JP7445460B2 - work system - Google Patents

Description

The present disclosure relates to a work machine that performs work on a work, and a work system including the work machine.

The present disclosure relates to a work system that includes a work machine that performs work on a work.

International Publication No. WO2013-084327

In the electronic component mounting apparatus described above, images related to the work are appropriately captured while the mounting head is working. Furthermore, in order to verify whether or not an abnormality has occurred in the electronic component mounting apparatus, or what kind of abnormality has occurred, it is preferable to take as many images as possible during work. However, as the number and amount of image data captured during these operations increases, it becomes necessary to install a large-capacity storage device in the electronic component mounting apparatus to store the image data.

The present disclosure has been made in view of the above-mentioned problems, and is intended to suppress the increase in the capacity of a storage device included in a work machine and to store more image data regarding images related to work using movable parts. The challenge is to provide a system.

In order to solve the above problems, the present disclosure includes a movable part that performs work on a work, a first imaging device that captures an image related to the work performed by the movable part, and a first imaging device that controls the operation of the movable part and controls the movable part. A plurality of work machines are provided, each of which includes a control device that causes the unit to perform work, and a wireless device that transmits image data captured by the first imaging device to an external device by wireless communication, the external device comprising: an image server that receives the image data from a plurality of the work machines, identifies which of the plurality of work machines the image data was captured by, and stores the image data collectively; The present invention discloses a work system that includes a communication IF converter, and the communication IF converter sets identification information to the image data for identifying which work machine has taken the image data .

Note that the content of the present disclosure can be implemented not only as a work system but also as a work machine .

According to the work machine and the work system of the present disclosure, it is possible to capture an image related to the work of the movable part using the first imaging device, and to transmit the captured image data to an external device using a wireless device. There is no need to reserve storage capacity for storing image data in a storage device included in the working machine. Furthermore, by ensuring sufficient storage capacity in the external device, it is possible to increase the number and amount of image data stored in the external device.

FIG. 1 is a plan view showing a schematic configuration of a component mounting system according to the present embodiment. FIG. 2 is a perspective view showing a schematic configuration of a component mounting machine and a loader. FIG. 1 is a block diagram of a multiplex communication system. FIG. 3 is a block diagram showing the configuration of a head substrate included in the head section.

Hereinafter, a component mounting system 10 that is an embodiment of the work system of the present disclosure will be described with reference to the drawings. FIG. 1 is a plan view showing a schematic configuration of a component mounting system 10 of this embodiment. FIG. 2 is a perspective view showing a schematic configuration of the component mounting machine 20 and the loader 13. In the following description, the left-right direction in FIG. 1 will be referred to as the X direction, the front-back direction will be referred to as the Y direction, and the direction perpendicular to the X direction and the Y direction will be referred to as the Z direction (vertical direction).

As shown in FIG. 1, the component mounting system 10 includes a production line 11, a loader 13, a management computer 15, and an image server 16. The production line 11 has a plurality of component mounting machines 20 arranged in the X direction, and performs mounting of electronic components onto the board 17, etc. The board 17 is carried out, for example, from the component mounting machine 20 on the left side shown in FIG. 1 to the component mounting machine 20 on the right side, and mounting of electronic components and the like is performed during transportation.

As shown in FIG. 2, the component mounting machine 20 includes a base 21 and a module 22. The base 21 has a substantially rectangular box shape long in the Y direction, and is fixed to, for example, the base 21 of the adjacent component mounting machine 20. The module 22 is a device that attaches electronic components to the board 17, and is placed on the base 21. The module 22 includes a substrate transport device 23 , a pallet 24 , a head section 25 , and a head moving mechanism 27 . The substrate transport device 23 is provided within the module 22 and transports the substrate 17 in the X direction. The pallet 24 is provided on the front surface of the module 22 and includes a plurality of slots (not shown) arranged in the X direction. A feeder 29 for supplying electronic components is attached to each slot of the pallet 24. As shown in FIG. 1, a touch panel 26 is provided on the upper cover of the module 22 for inputting operations to the component mounting machine 20. FIG. 2 shows a state with the top cover and touch panel 26 removed.

The head section 25 includes a suction nozzle 28 (see FIG. 2) that suctions the electronic component supplied from the feeder 29, and mounts the electronic component suctioned by the suction nozzle 28 onto the substrate 17. The head portion 25 includes, for example, an electromagnetic motor (not shown) as a drive source for changing the position of the plurality of suction nozzles 28 or the position of each suction nozzle 28 . The head moving mechanism 27 moves the head section 25 to an arbitrary position in the X direction and the Y direction in the upper part of the module 22. Specifically, the head moving mechanism 27 includes an X-axis slide mechanism 27A that moves the head section 25 in the X direction, and a Y-axis slide mechanism 27B that moves the head section 25 in the Y direction. The X-axis slide mechanism 27A is attached to the Y-axis slide mechanism 27B. Furthermore, the X-axis slide mechanism 27A includes a third slave 65 (see FIG. 3) that is connected to an industrial network described later. The third slave 65 is connected to various devices such as a relay 81 and a sensor 83 (see FIG. 3) provided on the X-axis slide mechanism 27A, and receives control data from the master 53 (see FIG. 3) of the device main body 41. Based on the CD, signals input and output from various devices are processed.

The Y-axis slide mechanism 27B has a linear motor (not shown) as a drive source. The X-axis slide mechanism 27A moves to any position in the Y direction based on the drive of the linear motor of the Y-axis slide mechanism 27B. Further, the X-axis slide mechanism 27A has a linear motor (not shown) as a drive source. The head section 25 is attached to the X-axis slide mechanism 27A, and moves to any position in the X direction based on the drive of the linear motor of the X-axis slide mechanism 27A. Therefore, the head portion 25 moves to any position in the upper portion of the module 22 as the X-axis slide mechanism 27A and Y-axis slide mechanism 27B are driven. Note that the various devices controlled by the third slave 65 are not limited to the relay 81 and the sensor 83, but may be other devices such as a linear motor.

Further, the head section 25 is attached to the X-axis slide mechanism 27A via a connector, and can be attached and detached with one touch, and can be changed to a different type of head section 25, such as a dispenser head. Therefore, the head section 25 of this embodiment can be attached to and detached from the component mounting machine 20. Furthermore, a side camera 70 is attached to the front side of the lower surface of the head section 25. The side camera 70 images the electronic component sucked by the suction nozzle 28 from the side. Furthermore, a mark camera 69 for photographing the board 17 is attached to the X-axis slide mechanism 27A. The mark camera 69 is provided on the lower surface of the attachment portion of the head section 25 in the X-axis slide mechanism 27A, and is fixed with the imaging direction directed downward. The mark camera 69 can image any position on the substrate 17 from above as the head section 25 moves. Furthermore, a parts camera 71 is installed between the substrate transport device 23 and the pallet 24 in the Y direction. The parts camera 71 images the electronic component sucked by the suction nozzle 28 from below. Image data GD1 captured by the mark camera 69, side camera 70, and parts camera 71 is image-processed by the image processing board 51A (see FIG. 3) of the main body control device 51 of the module 22. The image processing board 51A performs image processing on the image data GD1 of the mark camera 69 to obtain information regarding the board 17, errors in the mounting position, and the like. Further, the image processing board 51A processes the image data GD1 from the side camera 70 and the parts camera 71 to acquire the tilt of the electronic component sucked by the suction nozzle 28, the error in the suction position, and the like. The image processing board 51A is, for example, a board that includes a processing circuit (such as a CPU or FPGA) that performs image processing.

The head unit 25 also includes a second slave 61 (see FIG. 3) connected to the industrial network. The second slave 61 is connected to various devices such as a relay 75 and a sensor 77 provided in the head section 25, and controls various devices based on the control data CD received from the master 53 (see FIG. 3) of the device main body section 41. Process input/output signals.

Further, a monitoring camera 73 is attached to the lower surface of the head section 25. The monitor camera 73 captures images related to the mounting work performed by the head section 25. The images related to the mounting work here include, for example, images of the state of electronic components after being mounted on the board 17, images of the board 17 being transported by the board transport device 23, and the like. Alternatively, the image related to the mounting work is, for example, an image captured of the electronic component supplied from the feeder 29 to the supply position. Therefore, images related to the wearing work include various images (which can be used for verification and confirmation) of the state and appearance of the wearing work. The monitor camera 73 transmits captured image data GD2 to the image server 16 via a wireless device 79, which will be described later.

Further, as shown in FIG. 2, an upper guide rail 31, a lower guide rail 33, a rack gear 35, and a non-contact power feeding coil 37 are provided on the front surface of the base 21. The upper guide rail 31 is a U-shaped cross-sectional rail extending in the X direction, and has an opening facing downward. The lower guide rail 33 is a rail with an L-shaped cross section extending in the X direction, with a vertical surface attached to the front surface of the base 21 and a horizontal surface extending forward. The rack gear 35 is a gear that is provided at the bottom of the lower guide rail 33, extends in the X direction, and has a plurality of vertical grooves carved on its front surface. The upper guide rail 31, lower guide rail 33, and rack gear 35 of the base 21 can be removably connected to the upper guide rail 31, lower guide rail 33, and rack gear 35 of the adjacent base 21. Therefore, the component mounting machines 20 can increase or decrease the number of component mounting machines 20 lined up on the production line 11. The non-contact power supply coil 37 is a coil provided on the upper part of the upper guide rail 31 and arranged along the X direction, and supplies power to the loader 13.

The loader 13 is a device that automatically replenishes and recovers the feeder 29 from the component mounting machine 20, and includes a grip part (not shown) that clamps the feeder 29. The loader 13 is provided with an upper roller (not shown) inserted into the upper guide rail 31 and a lower roller (not shown) inserted into the lower guide rail 33. Further, the loader 13 is provided with a motor as a driving source. A gear that meshes with the rack gear 35 is attached to the output shaft of the motor. The loader 13 includes a power receiving coil that receives power from the non-contact power feeding coil 37 of the component mounting machine 20 . The loader 13 supplies the electric power received from the non-contact power feeding coil 37 to the motor. Thereby, the loader 13 can move in the X direction (horizontal direction) by rotating the gear with the motor. Moreover, the loader 13 can rotate the rollers within the upper guide rail 31 and the lower guide rail 33, and can move in the X direction while maintaining its position in the up-down direction and the front-back direction.

The management computer 15 shown in FIG. 1 is a device that comprehensively manages the component mounting system 10. For example, the component mounting machine 20 of the production line 11 starts mounting electronic components based on the management of the management computer 15. The component mounting machine 20 performs mounting work of electronic components using the head section 25 while conveying the board 17. The management computer 15 also monitors the number of remaining electronic components in the feeder 29. For example, when the management computer 15 determines that it is necessary to replenish the feeder 29, it displays on the screen an instruction to set the feeder 29 containing the type of parts that requires replenishment on the loader 13. The user checks the screen and sets the feeder 29 on the loader 13. When the management computer 15 detects that the desired feeder 29 is set on the loader 13, it instructs the loader 13 to start replenishment work. The loader 13 moves to the front of the component mounting machine 20 that has received the instruction, grips the feeder 29 set by the user with its gripping portion, and loads it into the slot of the pallet 24. As a result, a new feeder 29 is supplied to the component mounting machine 20. Further, the loader 13 holds the feeder 29 that is out of parts with its gripping portion, pulls it out from the pallet 24, and collects it. In this way, the loader 13 can automatically replenish new feeders 29 and recover feeders 29 that are out of parts.

The image server 16 is, for example, a server device equipped with a large-capacity (several TB, etc.) hard disk, and stores image data captured by each camera of the component mounting machine 20. The image server 16 is composed of, for example, a computer mainly including a CPU, and includes a hard disk, ROM, RAM, keyboard, monitor, and the like. The types of image data stored by the image server 16 are not particularly limited, but include, for example, the image data GD1 of the mark camera 69, side camera 70, and parts camera 71 described above, and image data GD2 of the monitor camera 73. .

Next, a multiplex communication system included in the component mounting machine 20 will be explained. FIG. 3 is a block diagram showing the configuration of a multiplex communication system applied to the component mounting machine 20. As shown in FIG. 2, the component mounting machine 20 includes an apparatus main body section 41, a branching slave 43, and a fixed multiplexing section 45 within a module 22. The device main body section 41, the branch slave 43, and the fixed multiplex section 45 are provided within the module 22 below the substrate transport device 23.

As shown in FIG. 3, the multiplex communication system of this embodiment includes a device body 41, a branch slave 43, and a fixed multiplex unit 45 fixed within the module 22, and a movable unit (X-axis slider) that moves within the module 22. Data transmission between the mechanism 27A and the head section 25) is performed by multiplex communication. The device main body section 41 has a main body control device 51 and a master 53. The fixed multiplexer 45 includes a first communication processing device 55 . The master 53 is connected to the first slave 57 of the first communication processing device 55 via the branch slave 43 . The head section 25 is provided with a second communication processing device 63 having a second slave 61 . Further, the X-axis slide mechanism 27A is provided with a third communication processing device 67 having a third slave 65. Note that the multiplex communication and industrial network connection configurations shown in FIG. 3 are merely examples.

The master 53 centrally controls the transmission of control data CD that controls the branch slave 43, first slave 57, second slave 61, and third slave 65 connected to the industrial network. The industrial network is, for example, EtherCAT (registered trademark). Note that the "industrial network" is a network that transmits control data CD for controlling the relays 75, 81, sensors 77, 83, etc., using the EtherCAT (registered trademark) communication standard, for example. Furthermore, the industrial network of the present disclosure is not limited to EtherCAT (registered trademark), but other networks (communication standards) such as Profinet (registered trademark) and MECHATROLINK (registered trademark)-III can be adopted.

The main body control device 51 is a processing circuit mainly composed of a CPU, for example, and inputs the control data CD collected by the master 53 and the image data GD1 received by the first communication processing device 55, and performs the next control. Determine the contents (type of electronic parts to be installed, installation position, etc.). Further, the main body control device 51 causes the master 53 to transmit control data CD according to the determined control content. The master 53 transmits control data CD to the branch slave 43, the first slave 57, the second slave 61, and the third slave 65 via the industrial network.

The head section 25 includes the second communication processing device 63 described above, a side camera 70, a monitoring camera 73, and the like. The second slave 61 processes signals input and output from various devices (such as the relay 81 and the sensor 83) based on the control data CD received from the master 53 of the device main unit 41. For example, the control data CD has read areas and write areas corresponding to each of a plurality of slaves (such as the first slave 57). For example, the second slave 61 of the head unit 25 drives the relay 75 and sensor 77 based on data read from the read area for the second slave 61 of the control data CD received from the master 53. Further, the second slave 61 writes data corresponding to the drive result signal of the relay 75 and the detection signal of the sensor 77 to the write area for the second slave 61 in the control data CD. The second slave 61 transmits the written control data CD to the master 53 and other slaves (such as the third slave 65). Note that the control data CD is transmitted by multiplex high-speed serial communication, which will be described later. In addition, the first slave 57 of the first communication processing device 55 and the third slave 65 of the X-axis slide mechanism 27A control various devices ( relay 81, sensor 83, etc.). The control data CD is transmitted, for example, by circulating through the master 53 and each slave. Note that the various devices (devices controlled by the control data CD) connected to each slave are not particularly limited.

Next, multiplex communication for transmitting the control data CD of the above-mentioned industrial network and the image data GD1 of the side camera 70, etc. will be explained. The component mounting machine 20 of this embodiment executes data transmission between the fixed multiplex section 45, the X-axis slide mechanism 27A, and the head section 25 by multiplex high-speed serial communication. As shown in FIG. 3, the fixed multiplexer 45 includes optical conversion modules 85 and 87 in addition to the first communication processing device 55 described above. The optical conversion module 85 is connected to an optical conversion module 89 included in the head section 25 via an optical fiber cable 91. Similarly, the optical conversion module 87 of the fixed multiplexing section 45 is connected to the optical conversion module 93 of the X-axis slide mechanism 27A via an optical fiber cable 95. Note that the communication connecting the fixed multiplexing section 45, the head section 25, and the X-axis slide mechanism 27A is not limited to optical communication, but may also be, for example, packet communication using a LAN cable compliant with the Gigabit Ethernet (registered trademark) communication standard. good. Further, the communication system provided in the component mounting machine 20 is not limited to a wired communication system, but may be a wireless communication system.

Next, communication between the first communication processing device 55 and the second communication processing device 63 will be explained. Note that the processing content of the communication between the first communication processing device 55 and the third communication processing device 67 is the same as the processing content of the communication between the first communication processing device 55 and the second communication processing device 63. Therefore, the explanation thereof will be omitted as appropriate. The optical conversion module 85 of the fixed multiplexer 45 is a physical interface that performs conversion between an optical signal and a digital signal. The optical conversion module 85 is connected to the first communication processing device 55 and converts data input from the first communication processing device 55 into an optical signal. The optical conversion module 85 transmits the converted optical signal to the optical conversion module 89 of the head section 25 via the optical fiber cable 91. Further, the optical conversion module 85 converts the optical signal received from the optical conversion module 89 of the head section 25 into a digital signal (serial signal) and outputs the digital signal (serial signal) to the first communication processing device 55 .

FIG. 4 shows the configuration of a head substrate 101 included in the head section 25. As shown in FIG. As shown in FIG. 4, the head substrate 101 includes the second communication processing device 63, the wireless device 79, and the optical conversion module 89 described above. The second communication processing device 63 is, for example, a programmable logic device such as an FPGA (Field Programmable Gate Array). The second communication processing device 63 includes a camera IF 103, an image processing section 105, a buffer 107, and a multiprocessing section 109 as a processing circuit for processing the image data GD1 of the side camera 70. Further, the second communication processing device 63 includes a camera IF 113, an image processing section 115, a buffer 117, and a communication IF converter 119 as a processing circuit for processing the image data GD2 of the monitor camera 73.

The second communication processing device 63 includes, for example, a memory 121 that stores configuration information for constructing an FPGA logic circuit. The second communication processing device 63 reads the configuration information stored in the memory 121 and constructs various processing circuits (logic circuits). The second communication processing device 63 processes data to be transmitted through the communication system, such as image data GD1, using the constructed processing circuit.

The camera IF 103 is a processing circuit that functions as an interface connected to the side camera 70 and converts the image data GD1 input from the side camera 70 into a digital signal that can be processed by the subsequent image processing unit 105 or the like. Similarly, the camera IF 113 is connected to the monitor camera 73, converts image data GD2 input from the monitor camera 73, and outputs the converted image data to the image processing unit 115.

The image processing unit 105 executes image processing such as image quality correction of the image data GD1 input from the camera IF 103. Similarly, the image processing unit 115 performs image processing such as correcting the image quality of the image data GD2 input from the camera IF 113. The buffer 107 inputs the image data GD1 processed by the image processing section 105, temporarily stores it, and outputs it to the multiprocessing section 109. Similarly, the buffer 117 inputs the image data GD2 processed by the image processing unit 115, temporarily stores it, and outputs it to the communication IF converter 119. Each of the buffers 107 and 117 stores image data GD1 and GD2 in, for example, FIFO (First-In First-Out) format. Each of the buffers 107 and 117 adjusts the difference in data transfer speed between the processing circuits on the input side (image processing units 105 and 115) and the output side (multiprocessing unit 109 and communication IF converter 119).

Further, the multiprocessing unit 109 is connected to the second slave 61 in addition to the buffer 107, for example. The first slave 57, the second slave 61, and the third slave 65 are, for example, IP cores used for constructing a logic circuit of a logic device. Note that the second communication processing device 63 is not limited to an FPGA, and may be a programmable logic device (PLD) or a composite programmable logic device (CPLD). Further, in the second communication processing device 63, the circuits other than the second slave 61 may be configured with an application specific integrated circuit (ASIC) or the like. Further, like the second communication processing device 63, the first communication processing device 55 and the third communication processing device 67 may be configured with an FPGA, or may be configured with an integrated circuit capable of processing the image data GD1, etc. good.

The multiplexing unit 109 receives and multiplexes, for example, the industrial network control data CD input from the second slave 61 and the image data GD1 input from the buffer 107. The multiplexing unit 109 performs multiplexing using, for example, time division multiplexing (TDM). For example, the multiplexing unit 109 multiplexes various input data according to a fixed time (time slot) assigned to the input port, and outputs the multiplexed data to the optical conversion module 89.

The multiplexing unit 109 also demultiplexes the multiplexed data received from the first communication processing device 55 of the fixed multiplexing unit 45 via the optical conversion module 89, and demultiplexes the multiplexed data into the multiplexed data. Separate data. The multiprocessing unit 109 outputs the separated various data to each corresponding device. For example, the multiplexing unit 109 separates an imaging start signal received from the main body control device 51 and instructs to start imaging from the multiplexed data, and outputs the signal to the side camera 70 via a communication path (not shown). As a result, multiplex communication (high-speed serial communication) in which various data such as control data CD and image data GD1 are multiplexed is performed between fixed multiplexer 45 and head unit 25.

Note that the configuration of the multiplex communication system described above is an example and can be changed as appropriate. For example, the multiplex communication system of the component mounting machine 20 may multiplex encoder signals of an encoder of an electromagnetic motor that is a drive source of the suction nozzle 28 (see FIG. 2) of the head section 25, and control commands for the encoder. Furthermore, in the multiplex communication system of this embodiment shown in FIG. 3, the Y-axis slide mechanism 27B is not connected. However, for example, the encoder signal of the linear scale attached to the linear motor of the Y-axis slide mechanism 27B may be transmitted by a multiplex communication system.

Further, the communication IF converter 119 is a converter that converts the image data GD2 input from the buffer 117 into a signal that can be processed by the wireless device 79. The communication IF converter 119 performs, for example, error correction encoding processing, modulation processing, frequency conversion processing, etc. on the image data GD2. The wireless device 79 transmits the image data GD2 to the image server by, for example, wireless communication compliant with the communication standard of the 5th Generation mobile communication (5G) (hereinafter sometimes referred to as "5G"). This is a wireless device that transmits data to 16. Note that the wireless communication performed by the wireless device in the present disclosure is not limited to wireless communication compliant with the 5G communication standard, but also includes fourth generation systems such as LTE (Long Term Evolution) systems and LTE-Advanced systems, and those developed as successors thereof. Other high-speed wireless communications may also be used.

The wireless device 79 converts the image data GD2 input from the communication IF converter 119 into a wireless signal and transmits it to the image server 16. The component mounting machine 20 of this embodiment can transmit the image data GD2 captured by the monitor camera 73 to the image server 16 with low delay using 5G high-speed wireless communication using the wireless device 79. For example, the wireless device 79 transmits the image data GD2 captured by the monitor camera 73 to the image server 16 while maintaining the image quality, etc., without performing compression processing or the like. By checking the image data GD2 on the monitor of the image server 16, the user can check the status of the mounting work of the component mounting machine 20 in real time.

Furthermore, by providing the wireless device 79 in the head section 25 and directly wirelessly transmitting the image data GD2 from the wireless device 79 to the image server 16, there is no need to connect the monitor camera 73 to the device main body section 41 with a cable or the like. . Furthermore, there is no need to connect the monitor camera 73 to the image server 16 using a cable or the like. This eliminates the need to install various wires. Furthermore, there is no need to add (extend, etc.) a connector for connecting the monitor camera 73 to the image processing board 51A of the main body control device 51.

Further, as shown in FIG. 4, the communication IF converter 119 of this embodiment can receive image data GD1 from the side camera 70 via the buffer 107. The communication IF converter 119 adds, for example, identification information and time information to the image data GD1 and GD2 and outputs the image data GD1 and GD2 to the wireless device 79. This identification information is information that allows the image data GD1 captured by the side camera 70 and the image data GD2 captured by the monitoring camera 73 to be identified, and is, for example, information indicating the serial number of the camera. The time information is information indicating the time when the image data GD1 and GD2 were captured, and is, for example, information indicating the time (system time) when the communication IF converter 119 took in the image data GD1 and GD2. The communication IF converter 119 adds identification information and time information to the input image data GD1 and GD2, and outputs all the image data GD1 and GD2 to the wireless device 79 in the input order. The image server 16 stores the image data GD1 and GD2 in the order in which they are received from the wireless device 79, for example. As a result, all of the image data GD1 and GD2 captured by the side camera 70 and the monitor camera 73 are stored in the image server 16 in the order in which they were captured.

Further, as shown in FIG. 1, the image server 16 can be connected to a plurality of component mounting machines 20 (wireless devices 79). In particular, 5G enables a large number of simultaneous connections (high-density multi-connection) compared to 4G and the like. Therefore, it is possible to acquire image data GD1 and GD2 from more component mounting machines 20 installed in one production line 11 or one factory. The communication IF converter 119 adds, for example, identification information that can identify the component mounting machine 20 to the image data GD1 and GD2. The communication IF converter 119 sets the above-described camera identification information, component mounting machine 20 identification information, and time information to, for example, the file names and header information of the image data GD1 and GD2. Thereby, image data GD1 of not only the monitor camera 73 but also the side camera 70 used for the actual mounting work can be confirmed on the image server 16. The image server 16 can identify when the image data GD1 and GD2 was captured by which camera of which component mounting machine 20.

Note that the communication IF converter 119 does not have to transmit all of the image data GD1 and GD2 captured by the side camera 70 and the monitor camera 73 to the image server 16. Furthermore, the communication IF converter 119 does not have to transmit the image data GD1 and GD2 in the order in which they were captured (in the order in which they were input). Further, the component mounting machine 20 may transmit image data GD1 of cameras other than the side camera 70 (mark camera 69 and parts camera 71) to the image server 16 via the wireless device 79. In this case, the wireless device 79 may be installed inside the X-axis slide mechanism 27A or the module 22.

Therefore, the wireless device 79 of this embodiment performs 5G wireless communication with the image server 16, and transfers image data GD1 and GD2 captured by the side camera 70 and the monitor camera 73 to the main body control device 51. The image is sent to the image server 16 without going through. According to this, the image data GD1 and GD2 can be transmitted without going through the main body control device 51 that controls the component mounting machine 20. Therefore, the processing load on the component mounting machine 20 (main body control device 51) in the transmission processing of the image data GD1 and GD2 can be reduced.

Furthermore, the wireless device 79 transmits all the image data GD1 and GD2 captured by the side camera 70 and the monitor camera 73 to the image server 16 in the order in which the images were captured. According to this, all the captured image data GD1 and GD2 can be stored in the image server 16 in the same state as possible. For example, the communication IF converter 119 and the wireless device 79 transfer the image data GD1 and GD2 (raw data) captured by the side camera 70 and the monitor camera 73 to the image server without changing the image quality or data amount as much as possible. You may also send it to 16. In this case, it is not necessary for the image processing units 105 and 115 to perform the correction process. By using the image data GD1 and GD2 stored in the image server 16, it is possible to verify the normal operation of the component placement machine 20, analyze the cause of abnormal operation, verify the processing program that processes the image data GD1 and GD2, and check whether it is normal or abnormal. It is possible to more accurately compare the image data GD1 and GD2 at the time.

For example, if image data GD1 (raw data) can be saved, when the image processing program executed on the image processing board 51A is changed, the image data GD1 after image processing with the changed image processing program and the image data GD1 before image processing are saved. Image data GD1 can be compared and verified using raw data. Thereby, it is possible to accurately verify whether the changed image processing program is appropriately performing the desired image processing.

The component mounting machine 20 also includes a side camera 70 that captures an image related to the mounting work performed by the head unit 25, and an image that processes image data GD1 (an example of second image data) captured by the side camera 70. A processing board 51A (an example of an image processing device) is provided. The main body control device 51 controls the operation of the head section 25 based on image data GD1 subjected to image processing by the image processing board 51A.

According to this, in addition to the monitoring camera 73 that captures the image data GD2 to be stored in the image server 16, the side camera 70 that captures the image data GD1 used for controlling the head section 25 is provided. In other words, the monitor camera 73 can be used as an imaging device exclusively for transmitting the image data GD2 to the image server 16 (for monitoring, etc.). By using it as a dedicated machine, it is possible to make changes to the component mounting machine 20 when the monitor camera 73 is changed to an imaging device with the required specifications (image quality, number of colors) or when the installation position of the monitor camera 73 is changed. The impact can be reduced. For example, since the monitoring camera 73 is not used for actual mounting work, it can be installed at various positions of the component mounting machine 20 (positions where necessary images can be acquired).

Furthermore, the wireless device 79 transmits the image data GD1 before being subjected to image processing by the image processing board 51A to the image server 16. According to this, the wireless device 79 transmits the image data GD1 of the side camera 70 in addition to the image data GD2 of the monitor camera 73 to the image server 16. Furthermore, the wireless device 79 transmits to the image server 16 image data GD1 before image processing by the image processing board 51A (before image color conversion and extraction processing for detecting error positions). Thereby, confirmation work and verification work can be performed using the image data GD1. For example, it can be verified whether the image processing board 51A is properly performing image processing by checking images before and after image processing.

Furthermore, the wireless device 79 transmits the image data GD1 and GD2 to the image server 16 by wireless communication compliant with the fifth generation (5G) communication standard. According to this, the image data GD1 and GD2 can be transmitted to the image server 16 at high speed and with low delay by wireless communication compliant with the 5G communication standard. It becomes possible to store the image data GD1 and GD2 in the image server 16 in real time. It is possible to monitor the wearing work, judge the wearing results, record the wearing work, etc. Further, due to multiple connections, which is one of the features of 5G, it becomes possible to connect more component mounting machines 20 to one image server 16 (multiple connections). Therefore, the image data GD1 and GD2 of many component mounting machines 20 can be stored together in one image server 16.

Furthermore, the wireless device 79 of this embodiment is provided in the head section 25 (see FIG. 4). According to this, by providing the wireless device 79 in the head section 25, when a camera (monitor camera 73, side camera 70, etc.) is provided in the head section 25, the connection distance between the camera and the wireless device 79 can be reduced. It can be made shorter. By shortening the connection distance, it is possible to suppress the influence of external noise generated in the connection wiring. It is possible to suppress the occurrence of errors in the transmission of image data GD1 and GD2.

Further, the component mounting system 10 of this embodiment includes a plurality of component mounting machines 20 and an image server 16. The image server 16 receives image data GD1 and GD2 from the plurality of component mounting machines 20, and collectively stores the image data GD1 and GD2 captured by the plurality of component mounting machines 20. According to this, the image data GD1 and GD2 can be collected and stored in the image server 16 from the plurality of component mounting machines 20. Image data GD1 and GD2 of the component mounting machines 20 of the same production line 11 and the component mounting machines 20 of the same production factory can be stored together in the image server 16.

The image server 16 also inputs abnormality information ERI indicating that an abnormality occurred during the mounting operation by the head section 25 from the main body control device 51 of the component mounting machine 20, and inputs the abnormality information ERI indicating that an abnormality occurred during the mounting operation by the head section 25, and determines whether an image was captured when the abnormality occurred based on the abnormality information ERI. Image data GD1 and GD2 may be specified. For example, as shown in FIG. 1, the image server 16 may input abnormality information ERI from the management computer 15.

For example, a plurality of component mounting machines 20, a management computer 15, and an image server 16 on the production line 11 are connected via a wired LAN and can communicate with each other. When an abnormality occurs during the mounting operation, the main body control device 51 of each component mounting machine 20 notifies the management computer 15 of the abnormality information as abnormality information ERI via the wired LAN. Abnormalities that occur during the mounting work include, for example, a mounting abnormality in which the electronic component cannot be mounted on the board 17 (see FIG. 1), a suction abnormality in which the electronic component cannot be attracted in the correct posture by the head section 25, etc. . Alternatively, the abnormality that occurs during the mounting operation may be, for example, a speed abnormality of the head section 25 or a communication abnormality between the feeder 29 and the pallet 24. The main body control device 51 notifies the management computer 15 of, for example, the system time at which the abnormality was determined (abnormality was detected), identification information indicating the details of the abnormality, etc. as abnormality information ERI.

The image server 16 then receives the abnormality information ERI from the management computer 15 via the wired LAN. According to this, the image server 16 compares the time information of the abnormality information ERI with the time information of the accumulated image data GD1, GD2 (obtained from the wireless device 79), and compares the time information of the image data GD1, GD2 at the time of abnormality occurrence. can be identified. The image server 16 can show the user image data GD1 and GD2 captured by the side camera 70 and the monitor camera 73 when the component placement machine 20 determines that there is an abnormality. By checking the image data GD1 and GD2, the user can investigate the cause of the abnormality and take countermeasures.

Note that the method for specifying the image data GD1 and GD2 at the time of abnormality occurrence is not limited to the method using the above-described time information. For example, a unique number (such as a serial number) may be assigned to the image data GD1 and GD2, and based on the unique number, the image data GD1 and GD2 at the time of occurrence of an abnormality may be specified. For example, the image processing unit 105 assigns a unique number to the image data GD1. When the main body control device 51 detects an abnormality based on the image data GD1 during the mounting operation, it notifies the management computer 15 of the unique number of the image data GD1 as the abnormality information ERI. The image server 16 may identify the image data GD1 at the time of abnormality occurrence based on the unique number of the abnormality information ERI input from the management computer 15 and the unique number of the accumulated image data GD1. Furthermore, the plurality of component mounting machines 20, management computer 15, and image server 16 may transmit the abnormality information ERI by wireless communication. Furthermore, the management computer 15 does not need to perform the determination process for the image data GD1 and GD2 at the time of abnormality.

Incidentally, the component mounting system 10 is an example of a work system. Image server 16 is an example of an external device. The component mounting machine 20 is an example of a working machine. The head section 25 is an example of a movable section. The main body control device 51 is an example of a control device. The image processing board 51A is an example of an image processing device. The mark camera 69, the side camera 70, and the parts camera 71 are examples of the first imaging device and the second imaging device. The monitor camera 73 is an example of a first imaging device. Image data GD1 is an example of second image data. Image data GD2 is an example of image data. The substrate 17 is an example of a workpiece.

As described above, the present embodiment described above provides the following effects.
In one aspect of this embodiment, the component mounting machine 20 includes a head section 25 that performs mounting work on the board 17. The side camera 70 and the monitor camera 73 capture images related to the mounting work performed by the head section 25. The main body control device 51 controls the operation of the head section 25 and causes the head section 25 to perform work. The wireless device 79 transmits image data GD1 and GD2 captured by the side camera 70 and the monitor camera 73 to the management computer 15 via 5G wireless communication.

According to this, there is no need to secure a storage capacity for storing the image data GD1 and GD2 in the storage device (such as the memory of the main body control device 51) provided in the component mounting machine 20. Furthermore, by ensuring sufficient storage capacity in the image server 16, it is possible to increase the number and amount of image data GD1 and GD2 stored in the image server 16. Further, by transmitting the image data GD1 and GD2 through wireless communication, there is no need to connect the component mounting machine 20 and the image server 16 by wire, and the installation work of the image server 16 becomes easy.

It goes without saying that the present disclosure is not limited to the above embodiments, and that various improvements and changes can be made without departing from the spirit of the present disclosure.
For example, the component mounting machine 20 does not need to include the monitoring camera 73. The component mounting machine 20 may transmit only the image data GD1 actually used in the mounting operation, such as the mark camera 69, the side camera 70, and the parts camera 71, to the image server 16, for example.
Further, the component mounting machine 20 does not need to include a camera such as a mark camera 69, a side camera 70, a parts camera 71, etc. that captures the image data GD1 that is actually used in the mounting operation.
Furthermore, the wireless device 79 may be installed at a location other than the head section 25. For example, the component mounting machine 20 may include a wireless device 79 in the device main body 41. Then, the device main body section 41 may transmit the image data GD1 and GD2 to the image server 16.

Furthermore, the external device that stores the image data GD1 and GD2 is not limited to the image server 16. For example, the management computer 15 may receive and store the image data GD1 and GD2 from the component placement machine 20. That is, there is no need to provide a dedicated server or the like to store the image data GD1 and GD2.
Furthermore, it is not necessary to store image data GD1 and GD2 of a plurality of component placement machines 20 in one image server 16. The image server 16 may be installed for each component mounting machine 20 or for each group of multiple component mounting machines 20.

Furthermore, the component mounting machine 20 does not need to be equipped with a multiplex communication system. For example, the component mounting machine 20 does not need to multiplex the image data GD1 with other data and transmit it.
Furthermore, multiplex communication between the first communication processing device 55 and the second communication processing device 63 may be performed using a frequency multiplexing method other than the time division multiplexing method, for example.
Further, in the above embodiment, an example was described in which a component mounting machine 20 for mounting electronic components on the board 17 was employed as a working machine in the present disclosure. However, the working machine in the present disclosure is not limited to the component mounting machine 20, and other board-to-board working machines such as a solder printing device can be employed. In this case, the squeegee holding device that applies solder is an example of the movable part of the present disclosure. Further, as the monitoring camera 73, a camera that captures an image of the solder application state may be used. Furthermore, the working machine may be, for example, a machine tool or a robot that performs assembly work. In this case, a machine tool chuck, a robot arm, and an end effector are examples of the movable parts of the present disclosure. Further, as the monitor camera 73, a camera that captures an image of the working state may be used.

Next, technical ideas derived from the contents of the above embodiment will be described.
(stomach)
The wireless device includes:
provided in the movable part,
The movable part is
configured to be detachable from the work machine,
At least one of the number of first imaging devices, the position imaged by the first imaging device, the performance of the first imaging device, and the performance of the wireless device is replaceable with another type of movable part. The working machine according to any one of claims 1 to 6.

According to this, by configuring the movable part to be detachable, it is possible to replace the movable part with a movable part having a different function. The type of moving parts can be changed depending on the purpose of monitoring and verification. For example, by changing the number of first imaging devices, it is possible to increase or decrease the number of image data that can be captured simultaneously during work. Alternatively, it is also possible to replace the movable part with a plurality of first imaging devices having different image quality and number of colors. Furthermore, for example, by changing the position where the first imaging device takes images to a different movable part, the position where images used for monitoring or verification are taken can be changed by replacing the movable part. Furthermore, for example, by changing the first imaging device to a movable section with different performance, it is possible to change the movable section to include the first imaging device with the required image quality and number of colors. Furthermore, for example, by changing the wireless device to a movable part with different performance, it is possible to improve the communication performance on the movable part side in accordance with the improvement in the communication performance on the receiving side (external device).

10 component mounting system (work system), 16 image server (external device), 17 board (work), 20 component mounting machine (work machine), 25 head section (movable section), 51 main body control device (control device), 51A Image processing board (image processing device), 69 Mark camera (first imaging device, second imaging device), 70 Side camera (first imaging device, second imaging device), 71 Parts camera (first imaging device, second imaging device) 2 imaging device), 73 monitor camera (first imaging device), 79 wireless device, GD1 image data, GD2 image data (second image data), ERI abnormality information.

Claims (8)

a movable part that performs work on the workpiece;
a first imaging device that captures images related to work performed by the movable part;
a control device that controls the operation of the movable part and causes the movable part to perform work;
a wireless device that transmits image data captured by the first imaging device to an external device by wireless communication;
Equipped with multiple work machines equipped with
The external device is an image server that receives the image data from a plurality of the work machines, identifies which of the plurality of work machines the image data was captured by, and collectively stores the image data. ,
Equipped with
The movable part is
Has a communication IF converter,
The communication IF converter is
A work system that sets identification information to the image data to identify which work machine has taken the image data . The wireless device includes:
The work system according to claim 1, wherein wireless communication is performed with the external device, and image data captured by the first imaging device is transmitted to the external device without going through the control device. The wireless device includes:
The work system according to claim 1 or 2, wherein all of the image data captured by the first imaging device is transmitted to the external device in the order in which the images were captured. a second imaging device that captures images related to work performed by the movable part;
an image processing device that performs image processing on second image data captured by the second imaging device;
Equipped with
The control device includes:
The work system according to any one of claims 1 to 3, wherein the operation of the movable part is controlled based on the second image data subjected to image processing by the image processing device. The wireless device includes:
The work system according to claim 4, wherein the second image data before being subjected to image processing by the image processing device is transmitted to the external device. The wireless device includes:
The work system according to any one of claims 1 to 5, wherein the image data is transmitted to the external device by wireless communication compliant with a fifth generation (5G) communication standard. The image server includes:
Abnormality information indicating that an abnormality has occurred in work performed by the movable part is input from the control device of the working machine, and the image data captured when the abnormality occurs is specified based on the abnormality information. The work system according to claim 6 . The wireless device includes:
The work system according to any one of claims 1 to 7 , provided in the movable part.

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