 741. Then, the arithmetic processing unit 110 searches for a dark part in the image data (step S104), and determines whether a dark part is detected in the search (step S105). In this way, steps S103 to S106 are repeated until there are no dark areas in the image data indicating the brightness of the light diffuser 741.

When the dark area disappears and it is determined "YES" in step S105, the arithmetic processing unit 110 changes the value of the current applied to each light emitting element L to the value of the current applied to each light emitting element L in the imaging process. Confirmed as In this way, the current value for each light emitting element L is determined in association with the rotation angle θ.

In step S108. It is determined whether the rotation angle θ is θmax (=160°). If the rotation angle θ is not θmax (“NO” in step S108), the rotation angle θ is increased by Δθ (=20°) in step S109 (that is, the rotating body 41 is rotated by Δθ). , return to step S102. As a result, the current value for each light emitting element L is determined so that the rotation angle θ corresponds to each of θ1 to θ9. As a result, the current value table Ti is completed.

In this manner, in creating the table in FIG. 8, the controller 100 applies a current to the light emitting element L, images the light diffusing member 74 irradiated with light from the light emitting element L, and images the light diffusing member 74. Based on the results of executing test imaging (steps S102 to S106) to acquire 74 images while changing the rotation angle θ (steps S108, S109), a current value table Ti is created (step S107). By creating the current value table Ti in this way, a current of an appropriate value is applied to the light emitting element L, light of an appropriate intensity is irradiated from the light emitting element L to the light diffusing member 74, and the light diffusing member 74 can be given uniform brightness.

In the above embodiment, the component mounter 1 corresponds to an example of the "component mounter" of the present invention, the controller 100 corresponds to an example of the "control unit" of the present invention, and the imaging unit 6 corresponds to an example of the "control unit" of the present invention. The light diffusing member 74 corresponds to an example of the "background member" and the "light diffusing member" of the present invention, and the side surface 742 corresponds to an example of the "side surface" of the present invention. The rotation axis Az corresponds to an example of the "rotation axis" of the present invention, the light emitting element L corresponds to an example of the "light emitting section" of the present invention, and the Z-axis motor Mz corresponds to an example of the "rotation drive section" of the present invention. Correspondingly, the nozzle N corresponds to an example of the "nozzle" of the present invention, the imaging range Ri corresponds to an example of the "imaging range" of the present invention, and the light irradiation region Rl corresponds to an example of the "target area" of the present invention. The light irradiation regions Rl_r and Rl_l correspond to an example of the "end target region" of the present invention, the current value table Ti corresponds to an example of the "table" of the present invention, and the rotation angle θ corresponds to an example of the "table" of the present invention. This corresponds to an example of "rotational position".

Note that the present invention is not limited to the above-described embodiments, and various changes can be made to the above-described embodiments without departing from the spirit thereof. For example, the background used for the imaging process may be a member that fluoresces when irradiated with ultraviolet light instead of the light diffusing member 74.

Further, the number of nozzles N, the pitch at which the nozzles N are arranged, etc. may be changed as appropriate.

Further, the number of light emitting elements L, the pitch at which the light emitting elements L are arranged, etc. may be changed as appropriate.

Further, the configuration of the imaging section 6 can be changed as appropriate. Specifically, the camera 63 may be opposed to the side surface 742 of the light diffusing member 74 without providing the prism 61.

Further, the number of imaging positions Pi is not limited to the above two, but may be one or three or more.

1...Component mounting machine 100...Controller (control unit)
6...Imaging unit 74...Light diffusing member 742...Side surface Az...Rotation axis L...Light emitting element (light emitting part)
Mz…Z-axis motor (rotary drive unit)
N... Nozzle Ri... Imaging range Rl... Light irradiation area (target area)
Rl_r, Rl_l...Light irradiation area (end target area)
Ti...Current value table (table)
θ…Rotation angle (rotation position)

Claims (7)

A plurality of nozzles arranged circumferentially around a rotation axis that is a predetermined virtual straight line;
a background member disposed inside the plurality of nozzles and having a cylindrical shape centered on the rotation axis;
a plurality of light emitting parts arranged circumferentially around the rotation axis and facing the background member;
a rotation drive unit that integrally rotates the plurality of nozzles, the background member, and the plurality of light emitting units around the rotation axis;
an imaging unit that images a predetermined imaging range from outside the plurality of nozzles, facing a side surface of the background member;
By causing the imaging unit to image the imaging range while irradiating the background member with light from the light emitting unit, the nozzle located in the imaging range among the plurality of nozzles is imaged, and the background member becomes the background. and a control unit that executes imaging processing to obtain an image of the nozzle,
The plurality of light emitting units irradiate light onto a plurality of mutually different target areas of the background member,
The background member has brightness that corresponds to the intensity of the light emitted from the light emitting part by emitting light from the target area through the side surface in response to the irradiation of light to the target area. ,
In the component mounting machine, the control unit controls the intensity of light emitted by the light emitting units in accordance with the rotational positions of the plurality of light emitting units rotated by the rotation drive unit in the imaging process. The control unit is configured to adjust the intensity of the light irradiated to the end target regions located at both ends of the imaging range among the plurality of target regions to be different from the end target region. The component mounting machine according to claim 1, wherein the intensity of the light emitted by the light emitting section is controlled so as to be greater than the intensity. When the distance between one of the end target regions located at both ends of the imaging range and the rotation axis is longer than the distance between the other end target region and the rotation axis, , the control unit controls the light irradiated by the light emitting unit so that the intensity of the light irradiated to the one end target region is greater than the intensity of the light irradiated to the other end target region. 3. The component mounting machine according to claim 2, which controls strength. The light emitting unit emits light with an intensity corresponding to the applied current,
The control unit has a table showing a correspondence relationship between the rotational position and a value of a current to be applied to each of the plurality of light emitting units, and by applying a current having a value indicated by the table to the light emitting unit. 4. The component mounting machine according to claim 1, wherein the intensity of light emitted by the light emitting section is controlled according to the rotational position. The control unit performs test imaging in which the background member irradiated with light from the light emitting unit is imaged by the imaging unit by applying a current to the light emitting unit to obtain an image of the background member at the rotational position. 5. The component mounting machine according to claim 4, wherein the table is created based on a result of execution while changing the table. The component according to any one of claims 1 to 5, wherein the background member is a light diffusion member that emits light from the target area through the side surface by diffusing the light irradiated to the target area. mounting machine. a plurality of nozzles arranged circumferentially around a rotation axis that is a predetermined virtual straight line; a background member arranged inside the plurality of nozzles and having a cylindrical shape around the rotation axis; a step of integrally rotating a plurality of light emitting parts arranged circumferentially around an axis and facing the background member around the rotation axis;
While emitting light from the light emitting unit to the background member, a predetermined imaging range is imaged by an imaging unit facing a side surface of the background member from outside the plurality of nozzles, so that the background member is used as a background. and a step of performing imaging processing to obtain an image of the nozzle,
The plurality of light emitting units irradiate light onto a plurality of mutually different target areas of the background member,
The background member has brightness that corresponds to the intensity of the light emitted from the light emitting part by emitting light from the target area through the side surface in response to the irradiation of light to the target area. ,
In the imaging process, the intensity of light emitted by the plurality of light emitting units is controlled according to the rotational position of the plurality of light emitting units.

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