KR101986096B1 - METHOD FOR MEASURING RESISTANCE OF VISUAL FLUID IN BOARD WORKING APPARATUS - Google Patents

Abstract

The substrate working apparatus includes a squeegee portion 82 for scraping and equalizing the viscous fluid L transferred to the transfer object 31 and a viscous fluid Lb scraped off by the squeegee portion 82 to form a lump An image pickup section 43 for picking up an image of a predetermined area including a part in which the viscous fluid Lb does not exist and a part in which the viscous fluid Lb is present, And a control section (9) for acquiring the remaining amount of the viscous fluid (Lb) based on at least one of the size of the existing part or the size of the part where the viscous fluid (Lb) does not exist.

Description

METHOD FOR MEASURING RESISTANCE OF VISUAL FLUID IN BOARD WORKING APPARATUS

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a substrate working apparatus and a substrate working apparatus, and more particularly, to a substrate working apparatus having a squeegee and a method for measuring the residual amount of viscous fluid in the substrate working apparatus.

Conventionally, a substrate working apparatus having a squeegee is known. Such a substrate working apparatus is disclosed, for example, in Korean Patent Laid-Open No. 10-2013-0023603.

The Korean Unexamined Patent Publication No. 10-2013-0023603 discloses an ink jet recording head comprising a flux plate on which an identification mark is formed on an upper surface, a flux tank (squeegee section) provided on the flux plate and storing the flux, And a flux state detecting device including an image pickup section for picking up a recognition mark. The chip mounter is configured to recognize the remaining amount of flux stepwise on the basis of the image pickup result by the image pickup unit.

Korean Patent Publication No. 10-2013-0023603

However, in the chip mounter disclosed in Korean Patent Laid-Open No. 10-2013-0023603, there is a problem that only the remaining amount of the flux is recognized step by step and the remaining amount of the viscous fluid such as flux can not be measured accurately (quantitatively) . Further, in the chip mounter disclosed in Korean Patent Laid-Open No. 10-2013-0023603, there is also a problem that it is difficult to measure the residual amount in a colored flux (viscous fluid) because the recognition mark is picked up over the flux.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a substrate processing apparatus capable of accurately measuring the remaining amount of a viscous fluid and capable of measuring the remaining amount even with a colored viscous fluid, And a method for measuring the remaining amount of viscous fluid in a substrate working apparatus.

A substrate working apparatus according to a first aspect of the present invention includes a squeegee portion for scraping out a viscous fluid to be transferred to a transfer target and scooping the same, a portion where a viscous fluid is scraped off by the squeegee portion, A size of a portion in which a viscous fluid exists in a captured image of a predetermined region picked up by the image pickup portion while a viscous fluid in the form of a lump is formed, And a control section that acquires the remaining amount of the viscous fluid based on at least one of the size of the portion where the fluid does not exist and the squeegee section has a frame shape capable of storing the viscous fluid and the imaging section has a frame shape in which the viscous fluid is stored A portion where a viscous fluid in the form of a lump exists in the inside of the squeegee portion, It is adapted to capturing an image of a predetermined area of the internal squeegee portion including a material that is not part of the upper side.

In the substrate working apparatus according to the first aspect of the present invention, at least one of the size of the portion where the viscous fluid exists, or the size of the portion where the viscous fluid does not exist in the picked-up image of the predetermined region picked up by the image pickup portion, And a control unit for acquiring the remaining amount of the viscous fluid. As a result, the remaining amount of the viscous fluid can be measured accurately (quantitatively) by using the correlation between the size of the portion where the viscous fluid in the lump shape exists and the size of the portion where the viscous fluid is absent . In addition, since a predetermined area including a portion in which the viscous fluid in the lump shape exists and a portion in which the viscous fluid is not present is picked up and the remaining amount is acquired based on the picked-up image in the predetermined area, The remaining amount can be easily measured even with a colored viscous fluid. The squeegee portion has a frame shape capable of storing the viscous fluid. The imaging portion has a portion in which the viscous fluid in the form of a lump exists and a portion in which the viscous fluid does not exist in the squeegee portion having the frame shape in which the viscous fluid is stored And a predetermined area inside the squeegee portion from the upper side. Thereby, the viscous fluid can be easily formed into a lump shape by the squeegee portion having the frame shape. As a result, a portion in which the viscous fluid in the form of a lump is present and a portion in which the viscous fluid does not exist can be easily formed, and the image can be picked up by the image pickup portion.

Preferably, in the substrate processing apparatus according to the first aspect, the control unit may be configured to determine, based on the sensed image of the predetermined area, at least one of an area of a portion where viscous fluid exists, And acquires the remaining amount of viscous fluid on the basis of at least one of an area of the portion where the viscous fluid is present or an area of the portion where no viscous fluid exists. With this configuration, unlike the case where the remaining amount of the viscous fluid is acquired based on the measurement result of the point by the optical sensor, for example, since the remaining amount of the viscous fluid is acquired based on the area, Even if there is some variation in the shape of the viscous fluid in the shape, the remaining amount of the viscous fluid can be stably and accurately (quantitatively) measured.

In this case, preferably, the control unit acquires the binarized image of the predetermined region by binarizing the captured image of the predetermined region, and further, based on the obtained binarized image, the area of the portion where the viscous fluid exists in the predetermined region or And at least one of the areas where the viscous fluid does not exist. With this configuration, at least one of the area where the viscous fluid exists or the area where the viscous fluid does not exist can be easily obtained.

The substrate processing apparatus according to the first aspect preferably further comprises a viscous fluid supply unit for supplying a viscous fluid, and when the remaining amount of the obtained viscous fluid is judged to be equal to or smaller than a predetermined threshold value, So as to perform the control for supplying the viscous fluid. With this configuration, since the viscous fluid can be supplied based on the remaining amount of the viscous fluid accurately measured, the viscous fluid can be supplied in an appropriate amount. As a result, an increase in the amount of viscous fluid used can be suppressed, unlike the case where an extra viscous fluid is supplied in excess of a necessary amount so that the viscous fluid is not deficient. In addition, since the viscous fluid is automatically supplied, a problem that the viscous fluid is not sufficiently transferred to the transfer object due to lack of the viscous fluid can be suppressed.

The substrate processing apparatus according to the first aspect preferably further includes a mounting head that mounts the component to the substrate and is relatively movable with respect to the squeegee portion, As shown in FIG. With this configuration, the mounting head and the imaging unit can be moved by the common moving mechanism, so that complication of the device configuration for measuring the remaining amount of the viscous fluid can be suppressed.

In this case, preferably, the imaging section includes an imaging section for substrate recognition for imaging a substrate recognition mark for recognizing the substrate. With this configuration, the substrate recognition imaging unit can also be used as an imaging unit for measuring the remaining amount of the viscous fluid, so that complication of the device configuration for measuring the remaining amount of the viscous fluid can be further suppressed.

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Preferably, in the substrate working apparatus according to the first aspect, the transfer object further includes a coating film forming plate including a component to be mounted on the substrate and forming a coating film of viscous fluid to be transferred to the component, wherein the squeegee The viscous fluid is scraped and evenly moved to form a coating film of the viscous fluid to be transferred to the component on the coating film forming plate. The image capturing section is formed in a lump shape on the coating film forming plate from above the coating film forming plate And a predetermined region including a portion where the viscous fluid is present and a portion where the viscous fluid is not present. With this configuration, the residual amount of the viscous fluid can be accurately (quantitatively) and reliably measured in a configuration in which the coating film of the viscous fluid formed on the film-forming plate is transferred to the component.

Preferably, in the substrate working apparatus according to the first aspect, the transfer object preferably includes a substrate on which the component is mounted, and further comprises a mask having a print pattern for transferring viscous fluid onto the substrate by printing, And the viscous fluid on the mask is transferred to the substrate through a printing pattern. The imaging unit is provided with a portion where a viscous fluid in the form of a lump on the mask exists from above the mask And is configured to image a predetermined region including a portion in which the viscous fluid does not exist. With this configuration, in the configuration in which the viscous fluid on the mask such as solder is transferred to the substrate through the print pattern, the remaining amount of the viscous fluid such as solder can be accurately (quantitatively) accurately measured.

The substrate processing apparatus according to the first aspect preferably further includes an illumination section capable of irradiating light to a predetermined region, wherein the illumination section irradiates intensity of light irradiated to a predetermined region in accordance with the type of the viscous fluid, And the wavelength of the light to be irradiated to the predetermined area can be changed. With this configuration, a predetermined area can be imaged by appropriate illumination according to the type of viscous fluid, so that a portion where a viscous fluid in a lump shape exists and a portion in which a viscous fluid does not exist can be easily distinguished from each other, can do. As a result, the remaining amount of the viscous fluid can be more accurately measured.

A second aspect of the present invention is a method for measuring a residual fluid amount of a viscous fluid in a substrate working apparatus, comprising steps of scraping off a viscous fluid transferred to a transfer target by a squeegee having a frame shape capable of storing a viscous fluid, A predetermined area inside the squeegee portion including a portion where a viscous fluid in a lump shape exists and a portion where a viscous fluid does not exist in a squeegee portion having a frame shape in which a viscous fluid is scraped off by a squeegee portion, A step of taking an image from above by an image pickup section while a viscous fluid in a shape of a predetermined region is formed and a step of changing a size of a portion where viscous fluid exists in a picked- Of the viscous fluid is acquired by the control unit based on at least one of the sizes of the viscous fluid Step.

In the viscous fluid residual amount measurement method in the substrate working apparatus according to the second aspect of the present invention, the size of the portion where the viscous fluid exists in the picked-up image of the predetermined region picked up by the image pickup portion, And a step of acquiring the remaining amount of the viscous fluid by the control unit based on at least one of the sizes of the non-viscous fluid. As a result, similarly to the case of the substrate processing apparatus according to the first aspect, the remaining amount of the viscous fluid can be accurately measured, and the residual amount can be measured even with the colored viscous fluid.

(Effects of the Invention)

According to the present invention, there is provided a substrate working apparatus and a method for measuring the remaining amount of viscous fluid in a substrate working apparatus which can accurately measure the remaining amount of viscous fluid and can measure the remaining amount even with colored viscous fluid can do.

1 is a diagram showing the overall configuration of a substrate working apparatus according to a first embodiment of the present invention.
2 is a side view showing the entire configuration of the transfer unit of the substrate working apparatus according to the first embodiment of the present invention.
3 is a plan view of the transfer unit of the substrate working apparatus according to the first embodiment of the present invention.
4 is a diagram for explaining picked-up images of a predetermined region and picked-up images of a predetermined region after binarization processing in the substrate working apparatus according to the first embodiment of the present invention.
5 is a graph showing the relationship between the residual amount of viscous fluid in the substrate working apparatus according to the first embodiment of the present invention and the area ratio of a portion in which a viscous fluid exists in a predetermined region.
Fig. 6 is a diagram showing an example of a picked-up image of a predetermined area when there is illumination in the substrate working apparatus according to the first embodiment of the present invention. Fig.
7 is a diagram showing an example of a picked-up image of a predetermined area in the case of illumination change in the substrate working apparatus according to the first embodiment of the present invention.
8 is a schematic diagram showing the squeegee operation (A), the lumpy fluid imaging operation (B), and the viscous fluid transfer operation (C) of the transfer unit.
9 is a flowchart for explaining the automatic supply process of the viscous fluid of the substrate working apparatus according to the first embodiment of the present invention.
10 is a diagram showing the overall configuration of a substrate working apparatus according to a second embodiment of the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[First Embodiment]

(Configuration of Substrate Working Apparatus)

First, the configuration of the substrate working apparatus 100 according to the first embodiment of the present invention will be described with reference to Figs. 1 to 8. Fig. In the first embodiment, an example in which the present invention is applied to a component mounting apparatus for mounting a component 31 on a substrate P will be described.

1, the substrate working apparatus 100 conveys the substrate P from the X1 direction side to the X2 direction side by the pair of conveyors 2 and moves the substrate P in the predetermined mounting operation position M And the component 31 is mounted on the component mounting apparatus. The component 31 is an example of a "transfer object" in the claims.

The substrate working apparatus 100 includes a base 1, a pair of conveyors 2, a component supplying section 3, a head unit 4, a supporting section 5, a pair of rails 6, A component recognition camera 7, a transfer unit 8, and a control unit 9. [

A pair of conveyors 2 are provided on the base 1 and are configured to transport the substrate P in the X direction. Further, the pair of conveyors 2 are configured to hold the substrate P in a state in which the substrate P is being held at the mounting operation position M during transportation. The pair of conveyors 2 are arranged parallel to each other at a predetermined distance in the Y direction so that the interval in the Y direction can be adjusted in accordance with the dimension of the substrate P. [

The component supply unit 3 is disposed at a plurality of locations on both sides (Y1 side and Y2 side) of the pair of conveyors 2. [ Further, a plurality of tape feeders 3a are mounted on the component feeding section 3. [

The tape feeder 3a holds a reel (not shown) in which a plurality of parts 31 are held at a predetermined interval with a tape wound therearound. The tape feeder 3a is configured to feed the component 31 from the leading end of the tape feeder 3a by feeding the tape holding the component 31 by rotating the reel. Here, the component 31 is a concept representing, for example, an electronic component such as an IC, a transistor, a capacitor, and a resistor.

The head unit 4 is disposed at a position above the pair of conveyors 2 and the component supply unit 3 and includes a plurality of mounting heads 42 and a substrate recognition camera 43 including the nozzles 41 at the lower end . The substrate recognition camera 43 is an example of the "imaging section" and the "substrate recognition imaging section" in the claims.

The nozzle 41 sucks and holds the component 31 supplied from the tape feeder 3a by a negative pressure generated at the tip of the nozzle 41 by a negative pressure generator (not shown) (Mounted).

The substrate recognition camera 43 is configured to pick up a fiducial mark F for recognizing the position of the substrate P. [ It is possible to accurately obtain the mounting position of the component 31 of the substrate P by sensing and recognizing the position of the fiducial mark F. [ Further, the substrate recognition camera 43 is provided with a plurality of illumination units 43a (see Fig. 2). The illuminating unit 43a is provided with a fiducial mark F and a predetermined area A in the imaging of the fiducial mark F by the substrate recognition camera 43 and the imaging of the predetermined area A As shown in Fig. The fiducial mark (F) is an example of a "substrate recognition mark" in the claims.

The supporting portion 5 includes a motor 51. The support portion 5 is configured to move the head unit 4 in the X direction along the support portion 5 by driving the motor 51. [ Both ends of the support portion 5 are supported by a pair of rails 6.

A pair of rails (6) are fixed on the base (1). The rail 6 on the X1 side includes a motor 61. [ The rail portion 6 is configured to move the support portion 5 along the pair of rail portions 6 in the Y direction orthogonal to the X direction by driving the motor 61. [ The head unit 4 can move in the X direction along the support portion 5 and the support portion 5 can move in the Y direction along the rail portion 6 so that the head unit 4 moves in the XY direction It is possible.

The component recognition camera 7 is fixed on the upper surface of the base 1. The component recognition camera 7 recognizes the component 31 that is attracted to the nozzle 41 of the mounting head 42 to the lower side of the mounting head 42 in order to recognize the suction state (suctioning attitude) of the component 31 before mounting the component 31 (On the Z2 side). As a result, it is possible to acquire the suction state of the component 31 that is attracted to the nozzle 41 of the mounting head 42.

The transfer unit 8 is disposed on the Y2 side of the pair of conveyors 2 and detachably mounted on the substrate working apparatus 100. [ The transfer unit 8 is configured to form a coating film La of a viscous fluid L to be described later for transfer to the component 31. [

2 and 3, the transfer unit 8 includes a viscous fluid supply unit 81, a viscous fluid tank 82, a coating film formation plate 83, and a plate drive mechanism 84 . The viscous fluid tank 82 is an example of a "squeegee" in the claims. 2 and Fig. 8, both the mounting head 42 and the substrate recognition camera 43 are shown in one drawing for ease of understanding. Therefore, the positional relationship between the two in Figs. 2 and 8 does not necessarily correspond to the positional relationship between the two in Fig.

The viscous fluid supply unit 81 is configured to supply the viscous fluid L to the viscous fluid tank 82. [ The viscous fluid supply section 81 has a main body section 81a, a piston section 81b, a lid section 81c, and a supply passage 81d.

The main body 81a has a hollow, substantially cylindrical shape, and is configured to store viscous fluid L (indicated by hatching) such as flux or solder therein. The piston portion 81b is disposed inside the main body portion 81a and is fitted to the inner side surface of the main body portion 81a so as to be slidable in the vertical direction (Z direction). The viscous fluid L is charged (stored) in the internal space of the main body portion 81a defined by the main body portion 81a and the piston portion 81b. The lid portion 81c is disposed at the upper end of the main body portion 81a and is configured to seal the main body portion 81a. One end of the air hose H is connected to the lid portion 81c to supply air (air) with a predetermined pressure into the main body portion 81a. The other end of the air hose H is connected to the valve 91. The valve 91 is connected to an air pressure source not shown so as to be capable of switching between an open state in which air of a predetermined pressure is supplied into the main body 81a and a closed state in which air is not supplied into the main body 81a . The supply path 81d is disposed at the lower end of the main body 81a and is connected to the side surface of the viscous fluid tank 82. [

When the valve 91 is in the " open state ", the viscous fluid supply part 81 supplies air of a predetermined pressure into the main body 81a from the air hose H through the lid part 81c, Is supplied to the viscous fluid tank 82 through the supply path 81d by feeding the viscous fluid L filled in the main body 81a by being moved downward (Z2 direction). Since the piston 81b is not moved downward (in the Z2 direction) when the valve 91 is in the " closed state ", the viscous fluid supply unit 81 supplies the viscous fluid tank 82 through the supply path 81d. (Does not supply) the viscous fluid L filled in the main body 81a.

The viscous fluid tank 82 has a hollow frame shape opened up and down and is disposed on the coat film formation plate 83 so that the viscous fluid L from the viscous fluid supply unit 81 can be stored therein . Further, the viscous fluid tank 82 is fixed by a fixing mechanism (not shown) and does not move. The viscous fluid tank 82 is configured to be biased toward the coating film forming plate 83 by a biasing mechanism (not shown). Since the frame-shaped viscous fluid tank 82 is open at its upper portion, it is possible for the substrate recognition camera 43 to capture the internal space of the viscous fluid tank 82 from above.

The film forming plate 83 has a substantially rectangular shape when viewed in plan (viewed from the Z direction) and is configured to be movable in the longitudinal direction (the driving direction of Figs. 2 and 3) by the plate driving mechanism 84 have. In order to form the coating film La of the viscous fluid L on the upper surface 83a of the coating film forming plate 83, concave downward from the upper surface 83a by the film thickness t of the coating film La, A coating film forming portion 83b is formed.

The viscous fluid tank 82 is moved in the driving direction by the plate driving mechanism 84 while the viscous fluid L is stored in the viscous fluid tank 82, So as to scrape off the viscous fluid L so as to smooth (squeegee) the liquid. The viscous fluid tank 82 is configured to form the coating film La of the viscous fluid L transferred to the component 31 on the coating film formation portion 83b of the coating film formation plate 83. [

The plate driving mechanism 84 can be a driving mechanism composed of, for example, a ball screw, a ball nut, a motor, or the like, and is configured to be able to move the film forming plate 83 in the driving direction.

The control unit 9 includes a CPU and is provided with a substrate processing apparatus 100 such as a mounting operation by the head unit 4, a squeegee operation of a transfer unit 8 to be described later, a massive fluid imaging operation, a viscous fluid transfer operation, And the like.

(Acquisition of remaining amount of viscous fluid)

Next, a method of obtaining the remaining amount of the viscous fluid L stored in the viscous fluid tank 82 will be described with reference to Figs. 3 to 5. Fig.

When the squeegeeing operation is performed, the viscous fluid L in the viscous fluid tank 82 is rotated (rolled) into a mass Lb of a roughly cylindrical shape. 2 and 3, the substrate recognition camera 43 (see Fig. 1) is used to measure the remaining amount of the viscous fluid L stored in the viscous fluid tank 82, A predetermined area A including a portion where the viscous fluid L (Lb) is scraped off by the viscous fluid tank 82 and is in the form of a lump and the portion where the viscous fluid L (Lb) As shown in Fig.

At this time, the board recognition camera 43 has a viscous fluid tank 82 having a frame shape in which the viscous fluid L is stored from above the film forming plate 83 and the viscous fluid L (Lb) (A) including a portion where the viscous fluid L (Lb) in the lump shape exists and a portion where the viscous fluid L (Lb) is not present in the interior of the viscous fluid L

4 and 5, the control unit 9 controls the visibility of the viscous fluid L ((L)) of the sensed image B1 of the predetermined region A picked up by the substrate recognition camera 43 (L (Lb)) stored in the viscous fluid tank 82 on the basis of the size of the portion C1 in which the viscous fluid L (Lb) is present and the size of the portion C2 in which the viscous fluid L And the remaining amount of the remaining amount of the liquid.

Specifically, the control unit 9 determines the area of the portion C1 in which the viscous fluid L exists in the predetermined region A and the area of the portion C1 in the viscous fluid L based on the captured image B1 of the predetermined region A, And the area of the portion C2 in which there is no area. Based on the area of the portion C1 in which the viscous fluid L is present and the area of the portion C2 in which the viscous fluid L does not exist, the control unit 9 determines the viscosity And is configured to acquire the remaining amount of the fluid L.

In the first embodiment, the control unit 9 acquires the binarized image B2 of the predetermined area A by binarizing the captured image B1 of the predetermined area A, Based on the image B2, the area of the portion C1 in which the viscous fluid L exists in the predetermined region A and the area of the portion C2 in which the viscous fluid L does not exist . Hereinafter, these points will be described in detail.

As shown in Fig. 4, first, a captured image B1 (an image before binarization processing shown on the left side in Fig. 4) of a predetermined area A picked up by the substrate recognition camera 43 is transmitted to the controller 9 . At this time, in the captured image B1 of the predetermined region A, light is diffused and reflected by the viscous fluid L (Lb) in the portion C1 where the viscous fluid L (Lb) exists, . On the other hand, in the portion C2 in which the viscous fluid L (Lb) is not present, since the light is specularly reflected by the upper surface 83a of the metallic coating film forming plate 83, a relatively bright image is obtained. Therefore, in the captured image B1 of the predetermined region A, the portion C1 in which the viscous fluid L (Lb) is present and the portion in which the viscous fluid L (Lb) (C2) can be recognized and recognized.

Then, the control unit 9 performs a binarization process for converting the captured image B1 of the obtained predetermined area A into an image of two grayscales of white and black. As a result, the captured image B1 of the predetermined area A is formed such that the portion C1 (the relatively dark image portion) in which the viscous fluid L (Lb) is present in the predetermined region A is black, (The image after the binarization processing shown on the right side of FIG. 4), the portion C2 (the bright portion) in which the viscous fluid L (Lb) (Binary image) (B2).

The area of the portion C1 where the viscous fluid L (Lb) is present in the predetermined region A (i.e., the area of the black portion) and the area A (I.e., the area of the white portion) of the portion C2 in which the viscous fluid L (Lb) does not exist is obtained by the control unit 9. [ Specifically, the area of the portion C1 where the viscous fluid L (Lb) is present in the predetermined region A is obtained based on the number of pixels of the black portion in the binarized image B2, The area of the portion C2 in which the viscous fluid L (Lb) does not exist in the predetermined region A is obtained based on the number of pixels of the white portion of the viscous fluid L (B2).

Based on the area of the portion C1 in which the obtained viscous fluid L (Lb) is present and the area of the portion C2 in which the viscous fluid L (Lb) does not exist, The area ratio X% of the portion C1 in which the viscous fluid L (Lb) is present and the area ratio C2 of the portion C2 in which the viscous fluid L (Lb) (Y = 100-X%) is acquired by the control unit 9. [

5, the ratio of the area of the portion C1 in which the viscous fluid L (Lb) is present in the predetermined region A and the ratio of the area of the viscous fluid L in the viscous fluid tank 82 There is a correlation between the remaining amount. Therefore, by obtaining the area ratio of the portion C1 in which the viscous fluid L (Lb) exists in the predetermined region A as described above, the remaining amount of the viscous fluid L stored in the viscous fluid tank 82 Can be acquired. Correlation between the area ratio of the portion C2 in which the viscous fluid L (Lb) does not exist in the predetermined region A and the remaining amount of the viscous fluid L in the viscous fluid tank 82 It is possible to acquire the remaining amount of the viscous fluid L stored in the viscous fluid tank 82 by acquiring the area ratio of the portion C2 in which the viscous fluid L (Lb) does not exist in the predetermined region A Maybe.

Therefore, the control unit 9 determines whether the viscous fluid L (Lb) is present between the area ratio of the portion where the viscous fluid L (Lb) is present in the predetermined region A and the remaining amount of the viscous fluid L stored in the viscous fluid tank 82 Based on the correlation information, the remaining amount of the viscous fluid L stored in the viscous fluid tank 82 from the area ratio of the portion where the acquired viscous fluid [L (Lb)] exists.

In the first embodiment, the controller 9 determines whether or not the remaining amount of the obtained viscous fluid L is equal to or smaller than a predetermined threshold value Th (see Fig. 5) for determining whether or not the viscous fluid L is supplied And judges whether or not it is. Further, the predetermined threshold value Th is set in advance by the user (user) based on the graph shown in Fig.

When it is determined that the remaining amount of the viscous fluid L is equal to or less than the predetermined threshold value Th, the control unit 9 determines that the viscous fluid L is supplied from the viscous fluid supply unit 81 to the viscous fluid tank 82 So as to perform the control to supply the predetermined amount.

The control unit 9 determines that the viscous fluid L is supplied from the viscous fluid supply unit 81 to the viscous fluid tank 82 when it is determined that the remaining amount of the viscous fluid L is greater than the predetermined threshold value Th So that the control is not performed.

(Configuration of illumination unit)

In the first embodiment, the illuminating section 43a (see Fig. 2) is provided with the intensity of the light to be irradiated to the predetermined area A, the angle of the light to be irradiated to the predetermined area A, The wavelength of light to be irradiated to the region A can be changed.

Specifically, the illuminating unit 43a includes an inner-ring illuminating unit disposed in a wheel shape around the lens of the board-recognizing camera 43 and capable of irradiating visible light, an outer-wheel illuminating unit disposed in a wheel- And an infrared illumination unit capable of irradiating infrared light. The illuminating unit 43a is configured to be able to emit light independently of each of the inner-ring illuminating unit, the outer-wheel illuminating unit, and the infrared illuminating unit. The inner-wheel illumination section, the outer-wheel illumination section, and the infrared illumination section are configured to be capable of irradiating light to the predetermined area A at different angles.

Therefore, the illuminating section 43a is configured to be able to change the intensity and the angle of the light irradiated to the predetermined area A by changing the number of illuminating sections for emitting light among the inner-ring illuminating section, the outer-wheel illuminating section, and the infrared illuminating section. The illuminating unit 43a is configured to be able to change the wavelength of the light irradiated to the predetermined area A by irradiating visible light only by emitting only the inner-ring illuminating unit and / or the outer-wheel illuminating unit and irradiating the infrared illuminating unit with only the infrared illuminating unit .

6 shows a case where a predetermined region A (in the case of irradiating light from three of the inner-ring illumination section, the outer-ring illumination section, and the infrared illumination section) with illumination by the illumination section 43a for two kinds of viscous fluids of flux and solder (Captured image after the binarization processing). 6, when the solder is used as the viscous fluid, the portion in which the viscous fluid L (Lb) is present is black and the viscous fluid L (Lb)] does not exist is shown in white, it is possible to distinguish between the two.

On the other hand, when the flux is used as the viscous fluid, the viscous fluid [L (Lb)] is present when the remaining amount of the viscous fluid L is large when the remaining amount of the viscous fluid L is small , It is sometimes difficult to distinguish the two from each other.

7, a captured image of a predetermined region A in the case of illumination change by the illuminating unit 43a (when irradiating light from two of the inner-ring illumination unit and the infrared illumination unit) with respect to the flux (the captured image after binarization processing ). 7, in the case of changing the illumination by the illumination unit 43a, the portion where the viscous fluid [L (Lb)] is present irrespective of the residual amount of the viscous fluid L even when the flux is used as the viscous fluid And the portion where the viscous fluid [L (Lb)] does not exist is shown by white, so that the two can be distinguished. As described above, the illuminating unit 43a is capable of adjusting the intensity of the light irradiated to the predetermined area A, the angle of the light irradiated to the predetermined area A, and the wavelength of the light irradiated to the predetermined area A, .

(Operation relating to transfer unit)

Next, the squeegee-like fluid imaging operation and the viscous fluid transfer operation will be described as an operation related to the transfer unit with reference to Fig.

As shown in Fig. 8 (A), the plate film driving mechanism 84 reciprocates the film forming plate 83 in the driving direction before transferring the viscous fluid L to the component 31, The viscous fluid L stored in the viscous fluid tank 82 is filled in the coat film forming portion 83b of the viscous fluid tank 83. [ At the same time, the viscous fluid L is scraped off by the viscous fluid tank 82 to be even. As a result, as shown in Fig. 8 (B), the viscous fluid ((t)) suitable for the transfer of the viscous fluid L to the component 31 is transferred to the coat film forming portion 83b of the coat forming plate 83 L) is formed. This squeegeeing operation is performed every time the viscous fluid L is transferred to the component 31. [

In addition, as shown in Fig. 8 (B), since the viscous fluid L called rolling is generated in the viscous fluid tank 82 during the squeegeeing operation, the viscous fluid tank 82 The viscous fluid L (Lb) in the form of a lump is formed. During the formation of the viscous fluid L (Lb) in the form of a lump, the portion where the viscous fluid L (Lb) in the lump shape is present and the portion where the viscous fluid L (Lb) Is captured by the substrate recognition camera 43 of the head unit 4 (see Fig. At this time, from the viewpoint of accurately measuring the remaining amount of the viscous fluid L in the viscous fluid tank 82, it is preferable that the substrate recognition camera 43 detects the viscosity of the viscous fluid L (Lb) It is preferable that the imaging is performed by the imaging device. Therefore, it is preferable to wait the substrate recognition camera 43 at a predetermined position for imaging the predetermined region A before the end of the squeegee operation.

8C, the mounting head 42 of the head unit 4 ascends and descends to form a coating film formed on the coating film forming plate 83 with respect to the component 31 that is attracted to the mounting head 42 Of viscous fluid [L (La)] is transferred. 8 shows an example of performing the squeegee operation for forming the coating film La of the viscous fluid L transferred to the component 31 in accordance with the viscous fluid transfer operation. However, the present invention is not limited to this, A squeegee operation for imaging the viscous fluid L in a lump shape may be performed in accordance with the fluid imaging operation.

(Automatic supply processing of viscous fluid)

Next, referring to Fig. 9, a description will be given of a process for automatically supplying the viscous fluid of the transfer unit 8 in the substrate working apparatus 100 with reference to a flowchart. Further, the operation of the substrate working apparatus 100 is performed by the control section 9. [

First, as shown in Fig. 9, in step S1, the plate film drive mechanism 84 moves the coating film forming plate 83 to thereby perform the squeegeeing operation of the viscous fluid L by the viscous fluid tank 82 Loses.

Then, in step S2, it is determined whether or not the substrate recognition camera 43 captures the image of the predetermined area A at the imaging timing. As the imaging timing, for example, when the squigging operation is performed a predetermined number of times from the previous lumpy fluid imaging operation, or when a predetermined time has elapsed from the previous lumpy fluid imaging operation, the viscous fluid supply operation It is possible to do so.

If it is determined in step S2 that it is not the imaging timing, the process proceeds to step S5, and the viscous fluid transfer operation is performed. Further, after the viscous fluid transfer operation is performed, the component 31, which is attracted to the mounting head 42, is mounted on the substrate P.

If it is determined in step S2 that the photographing timing is reached, the process proceeds to step S3.

In step S3, the image of the predetermined region A including the portion in which the viscous fluid L (Lb) in the lump shape is present and the portion in which the viscous fluid L (Lb) (43).

In step S4, it is determined whether or not the remaining amount of the viscous fluid L is equal to or smaller than a predetermined threshold value Th, based on the image picked up by the board recognition camera 43. [ If it is determined that the remaining amount of the viscous fluid L is not equal to or less than the predetermined threshold value Th, it is considered that supply (replenishment) of the viscous fluid L to the viscous fluid tank 82 is not necessary, And the viscous fluid L is not supplied to the viscous fluid tank 82, and the viscous fluid transfer operation is performed.

If it is determined in step S4 that the remaining amount of the viscous fluid L is equal to or less than the predetermined threshold value Th, it is considered that supply (replenishment) of the viscous fluid L to the viscous fluid tank 82 is necessary The process proceeds to step S6.

In step S6, the viscous fluid supply unit 81 supplies the viscous fluid L to the viscous fluid tank 82 by a predetermined amount. This allows the viscous fluid L to be automatically supplied (replenished) to the viscous fluid tank 82 when the remaining amount of the viscous fluid L is equal to or smaller than the predetermined threshold value Th.

When the remaining amount of the viscous fluid L is equal to or less than the predetermined threshold value Th, there is a possibility that the coating film of the viscous fluid L is not formed normally in the coating film forming plate 83 by the previous squeezing operation The process returns to the step S1 and the squeezing operation is performed again. The above operation is sequentially executed for each component 31 that is attracted to the mounting head 42. [

(Effects of First Embodiment)

In the first embodiment, the following effects can be obtained.

In the first embodiment, the size of the portion C1 in which the viscous fluid L exists in the sensed image B1 of the predetermined region A picked up by the substrate recognition camera 43 and the size of the viscous fluid L (L) on the basis of the size of the portion (C2) in which the viscous fluid (L) does not exist. Thereby, the size of the portion C1 in which the viscous fluid L (Lb) in the lump shape is present and the size of the portion C2 in which the viscous fluid L is not present are smaller than the remaining amount of the viscous fluid L , The remaining amount of the viscous fluid L can be measured accurately (quantitatively). A predetermined region A including the portion C1 in which the viscous fluid L (Lb) in the lump shape is present and the portion C2 in which the viscous fluid L is not present is imaged, The remaining amount can be easily measured even with the colored viscous fluid L unlike the configuration in which the recognition mark is imaged over the viscous fluid L since the remaining amount is acquired based on the sensed image B1 of the colored viscous fluid L. [

In the first embodiment, the area of the portion C1 where the viscous fluid L exists in the predetermined region A and the area of the viscous fluid L do not exist on the basis of the sensed image B1 of the predetermined region A Based on the area of the portion C1 in which the obtained viscous fluid L exists and the area of the portion C2 in which the viscous fluid L does not exist, The control unit 9 is configured to acquire the remaining amount of the liquid L. Thus, unlike the case where the remaining amount of the viscous fluid is obtained based on the measurement result of the point by the optical sensor, for example, the remaining amount of the viscous fluid L is acquired based on the area, Even if there is some unevenness in the shape of the viscous fluid L having a lump shape for each scraping operation by the scraping operation of the viscous fluid L, the remaining amount of the viscous fluid L can be stably and accurately (quantitatively) measured.

In the first embodiment, the binarized image B2 of the predetermined area A is obtained by binarizing the captured image B1 of the predetermined area A, and the binarized image B2 is obtained The control unit 9 is configured to acquire the area of the portion C1 in which the viscous fluid L exists and the area of the portion C2 in which the viscous fluid L does not exist. This makes it easy to obtain the area of the portion C1 in which the viscous fluid L exists or the area of the portion C2 in which the viscous fluid L does not exist.

In the first embodiment, when it is determined that the remaining amount of the obtained viscous fluid L is equal to or less than the predetermined threshold value Th, the control for supplying the viscous fluid L from the viscous fluid supply unit 81 is performed Thereby constituting a control unit 9. Thereby, since the viscous fluid L can be supplied based on the remaining amount of the viscous fluid L accurately measured, the viscous fluid L can be supplied in an appropriate amount. As a result, it is possible to suppress an increase in the amount of the viscous fluid L used, which is different from the case where the viscous fluid L is supplied in excess of the required amount so that the viscous fluid L is not deficient. In addition, since the viscous fluid L is automatically supplied, the viscous fluid L is insufficient, thereby preventing the problem that the viscous fluid L is not sufficiently transferred to the component 31 as the transfer target.

Further, in the first embodiment, the substrate recognition camera 43 is configured to move relative to the viscous fluid tank 82 together with the mounting head 42. As a result, the mounting head 42 and the board recognition camera 43 can be moved by a common moving mechanism, so that complication of the device configuration for measuring the remaining amount of the viscous fluid L can be suppressed.

In the first embodiment, the imaging unit for measuring the remaining amount of the viscous fluid L is a substrate recognition camera 43 for imaging a fiducial mark F for recognizing the substrate P. This makes it possible to further suppress the complication of the device configuration for measuring the remaining amount of the viscous fluid L since the substrate recognition camera 43 can also be used as an imaging section for measuring the remaining amount of the viscous fluid L .

In the first embodiment, in the viscous fluid tank 82 having the frame shape in which the viscous fluid L is stored, the portion C1 in which the viscous fluid L (Lb) The substrate recognition camera 43 is configured to image a predetermined area A inside the viscous fluid tank 82 including the portion C2 in which the fluid L does not exist. Thereby, the viscous fluid L having a frame shape can be easily made into a lump shape by the viscous fluid tank 82. As a result, the portion C1 in which the viscous fluid L (Lb) in a lump shape is present and the portion C2 in which the viscous fluid L is not present are easily formed, Can be picked up.

In the first embodiment, the viscous fluid L is relatively moved with respect to the paint film forming plate 83 so that the viscous fluid L is scratched and smoothed, and the viscous fluid L, which is transferred onto the component 31 on the paint film forming plate 83, The viscous fluid tank 82 is formed so as to form the coating film La. The portion C1 where the viscous fluid L (Lb) in the form of a mass is present on the coat forming plate 83 from above the coat forming plate 83 and the portion C1 where the viscous fluid L is not present The camera recognition camera 43 is configured to pick up an image of a predetermined area A including the image area C2. This makes it possible to accurately (quantitatively) determine the remaining amount of the viscous fluid L in the constitution in which the coating film La of the viscous fluid L formed on the film forming plate 83 is transferred to the component 31, .

In the first embodiment, the illuminating unit 43a is configured to change the intensity of the light irradiated to the predetermined region A in accordance with the type of viscous fluid L. As a result, the predetermined area A can be imaged by appropriate illumination according to the type of the viscous fluid L, so that the portion C1 in which the viscous fluid L (Lb) (C2) in which the image (L) does not exist can be easily distinguished and captured. As a result, the remaining amount of the viscous fluid L can be more accurately measured.

[Second Embodiment]

Hereinafter, the configuration of the substrate working apparatus 200 according to the second embodiment of the present invention will be described with reference to FIG.

Unlike the first embodiment in which the present invention is applied to the component mounting apparatus for mounting the component 31 on the substrate P in the second embodiment, the present invention can be applied to a printing apparatus that prints solder on the substrate P An example of application will be described.

(Configuration of Substrate Working Apparatus)

10, the substrate working apparatus 200 according to the second embodiment uses a viscous fluid L made of solder as a printing (transferring) material, and an opening (not shown) is formed in a predetermined printing pattern And the viscous fluid L is screen-printed on the surface of the substrate P using the formed mask M. Further, the substrate P is an example of the "transfer object" in the claims.

The substrate working apparatus 200 includes a base 101, a squeegee unit 102 including a squeegee 121, and a substrate table 103. The squeegee unit 102 and the substrate table 103 are disposed on the base 101. The squeegee unit 102 is configured to perform the printing operation by moving the squeegee 121 in the Y direction.

10, the substrate working apparatus 200 includes a viscous fluid recognition camera 104 for picking up a viscous fluid L and a control section 105 for controlling the entire substrate working apparatus 200 do. Further, the viscous fluid recognition camera 104 is an example of the " imaging unit " in the claims.

The mask M has a rectangular shape in plan view and has an outer peripheral portion attached to the frame 106. The substrate working apparatus 200 holds the frame 106 by a mask holding section (not shown).

The squeegee unit 102 is disposed above the mask M. The squeegee unit 102 includes a squeegee 121, a squeegee Y axis drive mechanism 122, a squeegee Z axis drive mechanism 123, a squeegee R axis drive mechanism 124, and a viscous fluid supply unit 125 .

The squeegee portion 121 has a spatula shape and is transferred (printed) to the substrate P by moving the viscous fluid L on the mask M by moving it in the Y direction to evenly scrape off the viscous fluid L. [ . At this time, the squeegee portion 121 is moved in the printing direction (Y direction) while applying a predetermined pressure (load) from the upper side (Z1 direction side) to the mask M, thereby rolling the viscous fluid L (Printing) while performing the transfer.

The squeegee Y-axis driving mechanism 122 includes a Y-axis motor 122a. The squeegee Y axis drive mechanism 122 is configured to move the squeegee unit 102 (squeegee 121) along the Y axis rail in the Y direction by driving the Y axis motor 122a. The squeegee Z-axis driving mechanism 123 is configured to move the squeegee R-axis driving mechanism 124 and the squeegee portion 121 in the Z direction. The squeegee R-axis driving mechanism 124 is configured to rotate the squeegee 121 about the pivot axis. The viscous fluid supply unit 125 is disposed above the mask M and has a function of supplying the viscous fluid L onto the upper surface of the mask M. [

The substrate table 103 is arranged at the lower position (Z2 side position) of the mask M and is configured to be reciprocally movable in the Y direction on the base 101. [ The substrate table 103 performs an operation of transporting and holding the substrate P to a predetermined printing position, and an operation of transporting the substrate P to be printed out.

The substrate table 103 includes a pair of conveyors 131, a clamp member (clamp plate) 132, a Y-axis moving mechanism 133, a Z-axis moving mechanism 134, And an R-axis moving mechanism.

The pair of conveyors 131 carry the unprinted substrate P from the apparatus on the upstream side and transport the substrate P to the predetermined printing position and take out the printed substrate P to the apparatus on the downstream side . The pair of conveyors 131 are arranged parallel to each other at a predetermined distance in the Y direction. The pair of conveyors 131 are provided so as to extend along the conveying direction (X direction) of the substrate P. The pair of conveyors 131 are configured to be able to adjust the spacing in the Y direction in correspondence with the width (dimension in the Y direction) of the substrate P to be conveyed.

The clamp members 132 are provided so as to be adjacent to the upper side of the pair of conveyors 131 and are configured to be fixed (held) by fitting (clamping) the side end faces of the substrate P from both sides.

The Y-axis moving mechanism 133 includes a Y-axis motor 133a. The Y axis moving mechanism 133 is configured to move the substrate table 103 along the Y axis rail in the Y direction by driving the Y axis motor 133a.

The Z-axis moving mechanism 134 includes a Z-axis table 134a. The Z-axis moving mechanism 134 is configured to move (lift) the Z-axis table 134a in the Z direction by driving a Z-axis motor (not shown). A substrate elevating portion 135 and a pair of bracket members 103b are provided on the Z axis table 134a and a conveyor 131 and a clamp member 132 are provided on the respective upper portions of the bracket member 103b.

The substrate lifting portion 135 is disposed at a position in the Y direction between the pair of conveyors 131, and is configured to move (lift up) the support plate 135a in the Z direction. A backup pin (not shown) is disposed on the support plate 135a. The substrate lifting portion 135 is configured to support the substrate P by the backup pin.

An X-axis moving mechanism (not shown) has a function of moving the substrate P in the X direction. Similarly, an R-axis moving mechanism (not shown) has a function of rotating the substrate P in a horizontal plane . With the X-axis moving mechanism, the Y-axis moving mechanism 133, and the R-axis moving mechanism, the relative position (position and inclination in the horizontal plane) of the substrate P with respect to the mask M is accurately positioned, The substrate P is brought into contact with the lower surface of the mask M by the mechanism 134.

The viscous fluid sensing camera 104 is configured to be movable relative to the mask M. The viscous fluid recognition camera 104 may be moved relative to the mask M by a moving mechanism common to the moving mechanism of the squeegee unit 102 and may be moved relative to the mask M by a dedicated moving mechanism .

Here, in the second embodiment, the viscous fluid recognition camera 104 is scraped off by the squeegee 121 of the squeegee unit 102 to measure the remaining amount of the viscous fluid L on the mask M, And a predetermined region including a portion where the viscous fluid L is present and a portion where the viscous fluid L is absent. At this time, the viscous fluid recognition camera 104 detects, from the information of the mask M, a portion in which the viscous fluid L in the form of a mass is present on the mask and a portion in which the viscous fluid L is absent As shown in Fig.

In this case also, in the picked-up image of the predetermined area as in the first embodiment, light is diffused and reflected by the viscous fluid L at the portion where the viscous fluid L exists, so that a comparatively dark image is obtained. On the other hand, in the portion where the viscous fluid L does not exist, since the light is regularly reflected by the upper surface of the mask M, a relatively bright image is obtained. As a result, it is possible to distinguish between the portion where the viscous fluid L exists in the captured image and the portion where the viscous fluid L does not exist in the captured image.

The control unit 105 acquires a sensed image of a predetermined area sensed by the viscous fluid sensing camera 4 as well as acquires a viscous fluid (for example, L) of the remaining amount. That is, the binarized image of the captured image of the predetermined region is obtained, the area ratio of the portion in which the viscous fluid L exists from the binarized captured image, and the area ratio of the portion where the obtained viscous fluid L exists The remaining amount of the viscous fluid L on the mask M is acquired.

The control unit 105 determines whether or not the remaining amount of the obtained viscous fluid L is equal to or less than a predetermined threshold value for determining whether or not the viscous fluid L is supplied, The viscous fluid L is supplied to the mask M by a predetermined amount from the viscous fluid supply unit 125 when it is determined that the remaining amount of the viscous fluid L is equal to or smaller than the predetermined threshold value.

The rest of the configuration of the second embodiment is the same as that of the first embodiment.

In the second embodiment, the following effects can be obtained.

(Effects of the Second Embodiment)

In the second embodiment, as described above, the size of the portion where the viscous fluid L exists and the size of the portion where the viscous fluid L does not exist in the captured image of the predetermined region captured by the viscous fluid recognition camera 104 And a controller 105 for acquiring the remaining amount of the viscous fluid L on the basis of the size of the liquid. As a result, similarly to the first embodiment, the remaining amount of the viscous fluid L can be measured accurately (quantitatively), and the remaining amount can be easily measured even with the colored viscous fluid L.

In the second embodiment, the squeegee 121 is moved so that the viscous fluid L is scraped off while moving on the mask M, and the viscous fluid L on the mask M is transferred onto the substrate through the print pattern. . Then, viscous fluid recognition is performed so as to pick up a predetermined area including a portion in which the viscous fluid L in a lump shape exists on the mask M from above the mask M and a portion in which the viscous fluid L does not exist, Thereby constituting a camera 104. [ As a result, in the configuration in which the viscous fluid L on the mask M such as solder is transferred to the substrate P via the print pattern, the remaining amount of the viscous fluid L such as solder is accurately (quantitatively) It can also be reliably measured.

The other effects of the second embodiment are the same as those of the first embodiment.

[Modifications]

It is also to be understood that the embodiments disclosed herein are illustrative and non-restrictive in all respects. The scope of the present invention is defined by the appended claims rather than by the description of the embodiments, and includes all changes (modifications) within the meaning and scope equivalent to the claims.

For example, although in the first and second embodiments, the respective areas are used as the sizes of the portions in which the viscous fluid exists and the portions in which the viscous fluid is not present, the present invention is not limited to this Do not. In the present invention, the size of the portion in which the viscous fluid exists and the size of the portion in which the viscous fluid does not exist may be used in a size other than the area. For example, a length in a direction orthogonal to the width direction (the direction in which the portion in which the viscous fluid L extends) of the captured image shown in Fig. 4 may be used.

In the first and second embodiments, examples in which the remaining amount of the viscous fluid is acquired based on both the size of the portion in which the viscous fluid exists and the size of the portion in which the viscous fluid is absent are described. However, It is not limited. In the present invention, the residual amount of the viscous fluid may be obtained based on at least one of the size of the portion where the viscous fluid exists and the size of the portion where the viscous fluid is absent.

In the first and second embodiments, the captured image of the predetermined region is binarized to obtain the size of the portion where the viscous fluid exists and the size of the portion where the viscous fluid does not exist. However, . In the present invention, the size of the portion where the viscous fluid exists and the size of the portion where the viscous fluid does not exist may be obtained without binarizing the captured image of the predetermined region.

In the first embodiment, the correlation between the area ratio of the portion in which the viscous fluid L (Lb) exists in the predetermined region A and the remaining amount of the viscous fluid L stored in the viscous fluid tank 82 The remaining amount of the viscous fluid L stored in the viscous fluid tank 82 is acquired based on the information, but the present invention is not limited to this. In the present invention, the ratio of the area of the predetermined region A where the viscous fluid L (Lb) does not exist, the area of the portion of the predetermined region A where the viscous fluid L (Lb) (L) in the viscous fluid tank (A) and the remaining amount of the viscous fluid (L) stored in the viscous fluid tank (82) is previously acquired , And the remaining amount of the viscous fluid L stored in the viscous fluid tank 82 may be obtained based on the correlation information.

In the first embodiment, the substrate recognition camera 43 is used as the imaging unit of the present invention. However, the present invention is not limited to this. In the present invention, the image pickup unit of the present invention may be provided separately from the board recognition camera 43. [

In the first embodiment, the viscous fluid tank 82 having a frame shape is used as the squeegee portion of the present invention, but the present invention is not limited to this. In the present invention, a squeegee portion having a shape other than a frame shape may be used as the squeegee portion of the present invention. For example, a squeegee portion having a spatula-like shape may be used as in the squeegee portion 121 of the second embodiment.

In the first embodiment, the viscous fluid tank 82 is fixed and the viscous fluid tank 82 is moved relative to the paint film forming plate 83 by moving the paint film forming plate 83, ) Is scratched off, but the present invention is not limited to this. In the present invention, the viscous fluid tank 82 is moved relative to the film forming plate 83 by scooping the viscous fluid L by moving the viscous fluid tank 82 by fixing the film forming plate 83, Maybe.

In the above-described first embodiment, a flow-driven flow for performing the processing in the order of the processing flow of the control unit has been described for convenience of explanation. However, for example, Or may be performed by an event driven type (event driven type) process to be executed. In this case, it may be a complete event driven type, or a combination of event driving and flow driving.

9: control unit 31: parts (transfer target)
42: mounting head 43: substrate recognition camera (imaging section)
43a: illumination part 81, 125: viscous fluid supply part
82: viscous fluid tank (squeegee) 83: film forming plate
100, 200: Substrate working apparatus
104: Viscous fluid recognition camera (imaging section) 105:
121: squeegee A:
B1: captured image of a predetermined region B2: binarized image
C1: Part where viscous fluid exists
C2: part where no viscous fluid exists F: fiducial mark (substrate recognition mark)
L: viscous fluid M: mask
P: substrate (transfer target) Th: predetermined threshold value

Claims (11)

A squeegee portion for scraping out the viscous fluid transferred to the transfer target object,
An image pickup section for picking up an image of a predetermined area including a portion where the viscous fluid is scraped off by the squeegee and is present in a lump shape and a portion where the viscous fluid does not exist,
At least one of a size of a portion in which the viscous fluid exists or a size of a portion in which the viscous fluid does not exist in the captured image of the predetermined region picked up by the image pickup portion while the viscous fluid in a lump shape is formed And a control unit for acquiring the remaining amount of the viscous fluid,
Wherein the squeegee part has a frame shape capable of storing the viscous fluid,
Wherein the imaging unit includes a predetermined area inside the squeegee including a portion in which the viscous fluid exists in a mass and a portion in which the viscous fluid does not exist in the squeegee portion having the frame shape in which the viscous fluid is stored, Is configured to take an image from above. The method according to claim 1,
Wherein the control unit obtains at least one of an area of a portion of the predetermined region where the viscous fluid exists or an area of the portion where the viscous fluid does not exist based on the sensed image of the predetermined region, Is configured to acquire the remaining amount of the viscous fluid based on at least one of an area of a portion where the viscous fluid is present or an area of the portion where the viscous fluid does not exist. 3. The method of claim 2,
Wherein the control unit obtains the binarized image of the predetermined region by binarizing the captured image of the predetermined region, and acquires the area of the portion of the predetermined region where the viscous fluid exists or And obtains at least one of an area of the portion where the viscous fluid does not exist. The method according to claim 1,
Further comprising a viscous fluid supply part for supplying the viscous fluid,
Wherein the control unit is configured to perform control to supply the viscous fluid from the viscous fluid supply unit when it is determined that the remaining amount of the viscous fluid acquired is equal to or smaller than a predetermined threshold value. The method according to claim 1,
Further comprising a mounting head mounted on the substrate and movable relative to the squeegee,
Wherein the imaging unit is configured to move relative to the squeegee part together with the mounting head. 6. The method of claim 5,
And the imaging section includes an imaging section for substrate recognition for imaging a substrate recognition mark for recognizing the substrate. delete The method according to claim 1,
Wherein the transfer object includes a component mounted on a substrate,
Further comprising a coating film forming plate on which a coating film of the viscous fluid transferred to the component is formed,
Wherein the squeegee portion moves relatively to the paint film forming plate to scrape off the viscous fluid to form a coating film of the viscous fluid transferred onto the component on the paint film forming plate,
Wherein the imaging unit is configured to pick up an image of the predetermined area including the portion in which the viscous fluid is present and the portion in which the viscous fluid is not present in a lump form on the film formation plate from above the film formation plate, . The method according to claim 1,
Wherein the transfer object includes a substrate on which the component is mounted,
Further comprising a mask having a print pattern for transferring the viscous fluid onto the substrate by printing,
The squeegee portion is moved on the mask to scrape off the viscous fluid and transfer the viscous fluid on the mask to the substrate through the print pattern,
Wherein the imaging unit is configured to image the predetermined area including the portion in which the viscous fluid exists in a lump shape on the mask from above the mask and the portion in which the viscous fluid does not exist. The method according to claim 1,
Further comprising a lighting unit capable of irradiating light to the predetermined area,
Wherein the illumination unit is configured to change at least one of intensity of light irradiated to the predetermined region, angle of light irradiated to the predetermined region, and wavelength of light irradiated to the predetermined region in accordance with the type of the viscous fluid Device. A step of scraping the viscous fluid transferred to the transfer target by scraping the viscous fluid with a squeegee having a frame shape capable of storing the fluid,
The squeegee portion having the frame shape in which the viscous fluid is scraped off by the squeegee portion and the squeegee portion having the frame shape and the portion in which the viscous fluid is not present, A step of picking up a predetermined area inside the section from above by the image pickup section while the viscous fluid in a lump shape is formed,
Based on at least one of a size of a portion in which the viscous fluid exists or a size of a portion in which the viscous fluid does not exist in the sensed image of the predetermined region picked up by the imaging portion, And a step of acquiring the viscous fluid residual amount in the substrate working apparatus.

Images