TWI595815B - Substrate working device and viscous fluid residue in substrate working device - Google Patents

Description

Substrate working device and method for measuring viscous fluid residual amount in substrate working device

The present invention relates to a substrate working device and a method for measuring a residual amount of a viscous fluid in a substrate working device, and more particularly to a substrate working device including a doctor blade portion and a method for measuring a residual amount of viscous fluid in the substrate working device.

Previously, a substrate working device having a doctor blade portion has been known. Such a substrate working device is disclosed, for example, in Korean Laid-Open Patent Publication No. 10-2013-0023603.

In the above-mentioned Korean Patent Publication No. 10-2013-0023603, there is disclosed a chip mounter (substrate working device) including a flux state detecting device including: a soldering plate thereon The surface is provided with an identification mark; a flux bath (blade portion) provided on the soldering plate to store the flux; and an image pickup portion that captures an identification mark from above via a flux in the flux bath. In the above-described placement machine, the residual amount of the flux is periodically recognized based on the imaging result obtained by the imaging unit.

[Previous Technical Literature] [Patent Literature]

[Patent Document 1] Korean Laid-Open Patent Publication No. 10-2013-0023603

However, in the placement machine of the above-mentioned Korean Patent Publication No. 10-2013-0023603, since the residual amount of the flux is recognized only stepwise, it is impossible to accurately (quantitatively) measure the viscous fluid such as flux. The problem of the residual amount. Also, in the above-mentioned Korean Patent No. 10- In the placement machine of the publication No. 2013-0023603, since the identification mark is photographed by the flux, it is difficult to measure the residual amount in the colored flux (viscous fluid).

The present invention has been made in order to solve the above problems, and an object of the present invention is to provide a substrate capable of accurately measuring the residual amount of a viscous fluid and measuring the residual amount even for a colored viscous fluid. The working device and the method for measuring the residual amount of viscous fluid in the substrate working device.

A substrate working device according to a first aspect of the present invention includes: a doctor blade that wipes a viscous fluid transferred to a transfer object while being smeared; and an image pickup unit that scrapes and includes a blade portion a portion of the viscous fluid that has become a block and a specific region where the viscous fluid is not present; and a control portion that is based on a portion of the viscous fluid in the captured image of the specific region photographed by the imaging portion At least one of the size or the size of the portion of the viscous fluid is not present, and the residual amount of the viscous fluid is obtained.

In the substrate working device according to the first aspect of the present invention, a control unit that has a size of a portion of a viscous fluid in a captured image of a specific region imaged by the imaging unit, as described above, is provided. Or at least one of the size of the portion of the viscous fluid, the residual amount of the viscous fluid is obtained. Thereby, the viscous fluid can be accurately (quantitatively) determined by the fact that the size of the portion of the viscous fluid that has become a block and the size of the portion where the viscous fluid is not present is related to the residual amount of the viscous fluid. Residual amount. Further, a specific region including a portion where the viscous fluid has been formed in a block shape and a portion where the viscous fluid is not present is imaged, and a residual amount is obtained based on the captured image of the specific region, so that the image is recognized by the viscous fluid. The composition of the mark is different, and even if it is a colored viscous fluid, the residual amount can be easily measured.

In the substrate working device according to the first aspect, preferably, the control unit is configured to obtain an area of a portion where a viscous fluid exists in a specific region or a portion where no viscous fluid exists based on a captured image of a specific region. At least one of the areas, and based on The residual amount of the viscous fluid is obtained by at least one of the area of the portion of the viscous fluid or the portion of the portion where the viscous fluid is absent. According to this configuration, unlike the case where the residual amount of the viscous fluid is obtained based on the measurement result of the point obtained by the photosensor, since the residual amount of the viscous fluid is obtained based on the area, even if the squeegee is used In each of the scraping operations performed by the portion, the shape of the viscous fluid that has become a block is slightly uneven, and the residual amount of the viscous fluid can be measured stably and accurately (quantitatively).

In this case, it is preferable that the control unit is configured to obtain a binarized image of a specific region by binarizing the captured image of the specific region, and based on the obtained two The image is obtained to obtain at least one of an area of a portion where a viscous fluid exists in a specific region or an area where a portion of the viscous fluid does not exist. According to this configuration, at least one of the area where the viscous fluid is present or the area where the viscous fluid is not present can be easily obtained.

Preferably, in the substrate working device according to the first aspect, the viscous fluid supply unit that supplies the viscous fluid is further provided, and the control unit is configured to determine that the residual amount of the viscous fluid obtained is specific. When the threshold value is equal to or lower than the threshold value, the control of the viscous fluid supplied from the self-adhesive fluid supply unit is performed. According to this configuration, the viscous fluid can be supplied based on the residual amount of the viscous fluid that is accurately measured, so that the viscous fluid can be supplied in an appropriate amount. As a result, unlike the case where the viscous fluid is excessively supplied in excess of the necessary amount to prevent the viscous fluid from being insufficient, the amount of use of the viscous fluid can be suppressed from increasing. Moreover, since the viscous fluid is automatically supplied, it is possible to suppress the occurrence of a problem that the viscous fluid is insufficiently transferred and the viscous fluid is not sufficiently transferred to the transfer target.

In the substrate working device according to the first aspect, it is preferable to further include a mounting head that mounts a component to the substrate and that is relatively movable with respect to the blade portion, and the image pickup portion is opposed to the blade portion together with the mounting head. It is constructed in a relatively moving manner. According to this configuration, since the mounting head and the imaging unit can be moved by the common moving mechanism, the configuration of the device for measuring the residual amount of the viscous fluid can be suppressed.

In this case, it is preferable that the imaging unit includes an imaging unit for substrate recognition that images the substrate identification mark for identifying the substrate. According to this configuration, the imaging unit for substrate recognition can be used as the imaging unit for measuring the residual amount of the viscous fluid, so that the configuration of the device for measuring the residual amount of the viscous fluid can be further suppressed.

In the substrate working device according to the first aspect, preferably, the doctor blade portion has a frame shape capable of storing a viscous fluid, and the image pickup portion is configured to include a blade portion having a frame shape having a storage viscous fluid. The inside is a part of the viscous fluid that has become a block and a specific area inside the blade portion where the viscous fluid is not present. According to this configuration, the viscous fluid can be easily formed into a block shape by the blade portion having a frame shape. As a result, it is possible to easily form a portion where the viscous fluid has become a block and a portion where the viscous fluid does not exist, and the image pickup portion can image the same.

In the substrate working device according to the first aspect, preferably, the transfer target includes a component mounted on the substrate, and the substrate working device further includes a coating film forming a coating film for transferring the viscous fluid to the component. The squeegee portion is configured to be smeared while scraping the viscous fluid while moving relative to the coating film forming plate, and forming a coating film for transferring the viscous fluid to the component on the coating film forming plate. The imaging unit is configured to photograph a specific region including a portion of the viscous fluid which is on the coating film forming plate and which has become a block and a portion where the viscous fluid is not present, above the self-coating film forming plate. According to this configuration, in the configuration in which the coating film of the viscous fluid formed on the coating film forming sheet is transferred to the component, the residual amount of the viscous fluid can be accurately (quantitatively and reliably) measured.

In the substrate working device according to the first aspect, preferably, the transfer target includes a substrate on which the component is mounted, and the substrate working device further includes a print pattern having a transfer fluid for transferring the adhesive fluid to the substrate. The mask portion is configured to be smeared while moving on the mask while scraping the viscous fluid, and transferring the viscous fluid on the mask to the substrate via the printing pattern; the imaging portion is configured as follows : Above the mask, the part containing the viscous fluid that is present on the mask and has become a block and the absence of viscous fluid Part of the specific area to shoot. According to this configuration, in the configuration in which the viscous fluid on the mask such as solder is transferred to the substrate via the printing pattern, the residual amount of the viscous fluid such as solder can be accurately (quantitatively and reliably) measured.

In the substrate working device according to the first aspect of the invention, it is preferable that the illuminating unit further includes an illuminating unit that can illuminate the specific area, and the illuminating unit is configured to change the intensity of the light that is irradiated to the specific area according to the type of the viscous fluid. At least one of an angle of light that is irradiated to a specific area and a wavelength of light that is irradiated to a specific area. According to this configuration, a specific region can be photographed by appropriate illumination corresponding to the kind of the viscous fluid, so that it is possible to easily have a portion where the viscous fluid which has become a block is present and a portion where the viscous fluid does not exist. Differentiate and identify the way to shoot. As a result, the residual amount of the viscous fluid can be more accurately measured.

The viscous fluid residual amount measuring method of the substrate working device according to the second aspect of the present invention includes the step of smoothing the viscous fluid transferred to the transfer object by the blade portion while smoothing it; The imaging unit captures a specific region including a portion where the viscous fluid scraped by the blade portion is formed and a portion where the viscous fluid is not present, and a captured image based on a specific region photographed by the imaging portion At least one of the size of the portion of the viscous fluid or the portion of the viscous fluid that is not present, the residual portion of the viscous fluid is obtained by the control unit.

In the method for measuring the residual viscous fluid of the substrate working device according to the second aspect of the present invention, there is provided a step of: presenting a viscous fluid in a captured image based on a specific region photographed by the imaging unit as described above At least one of the size of the portion or the size of the portion where the viscous fluid does not exist, the residual portion of the viscous fluid is obtained by the control unit. Thereby, similarly to the case of the substrate working device of the first aspect described above, the residual amount of the viscous fluid can be accurately measured, and the residual amount can be measured even if it is a colored viscous fluid.

According to the present invention, it is possible to provide a substrate working device capable of accurately measuring the residual amount of a viscous fluid as described above and measuring the residual amount even for a colored viscous fluid. Method for measuring the residual amount of viscous fluid in a plate working device.

1‧‧‧Abutment

2‧‧‧ conveyor

3‧‧‧ Parts Supply Department

3a‧‧‧With a feeder

4‧‧‧ head unit

5‧‧‧Support Department

6‧‧‧A pair of track sections

7‧‧‧Part identification camera

8‧‧‧Transfer unit

9‧‧‧Control Department

31‧‧‧ Parts (transfer object)

41‧‧‧Nozzles

42‧‧‧Installation head

43‧‧‧Substrate recognition camera (camera)

43a‧‧‧Lighting Department

51‧‧‧Motor

61‧‧‧Motor

81‧‧‧ Viscous fluid supply department

81a‧‧‧ Body Department

81b‧‧‧Piston Department

81c‧‧‧盖部

81d‧‧‧Supply path

82‧‧‧Adhesive fluid groove (scraper part)

83‧‧‧ Coating film forming board

83a‧‧· Coating film forming the upper surface of the board

83b‧‧·film formation department

84‧‧‧ board drive mechanism

91‧‧‧ Valve

100‧‧‧Substrate operating device

101‧‧‧Abutment

102‧‧‧ scraper unit

103‧‧‧ substrate table

103b‧‧‧ bracket components

104‧‧‧Adhesive Fluid Recognition Camera (Camera)

105‧‧‧Control Department

106‧‧‧Frame

121‧‧‧Scraper

122‧‧‧Scraper Y-axis drive mechanism

122a‧‧‧Y-axis motor

123‧‧‧ scraper Z-axis drive mechanism

124‧‧‧ scraper R-axis drive mechanism

125‧‧‧ Viscous fluid supply department

131‧‧‧ conveyor

132‧‧‧Clamping components (plywood)

133‧‧‧Y-axis moving mechanism

133a‧‧‧Y-axis motor

134‧‧‧Z-axis moving mechanism

134a‧‧‧Z-axis table

135‧‧‧Base Lifting Department

135a‧‧‧Support board

200‧‧‧Substrate operating device

A‧‧‧Specific area

B1‧‧‧Video images of specific areas

E2‧‧‧ binarized image

C1‧‧‧There is a part of viscous fluid

C2‧‧‧There is no part of viscous fluid

F‧‧‧ benchmark mark (substrate identification mark)

H‧‧‧Air hose

L‧‧‧viscous fluid

La‧‧·film

Lb‧‧‧viscous fluid

M‧‧‧ mask

P‧‧‧Substrate (transfer object)

S1‧‧‧ steps

S2‧‧‧ steps

S3‧‧‧ steps

S4‧‧‧ steps

S5‧‧ steps

S6‧‧ steps

Th‧‧‧ specific threshold

X‧‧‧ direction

X1‧‧‧ direction

X2‧‧‧ direction

Y‧‧‧ direction

Y1‧‧‧ direction

Y2‧‧‧ direction

Z‧‧‧ direction

Z1‧‧‧ direction

Z2‧‧‧ direction

Fig. 1 is a view showing the overall configuration of a substrate working device according to a first embodiment of the present invention.

2 is a side view showing the overall configuration of a transfer unit of the substrate working device according to the first embodiment of the present invention.

Fig. 3 is a plan view showing a transfer unit of the substrate working device according to the first embodiment of the present invention.

FIG. 4 is a view for explaining a captured image of a specific region and a captured image of a specific region after the binarization processing in the substrate working device according to the first embodiment of the present invention.

Fig. 5 is a graph showing the relationship between the residual amount of the viscous fluid in the substrate working device according to the first embodiment of the present invention and the area ratio of the portion in the specific region where the viscous fluid is present.

FIG. 6 is a view showing an example of a captured image of a specific region when the substrate working device according to the first embodiment of the present invention is illuminated.

FIG. 7 is a view showing an example of a captured image in a specific region when the illumination in the substrate working device according to the first embodiment of the present invention is changed.

Fig. 8 is a schematic view showing a wiping operation (A), a bulk fluid imaging operation (B), and a viscous fluid transfer operation (C) of the transfer unit.

FIG. 9 is a flowchart for explaining an automatic viscous fluid supply process of the substrate working device according to the first embodiment of the present invention.

Fig. 10 is a view showing the overall configuration of a substrate working device according to a second embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described based on the drawings.

[First Embodiment]

(Structure of substrate working device)

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

As shown in FIG. 1 , the substrate working device 100 is a component mounting device that transports the substrate P from the X1 direction side to the X2 direction side by a pair of conveyors 2 and mounts the component 31 on the substrate P at a specific mounting working position M. . Further, the part 31 is an example of a "transfer object" in the patent application.

The substrate working device 100 includes a base 1 , a pair of conveyors 2 , a component supply unit 3 , a head unit 4 , a support unit 5 , a pair of rail units 6 , a component recognition camera 7 , a transfer unit 8 , and a control unit 9 .

The pair of conveyors 2 are configured to be disposed on the base 1 and transport the substrate P in the X direction. Further, the pair of conveyors 2 are configured to hold the substrate P while the substrate P being conveyed is stopped at the mounting work position M. Further, the pair of conveyors 2 are disposed so as to be parallel to each other with a predetermined distance in the Y direction, and the interval in the Y direction can be adjusted in accordance with the size of the substrate P.

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

The tape feeder 3a holds a reel (not shown) around which a tape holding a plurality of parts 31 at a predetermined interval is held. The tape feeder 3a is configured to supply the component 31 from the front end of the tape feeder 3a by rotating the reel to the tape holding the holding member 31. Here, the component 31 is a concept of an electronic component such as an IC (Integrated Circuit), a transistor, a capacitor, and a resistor.

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

The nozzle 41 is configured to suck and hold the component 31 supplied from the feeder 3a by a negative pressure generated at the end of the nozzle 41 by a negative pressure generator (not shown), and mount (mount) On the substrate P.

The substrate recognition camera 43 is configured to image the reference mark F for identifying the position of the substrate P. By identifying the position of the reference mark F by photographing, the mounting position of the part 31 of the substrate P can be accurately obtained. Further, the substrate recognition camera 43 is provided with a plurality of illumination units 43a (see FIG. 2). The illumination unit 43a is configured to emit light to the reference mark F and the specific area A when the imaging of the reference mark F by the substrate recognition camera 43 and the imaging of the specific area A (see FIG. 3) described below are performed. Further, the reference mark F is an example of the "substrate identification mark" of the patent application.

The support portion 5 includes a motor 51. The support unit 5 is configured to move the head unit 4 along the support unit 5 in the X direction by driving the motor 51. Further, both end portions of the support portion 5 are supported by the pair of rail portions 6.

A pair of rail portions 6 are fixed to the base 1. The rail portion 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 is movable in the X direction along the support portion 5, and the support portion 5 is movable in the Y direction along the rail portion 6, whereby the head unit 4 is movable in the XY direction.

The part identification camera 7 is fixed to the upper surface of the base 1. The part identification camera 7 is configured to recognize the suction state (adsorption posture) of the component 31 before the attachment of the component 31, and to photograph the component 31 adsorbed to the nozzle 41 of the mounting head 42 from the lower side (Z2 side). Thereby, the adsorption state of the component 31 adsorbed to the nozzle 41 of the mounting head 42 can be obtained.

The transfer unit 8 is disposed on the Y2 side of the pair of conveyors 2 and is detachably attached to the substrate working device 100. Further, the transfer unit 8 is configured to form a coating film La for transferring to the following viscous fluid L of the component 31.

Further, as shown in FIGS. 2 and 3, the transfer unit 8 includes a viscous fluid supply unit 81, a viscous fluid tank 82, a coating film forming plate 83, and a plate driving mechanism 84. Further, the viscous fluid groove 82 is an example of the "blade portion" of the patent application. Further, in FIGS. 2 and 8, for ease of understanding, both the mounting head 42 and the substrate recognition camera 43 are shown in one figure. Therefore, the positional relationship between the two in FIG. 2 and FIG. 8 does not necessarily correspond to the positional relationship of both in FIG.

The viscous fluid supply unit 81 is configured to supply the viscous fluid L to the viscous fluid tank 82. Further, the viscous fluid supply unit 81 includes a main body portion 81a, a piston portion 81b, a lid portion 81c, and a supply path 81d.

The main body portion 81a is configured to have a hollow substantially cylindrical shape, and can store a viscous fluid L (shown by hatching) such as flux or solder inside. The piston portion 81b is disposed inside the main body portion 81a, and is slidably fitted to the inner side surface of the main body portion 81a in the vertical direction (Z direction). The viscous fluid L is filled (stored) in the internal space of the main body portion 81a which is defined by the main body portion 81a and the piston portion 81b. The lid portion 81c is configured to be disposed at an upper end portion of the main body portion 81a and to seal the main body portion 81a. Further, one end of the air hose H is connected to the lid portion 81c to supply a gas (air) of a specific pressure to the inside of the body portion 81a. Further, the other end of the air hose H is connected to the valve 91. The valve 91 is connected to a pneumatic source (not shown), and is capable of switching between an open state in which a gas of a specific pressure is supplied to the inside of the main body 81a and a closed state in which the gas is not supplied to the inside of the main body 81a. The supply path 81d is disposed at a lower end of the body portion 81a and is connected to a side surface of the viscous fluid groove 82.

The viscous fluid supply unit 81 is configured such that when the valve 91 is in the "open state", the gas is supplied from the air hose H to the inside of the body 81a via the lid portion 81c, and the piston 81b is directed downward. In the (Z2 direction), the viscous fluid L filled in the inside of the body 81a is pressure-fed (supplied) into the viscous fluid tank 82 via the supply path 81d. Further, the viscous fluid supply unit 81 is configured such that when the valve 91 is in the "closed state", since the piston 81b does not move in the downward direction (Z2 direction), it does not pass through the supply path 81d to the viscous fluid tank. 82 pressure feeds (supplies) the viscous fluid L filled in the inside of the body 81a.

The viscous fluid groove 82 is formed in a hollow frame shape having an upper and lower opening, and is disposed on the coating film forming plate 83, whereby the viscous fluid L from the viscous fluid supply portion 81 can be stored therein. Further, the viscous fluid groove 82 is fixed by a fixing mechanism (not shown) and does not move. Further, the viscous fluid groove 82 is configured to impart potential energy to the coating film forming plate 83 by an energizing means (not shown). Since the upper portion of the frame-shaped viscous fluid groove 82 is opened, the substrate recognition camera 43 can photograph the internal space of the viscous fluid groove 82 from above.

The coating film forming plate 83 is configured to have a substantially rectangular shape in a plan view (viewed in the Z direction), and is movable in the longitudinal direction (the driving direction of FIGS. 2 and 3) by the plate driving mechanism 84. Further, the upper surface 83a of the coating film forming plate 83 is provided with a coating film forming portion 83b which is recessed downward from the upper surface 83a to correspond to the film thickness t of the coating film La for forming a coating film La of the viscous fluid L. .

Further, the viscous fluid groove 82 is configured such that the coating film forming plate 83 is moved in the driving direction by the plate driving mechanism 84 in a state where the viscous fluid L is stored therein, and the coating film is formed with respect to the coating film. 83 moves relatively while squeezing the viscous fluid L while smoothing it (sweeping). Thereby, the viscous fluid groove 82 is formed so that the coating film La of the viscous fluid L transferred to the component 31 is formed in the coating film forming portion 83b of the coating film forming plate 83.

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

The control unit 9 is configured to include a CPU (Central Processing Unit), an attachment operation by the control head unit 4, a wiping operation of the transfer unit 8 described below, a block fluid imaging operation, and a viscous fluid. All operations of the substrate working device 100 such as a transfer operation.

(Acquisition of the residual amount of viscous fluid)

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

When the wiping operation is performed, the viscous fluid L inside the viscous fluid groove 82 is rolled (rolled) to form a block (Lb) having a substantially cylindrical cross section. As shown in FIG. 2 and FIG. 3, the substrate The identification camera 43 (refer to FIG. 1) is configured to measure the residual amount of the viscous fluid L stored in the viscous fluid groove 82, scraping the viscous fluid groove 82 including the transfer unit 8 and having become A portion of the bulk viscous fluid L (Lb) and a specific region A where no part of the viscous fluid L (Lb) is present are photographed.

At this time, the substrate recognition camera 43 is configured such that the self-coating film forming plate 83 and the viscous fluid L (Lb) which has become a block shape are contained, and the viscous shape including the frame shape having the storage viscous fluid L is contained. The inside of the fluid groove 82 and a part of the viscous fluid L (Lb) which has become a block, and a specific area A where a part of the viscous fluid L (Lb) does not exist is imaged.

Here, in the first embodiment, as shown in FIGS. 4 and 5, the control unit 9 is configured such that a viscous fluid exists in the captured image B1 based on the specific region A captured by the substrate recognition camera 43. The size of the portion C1 of L(Lb) and the size of the portion C2 of the viscous fluid L (Lb) are not present, and the residual amount of the viscous fluid L stored in the viscous fluid tank 82 is obtained.

Specifically, the control unit 9 is configured to acquire the area of the portion C1 where the viscous fluid L exists in the specific region A and the portion of the portion C2 where the viscous fluid L does not exist, based on the captured image B1 of the specific region A. . Further, the control unit 9 is configured to obtain the residual amount of the viscous fluid L based on the area of the portion C1 where the viscous fluid L exists in the specific region A obtained and the area of the portion C2 where the viscous fluid L is not present. .

Further, in the first embodiment, the control unit 9 is configured to obtain the binarized image B2 of the specific region A by binarizing the captured image B1 of the specific region A, and based on the obtained image The binarized image B2 acquires the area of the portion C1 where the viscous fluid L exists in the specific region A and the area of the portion C2 where the viscous fluid L does not exist. Hereinafter, these aspects will be described in detail.

As shown in FIG. 4, first, the image pickup image B1 of the specific region A captured by the substrate recognition camera 43 is acquired by the control unit 9 (the image before the binarization processing shown on the left side of FIG. 4). At this time, in the image B1 of the specific area A, in the portion C1 where the viscous fluid L (Lb) is present, the light is diffusely reflected by the viscous fluid L (Lb), so that a relatively dark map can be obtained. image. On the other hand, in the portion C2 where the viscous fluid L (Lb) is not present, the light is specularly reflected by the upper surface 83a of the coating film forming plate 83 made of metal, so that a relatively bright image can be obtained. Therefore, in the captured image B1 of the specific area A, the portion C1 in which the viscous fluid L (Lb) exists in the captured image and the portion C2 in which the viscous fluid L (Lb) is not present in the captured image can be distinguished. Come and identify.

Next, the captured image B1 of the acquired specific area A is subjected to binarization processing by converting the image into two images of white and black by the control unit 9. Thereby, the captured image B1 of the specific area A is converted into a captured image of the specific area A (the image after the binarization process shown on the right side of FIG. 4, the binarized image) B2, the captured image The portion C1 (relatively darker image portion) in which the viscous fluid L (Lb) exists in the specific region A of the B2 system is indicated by black, and the portion C2 of the viscous fluid L (Lb) is not present in the specific region A (relatively brighter) Part of it) is shown in white.

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

Then, based on the obtained area of the portion C1 where the viscous fluid L (Lb) exists and the area of the portion C2 where the viscous fluid L (Lb) is not present, the control unit 9 obtains the presence of the viscous fluid L (Lb). The ratio of the area of the portion C1 to the specific region A (X%), and the ratio of the portion of the portion C2 where the viscous fluid L (Lb) is absent to the specific region A (Y = 100 - X%).

Here, as shown in FIG. 5, there is a correlation between the area ratio of the portion C1 in which the viscous fluid L (Lb) exists in the specific region A and the residual amount of the viscous fluid L inside the viscous fluid groove 82. Therefore, by obtaining the viscous fluid L (Lb) in the specific region A in the above manner The area ratio of the portion C1 can be obtained as the residual amount of the viscous fluid L stored in the viscous fluid tank 82. Further, there is a similar relationship between the area ratio of the portion C2 in which the viscous fluid L (Lb) is not present in the specific region A and the residual amount of the viscous fluid L inside the viscous fluid groove 82. The residual amount of the viscous fluid L stored in the viscous fluid tank 82 can also be obtained by obtaining the area ratio of the portion C2 in which the viscous fluid L (Lb) is not present in the specific region A.

Therefore, the control unit 9 is configured to be based on an area ratio of a portion where the viscous fluid L (Lb) exists in the specific region A set in advance and a residual amount of the viscous fluid L stored in the viscous fluid groove 82. Related information, the residual amount of the viscous fluid L stored in the viscous fluid tank 82 is obtained based on the obtained area ratio of the portion of the viscous fluid L (Lb).

Further, in the first embodiment, the control unit 9 determines whether or not the residual amount of the obtained viscous fluid L is equal to or lower than a specific threshold value Th (see FIG. 5) for determining whether or not to supply the viscous fluid L. Way composition. Furthermore, the specific threshold Th is based on the graph shown in FIG. 5 and is preset by the user.

Further, when the control unit 9 determines that the residual amount of the viscous fluid L is equal to or smaller than the specific threshold Th, the self-adhesive fluid supply unit 81 supplies a specific amount of viscosity to the viscous fluid tank 82. Control of fluid L.

Moreover, the control unit 9 is configured to supply the viscous fluid L to the viscous fluid tank 82 without the self-adhesive fluid supply unit 81 when it is determined that the residual amount of the viscous fluid L is greater than the specific threshold value Th. control.

(constitution of the lighting department)

Further, in the first embodiment, the illumination unit 43a (see FIG. 2) is configured to change the intensity of light that is irradiated to the specific area A, the angle of light that is irradiated to the specific area A, and the angle of the light that is irradiated to the specific area A, depending on the type of the viscous fluid L. The wavelength of light that is irradiated to a specific area A.

Specifically, the illumination unit 43a includes an inner ring illumination unit that is disposed in a circle shape around the lens of the substrate recognition camera 43 and that emits visible light, and an outer ring illumination unit that is disposed in a circle shape on the outer side of the inner ring illumination unit. Irradiating visible light; and infrared illumination unit, which can illuminate infrared Light. Further, the illumination unit 43a is configured to allow the inner ring illumination unit, the outer ring illumination unit, and the infrared illumination unit to independently emit light. Further, the inner ring illumination unit, the outer ring illumination unit, and the infrared illumination unit are configured to emit light to the specific area A at mutually different angles.

Therefore, the illumination unit 43a is configured to change the intensity of the light irradiated to the specific area A and the angle of the light by changing the number of the illumination units that are illuminated in the inner ring illumination unit, the outer ring illumination unit, and the infrared illumination unit. Further, the illumination unit 43a is configured to emit visible light by emitting only the inner ring illumination unit and/or the outer ring illumination unit, and to illuminate the specific area by irradiating only the infrared illumination unit to emit infrared light. The wavelength of the light of A.

In FIG. 6, the two types of viscous fluids of the flux and the solder indicate that there are three parts of the inner illuminating unit, the outer ring illuminating unit, and the infrared illuminating unit when there is illumination by the illuminating unit 43a. A captured image of a specific area A when the light is irradiated (a captured image after binarization processing). As shown in Fig. 6, when solder is used as the viscous fluid, the difference between the two can be recognized regardless of the residual amount of the viscous fluid L, because the viscous fluid L (Lb) is present. The part is indicated by black, and the part where the viscous fluid L (Lb) is absent is indicated by white.

On the other hand, in the case of using a flux as a viscous fluid, there are cases in which, when the residual amount of the viscous fluid L is small, the two can be distinguished and recognized, but when the viscous fluid L is When the residual amount is large, since the portion where the viscous fluid L (Lb) is present is indicated by white, it is difficult to distinguish the two and recognize them.

In addition, in the case of the flux, when the illumination by the illumination unit 43a is changed (the case where the light is irradiated from two members of the inner-circle illumination unit and the infrared illumination unit), the imaging of the specific area A is shown in FIG. Image (camera image after binarization). As shown in FIG. 7, when the illumination by the illumination unit 43a is changed, even if a flux is used as the viscous fluid, the difference between the two can be distinguished regardless of the amount of the viscous fluid L remaining. The reason for the identification is that the portion in which the viscous fluid L (Lb) is present is indicated by black, and the portion in which the viscous fluid L (Lb) is absent is indicated by white. In this manner, the illumination unit 43a is configured as follows: The intensity of the light irradiated to the specific area A, the angle of the light irradiated to the specific area A, and the wavelength of the light irradiated to the specific area A are changed according to the type of the viscous fluid L.

(action related to the transfer unit)

Next, the wiping operation, the block fluid imaging operation, and the viscous fluid transfer operation will be described as operations related to the transfer unit with reference to Fig. 8 .

As shown in FIG. 8(A), before the viscous fluid L is transferred to the component 31, the coating film forming plate 83 is reciprocated in the driving direction by the plate driving mechanism 84, thereby applying the coating film forming plate 83. The film forming portion 83b fills the viscous fluid L stored in the viscous fluid tank 82. At the same time, the viscous fluid L is scraped and smoothed by the viscous fluid groove 82. As a result, as shown in Fig. 8(B), a coating film of a viscous fluid L suitable for the thickness t of the transfer of the viscous fluid L to the component 31 is formed in the coating film forming portion 83b of the coating film forming plate 83. La. This wiping action is performed every time the viscous fluid L is transferred to the part 31.

Further, as shown in FIG. 8(B), when the wiping operation is performed, an entrainment phenomenon called a viscous fluid L called a wrap is generated inside the viscous fluid groove 82, so that the viscosity after the squeegee is removed. Inside the fluid groove 82, a viscous fluid L (Lb) which has been formed into a block shape is formed. Further, during the formation of the bulky viscous fluid L (Lb), the substrate recognition camera 43 of the head unit 4 captures a portion including the viscous fluid L (Lb) which is in the form of a block, and There is no specific area A of a portion of the viscous fluid L (Lb) (refer to Fig. 3). At this time, from the viewpoint of accurately measuring the residual amount of the viscous fluid L inside the viscous fluid groove 82, it is preferable to borrow before the shape of the viscous fluid L (Lb) which has become a block collapses. The imaging of the camera 43 is recognized by the substrate. Therefore, it is preferable to cause the substrate recognition camera 43 to stand by in advance at a specific position for capturing the specific area A before the end of the wiping operation.

Then, as shown in FIG. 8(C), the adhesive film formed on the coating film forming plate 83 is transferred to the component 31 adsorbed to the mounting head 42 by the lifting and lowering of the mounting head 42 of the head unit 4. Fluid L (La). In addition, FIG. 8 shows an example of a wiping operation for forming a coating film La of the viscous fluid L transferred to the component 31 in conjunction with a viscous fluid transfer operation, but is not limited thereto. In this case, it is also possible to perform a wiping operation for capturing the viscous fluid L that has become a block in accordance with the block fluid imaging operation.

(Adhesive fluid automatic supply processing)

Next, an viscous fluid automatic supply process of the transfer unit 8 of the substrate working device 100 will be described based on a flowchart with reference to FIG. Furthermore, the operation of the substrate working device 100 is performed by the control unit 9.

First, as shown in FIG. 9, in step S1, the coating film forming plate 83 is moved by the plate driving mechanism 84, and the viscous fluid groove 82 is subjected to the wiping operation of the viscous fluid L.

Then, in step S2, it is determined whether or not the imaging time of the specific area A is captured by the substrate recognition camera 43. When the imaging time is set to, for example, a certain number of times of the scanning operation has been performed since the previous block fluid imaging operation, and the specific time has elapsed since the previous block fluid imaging operation, the time has elapsed. In the case of the viscous fluid supply operation in the following step S6, etc.

When it is determined in step S2 that it is not the time of imaging, the process proceeds to step S5 to perform a viscous fluid transfer operation. Further, after the viscous fluid transfer operation, the component 31 adsorbed to the mounting head 42 is mounted on the substrate P.

Moreover, when it is judged that it is the imaging time point in step S2, it progresses to step S3.

Then, in step S3, the substrate recognition camera 43 performs imaging of a specific region A including a portion where the bulky viscous fluid L (Lb) exists and a portion where the viscous fluid L (Lb) does not exist. .

Then, in step S4, based on the captured image captured by the substrate recognition camera 43, it is determined whether or not the residual amount of the viscous fluid L is equal to or less than a specific threshold Th. When it is determined that the residual amount of the viscous fluid L is not equal to or less than the specific threshold value Th, it is considered that it is not necessary to supply (supply) the viscous fluid L to the viscous fluid tank 82, so that the process proceeds to step S5 without proceeding to the viscous fluid tank 82. The viscous fluid transfer operation is performed by supplying the viscous fluid L.

When it is determined in step S4 that the residual amount of the viscous fluid L is equal to or less than the specific threshold value Th, it is considered that it is necessary to supply (replenish) the viscous fluid L to the viscous fluid tank 82. Therefore, the process proceeds to step S6.

Then, in step S6, the viscous fluid supply operation in which the self-adhesive fluid supply unit 81 supplies a specific amount of the viscous fluid L to the viscous fluid tank 82 is performed. Thereby, when the residual amount of the viscous fluid L is equal to or less than the specific threshold value Th, the viscous fluid L is automatically supplied (replenished) to the viscous fluid tank 82.

Further, when the residual amount of the viscous fluid L is equal to or less than the specific threshold value Th, there is a possibility that the coating film of the viscous fluid L is not normally formed on the coating film forming plate 83 by the previous wiping operation. Therefore, the process returns to step S1, and the sweeping operation is performed again. The above actions are sequentially performed for each of the parts 31 adsorbed to the mounting head 42.

(Effects of the first embodiment)

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

In the first embodiment, the control unit 9 is provided. The control unit 9 has the size of the portion C1 of the viscous fluid L in the captured image B1 of the specific region A captured by the substrate recognition camera 43 as described above. And the size of the portion C2 of the viscous fluid L is absent, and the residual amount of the viscous fluid L is obtained. Thereby, the fact that the size of the portion C1 in which the bulky viscous fluid L (Lb) exists and the portion C2 in which the viscous fluid L does not exist are related to the residual amount of the viscous fluid L can be correctly ( The residual amount of the viscous fluid L is measured quantitatively. Further, the specific region A including the portion C1 in which the bulky viscous fluid L (Lb) exists and the portion C2 in which the viscous fluid L is not present is imaged, and the residual image is obtained based on the captured image B1 of the specific region A. Therefore, unlike the configuration in which the identification mark is photographed via the viscous fluid L, even if it is a colored viscous fluid L, the residual amount can be easily measured.

Further, in the first embodiment, the control unit 9 is configured to acquire the area of the portion C1 in which the viscous fluid L exists in the specific region A and the absence of the viscous fluid L based on the image B1 of the specific region A. Part of the area of C2, and based on the presence of viscosity The area of the portion C1 of the fluid L and the area of the portion C2 where the viscous fluid L is not present obtain the residual amount of the viscous fluid L. Thereby, unlike the case where the residual amount of the viscous fluid is obtained based on the measurement result of the point obtained by the photosensor, the residual amount of the viscous fluid L is obtained based on the area, so even the viscous fluid groove 82 is obtained. In each of the scraping operations performed, the shape of the bulky viscous fluid L is slightly uneven, and the residual amount of the viscous fluid L can be measured stably and accurately (quantitatively).

Further, in the first embodiment, the control unit 9 is configured to obtain the binarized image B2 of the specific region A by performing binarization processing on the captured image B1 of the specific region A, and based on the acquired image The binarized image B2 acquires the area of the portion C1 where the viscous fluid L exists in the specific region A and the area of the portion C2 where the viscous fluid L does not exist. Thereby, the area of the portion C1 where the viscous fluid L exists or the portion C2 where the viscous fluid L does not exist can be easily obtained.

Further, in the first embodiment, the control unit 9 is configured to supply the viscosity to the self-adhesive fluid supply unit 81 when it is determined that the residual amount of the obtained viscous fluid L is equal to or less than the specific threshold value Th. Control of fluid L. Thereby, the viscous fluid L can be supplied based on the residual amount of the viscous fluid L that is accurately measured, so that the viscous fluid L can be supplied in an appropriate amount. As a result, unlike the case where the viscous fluid L is excessively supplied in excess of the required amount to prevent the viscous fluid L from being insufficient, the amount of use of the viscous fluid L can be suppressed from increasing. In addition, since the viscous fluid L is supplied automatically, it is possible to suppress the occurrence of a problem that the viscous fluid L is insufficiently transferred to the component 31 as the transfer target.

Further, in the first embodiment, the substrate recognition camera 43 is configured such that the substrate recognition camera 43 moves relative to the viscous fluid groove 82 together with the mounting head 42. Thereby, the mounting head 42 and the substrate recognition camera 43 can be moved by the common moving mechanism, so that the configuration of the device for measuring the residual amount of the viscous fluid L can be suppressed.

In the first embodiment, the imaging unit for measuring the residual amount of the viscous fluid L is a substrate recognition camera 43 that images the reference mark F for identifying the substrate P. By this, you can also Since the substrate recognition camera 43 is used as an imaging unit for measuring the residual amount of the viscous fluid L, it is possible to further suppress the complication of the device configuration for measuring the residual amount of the viscous fluid L.

Further, in the first embodiment, the substrate recognition camera 43 is configured to include a viscous fluid L which is in the form of a block which is present inside the viscous fluid groove 82 having the frame shape of the storage viscous fluid L ( Part C1 of Lb) and a specific area A inside the viscous fluid groove 82 in which part C2 of the viscous fluid L is absent are photographed. Thereby, the viscous fluid L can be easily formed into a block shape by the viscous fluid groove 82 having a frame shape. As a result, the portion C1 in which the viscous fluid L (Lb) which has become bulky and the portion C2 in which the viscous fluid L does not exist can be easily formed, and can be imaged by the substrate recognition camera 43.

Further, in the first embodiment, the viscous fluid groove 82 is configured such that the viscous fluid groove 82 is relatively moved with respect to the coating film forming plate 83, and the viscous fluid L is scraped off while being scraped. Thus, a coating film La which is transferred to the viscous fluid L of the component 31 is formed on the coating film forming plate 83. Further, the substrate recognition camera 43 is configured as follows: above the self-coating film forming plate 83, the portion C1 containing the viscous fluid L (Lb) which is on the coating film forming plate 83 and which has become a block shape, and the absence of adhesion A specific area A of the portion C2 of the fluid L is photographed. Thereby, the coating film La formed on the viscous fluid L of the coating film forming plate 83 is transferred to the component 31, and the residual amount of the viscous fluid L can be accurately (quantitatively and reliably) measured.

Further, in the first embodiment, the illumination unit 43a that changes the intensity of the light that is irradiated to the specific area A can be changed depending on the type of the viscous fluid L. Thereby, the specific region A can be photographed by appropriate illumination corresponding to the kind of the viscous fluid L, so that the portion C1 in which the viscous fluid L (Lb) which has become bulky can be easily formed and the viscous fluid is absent Part C of L is distinguished by the way it is identified and photographed. As a result, the residual amount of the viscous fluid L can be more accurately measured.

[Second Embodiment]

Hereinafter, the configuration of the substrate working device 200 according to the second embodiment of the present invention will be described with reference to Fig. 10 .

In the second embodiment, unlike the first embodiment in which the present invention is applied to a component mounting device in which the component 31 is mounted on the substrate P, an example in which the present invention is applied to a printing device for printing solder on the substrate P is described. Be explained.

(Structure of substrate working device)

The substrate working device 200 according to the second embodiment is a printing device. As shown in FIG. 10, the viscous fluid L containing solder is used as a printing (transfer) material, and an opening portion is formed by using a specific printing pattern (not shown). The mask M of the substrate is screen printed with a viscous fluid L on the surface of the substrate P. Further, the substrate P is an example of a "transfer object" in the patent application.

The substrate working device 200 includes a base 101, a doctor unit 102 including a blade portion 121, and a substrate stage 103. The doctor unit 102 and the substrate stage 103 are disposed on the base 101. The doctor unit 102 is configured to perform a printing operation by moving the blade unit 121 in the Y direction.

Further, as shown in FIG. 10, the substrate working device 200 includes a viscous fluid recognizing camera 104 that images the viscous fluid L, and a control unit 105 that controls the entire substrate working device 200. Further, the viscous fluid recognition camera 104 is an example of the "camera portion" of the patent application.

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

The doctor unit 102 is disposed above the mask M. The doctor unit 102 includes a blade portion 121, a blade Y-axis driving mechanism 122, a blade Z-axis driving mechanism 123, a blade R-axis driving mechanism 124, and a viscous fluid supply portion 125.

The blade portion 121 is configured to have a blade-like shape to smooth the viscous fluid L in such a manner as to move in the Y direction to scrape the viscous fluid L, thereby transferring the viscous fluid L on the mask M. (Printed) on the substrate P. At this time, the doctor blade portion 121 is configured to move the viscous fluid L while moving in the printing direction (Y direction) by applying a specific printing pressure (load weight) to the mask M from the upper side (the Z1 direction side). The transfer (printing) is performed while scrolling (rotating).

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

The substrate stage 103 is disposed so as to be disposed at a position (Z2 side) below the mask M, and is reciprocally movable in the Y direction on the base 101. The substrate stage 103 performs an operation of transporting the substrate P to a specific printing position and holding it, and an operation of carrying out the printed substrate P.

The substrate stage 103 includes a pair of conveyors 131, a jig member (plywood) 132, a Y-axis moving mechanism 133, a Z-axis moving mechanism 134, an X-axis moving mechanism (not shown), and an R-axis moving mechanism.

The pair of conveyors 131 have a function of transferring the unprinted substrate P from the upstream device, transporting the substrate P to a specific printing position, and carrying the printed substrate P to the downstream device. The pair of conveyors 131 are arranged in parallel with each other with a predetermined distance in the Y direction. The pair of conveyors 131 are provided to extend in the conveying direction (X direction) of the substrate P. The pair of conveyors 131 are configured to adjust the interval in the Y direction in accordance with the width (the Y dimension) of the substrate P to be conveyed.

The jig member 132 is configured such that a pair is provided adjacent to the upper side of the pair of conveyors 131, and the substrate P is fixed (held) by clamping (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 stage 103 in the Y direction along the Y-axis track by driving the Y-axis motor 133a.

The Z-axis moving mechanism 134 includes a Z-axis stage 134a. The Z-axis moving mechanism 134 is configured to move the Z-axis table 134a in the Z direction (lifting and lowering) by driving a Z-axis motor (not shown). to make. A substrate lifting 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 each of the bracket members 103b.

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

Further, the X-axis moving mechanism (not shown) has a function of moving the substrate P in the X direction, and similarly, the R-axis moving mechanism (not shown) has a function of rotating the substrate P in the horizontal plane (in the XY plane). By the X-axis moving mechanism, the Y-axis moving mechanism 133, and the R-axis moving mechanism, the relative position of the substrate P relative to the mask M (the position and the slope in the horizontal plane) is correctly positioned, and the Z-axis is used. The moving mechanism 134 abuts the substrate P to the lower surface of the mask M.

The viscous fluid recognition camera 104 is configured to be relatively movable with respect to the mask M. Furthermore, the viscous fluid recognition camera 104 can be relatively moved relative to the mask M by a moving mechanism common to the moving mechanism of the doctor unit 102, or can be relatively opposed to the mask M by a dedicated moving mechanism. mobile.

Here, in the second embodiment, the viscous fluid recognizing camera 104 is configured to scrape the scraper portion 121 including the scraper unit 102 in order to measure the residual amount of the viscous fluid L on the mask M. A specific area of the block-shaped viscous fluid L and a portion where the viscous fluid L is not present is photographed. At this time, the viscous fluid recognizing camera 104 is configured to include, in accordance with the information of the mask M, a portion including the viscous fluid L which is present on the mask and which has become a block, and a portion where the viscous fluid L is not present. Shoot in a specific area.

In this case as well, as in the first embodiment, in the captured image of the specific region, the light is diffusely reflected by the viscous fluid L in the portion where the viscous fluid L is present, so that a relatively dark map is obtained. image. On the other hand, in the absence of part of the viscous fluid L, light A relatively bright image is obtained due to specular reflection on the surface of the mask M. Thereby, the portion where the viscous fluid L exists in the captured image can be distinguished from the portion where the viscous fluid L is not present in the captured image.

Further, the control unit 105 is configured to acquire a captured image of a specific region captured by the viscous fluid recognition camera 4 and acquire the captured image based on the acquired specific region, similarly to the above-described first embodiment. The residual amount of viscous fluid L. In other words, it is configured to perform binarization processing on a captured image of a specific region, and obtain an area ratio of a portion where the viscous fluid L exists from the captured image subjected to the binarization processing, and the viscous fluid existing from the obtained The area ratio of the portion of L obtains the residual amount of the viscous fluid L on the mask M.

Further, the control unit 105 is configured to determine whether or not the residual amount of the obtained viscous fluid L is equal to or lower than a specific threshold value for determining whether or not the viscous fluid L is supplied, and to determine the residual of the viscous fluid L. When the amount is equal to or less than a specific threshold value, the self-adhesive fluid supply unit 125 performs control for supplying a specific amount of the viscous fluid L to the mask M.

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

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

(Effect of the second embodiment)

In the second embodiment, the control unit 105 is provided. The control unit 105 has the size of the portion of the viscous fluid L in the captured image of the specific region captured by the viscous fluid recognition camera 104 as described above. And the size of the portion of the viscous fluid L is not present, and the residual amount of the viscous fluid L is obtained. Thereby, similarly to the above-described first embodiment, the residual amount of the viscous fluid L can be accurately (quantitatively) measured, and even if it is a colored viscous fluid L, the residual amount can be easily measured.

Further, in the second embodiment, the doctor blade portion 121 is configured such that the viscous fluid L is scraped while being moved over the mask M, and the viscous fluid L on the mask M is printed via the printing pattern. Transfer to the substrate. Further, the viscous fluid recognizing camera 104 is constructed in such a manner that the upper portion of the self-mask M includes the presence of the viscous layer which is present on the mask M and has become a block. The portion of the fluid L is photographed with a specific region where the portion of the viscous fluid L is not present. Thereby, in the configuration in which the viscous fluid L on the mask M such as solder is transferred to the substrate P via the printing pattern, the residual amount of the viscous fluid L such as solder can be accurately (quantitatively and reliably) measured.

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

[variation]

Furthermore, the embodiments disclosed herein are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the scope of the claims and the scope of the invention, and all modifications (variations) within the meaning and scope of the claims.

For example, in the above-described first and second embodiments, the respective areas are used as the size of the portion where the viscous fluid is present and the size of the portion where the viscous fluid is not present. However, the present invention is not limited thereto. In the present invention, the size other than the area may be used as the size of the portion where the viscous fluid is present and the portion where the viscous fluid is not present. For example, the length of the captured image shown in FIG. 4 in the direction orthogonal to the width direction (the direction in which the portion where the viscous fluid L exists) may be used.

Further, in the first and second embodiments, the residual amount of the viscous fluid is obtained based on the size of the portion where the viscous fluid is present and the size of the portion where the viscous fluid is not present, but the present invention is Not limited to this. 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 is present and the size of the portion where the viscous fluid is not present.

Further, in the first and second embodiments, the image of the specific region is binarized, and the size of the portion where the viscous fluid exists and the size of the portion where the viscous fluid is not present are obtained. However, the invention is not limited thereto. In the present invention, the size of the portion where the viscous fluid exists and the portion where the viscous fluid does not exist may be obtained without performing binarization processing on the image of the specific region.

Further, in the first embodiment described above, it is indicated that there is viscosity in the specific region A. An example of the difference between the area ratio of the portion of the fluid L (Lb) and the residual amount of the viscous fluid L stored in the viscous fluid tank 82, and the residual amount of the viscous fluid L stored in the viscous fluid tank 82 is obtained. However, the invention is not limited thereto. In the present invention, the area ratio of the portion where the viscous fluid L (Lb) is not present in the specific region A, the area of the portion where the viscous fluid L (Lb) exists in the specific region A, and the specific region A may be obtained in advance. The correlation information between at least one of the areas of the portion of the viscous fluid L (Lb) and the residual amount of the viscous fluid L retained in the viscous fluid tank 82 is obtained based on the relevant information. The residual amount of the viscous fluid L of the fluid tank 82.

Further, in the above-described first embodiment, the substrate recognition camera 43 is used as an example of the imaging unit of the present invention, but the present invention is not limited thereto. In the present invention, the imaging unit of the present invention may be provided separately from the substrate recognition camera 43.

Further, in the above-described first embodiment, the viscous fluid groove 82 having a frame shape is used as the blade portion of the present invention, but the present invention is not limited thereto. In the present invention, a doctor blade portion having a shape other than the frame shape may be used as the blade portion of the present invention. For example, a blade portion having a blade shape similar to the blade portion 121 of the second embodiment described above can be used.

Further, in the above-described first embodiment, the viscous fluid groove 82 is fixed and the coating film forming plate 83 is moved, and the viscous fluid groove 82 is relatively moved with respect to the coating film forming plate 83. The viscous fluid L is smeared on one side, but the present invention is not limited thereto. In the present invention, the viscous fluid groove 82 can be fixed by moving the viscous fluid groove 82 while the viscous fluid groove 82 is moved relative to the coating film forming plate 83. Smooth it.

Further, in the above-described first embodiment, the processing of the control unit has been described using a flow-driven flow that is sequentially processed in accordance with the processing flow for the sake of convenience of explanation. However, the processing may be performed by, for example, an event unit. The processing of the event-driven type (event-driven type) performs the processing operation of the control unit. In this case, it can be completely event-driven. This can also be done by combining event-driven and process-driven.

B1‧‧‧Video images of specific areas

B2‧‧‧ binarized image

C1‧‧‧There is a part of viscous fluid

C2‧‧‧There is no part of viscous fluid

Claims (11)

A substrate working device comprising: a doctor blade that scrapes off a viscous fluid transferred to a transfer object while being smeared; and an image pickup unit that includes the above-described blade portion scraped and has a block shape a portion where the viscous fluid exists and a specific region of the portion where the viscous fluid does not exist; and a control portion that is based on a portion of the viscous fluid in the captured image of the specific region captured by the imaging unit Or at least one of the sizes of the portions of the viscous fluid that are not present, the residual amount of the viscous fluid is obtained. The substrate working device according to claim 1, wherein the control unit is configured to obtain an area of a portion where the viscous fluid exists in the specific region or a portion where the viscous fluid does not exist based on a captured image of the specific region At least one of the areas, and the residual amount of the viscous fluid is obtained based on at least one of an area of the portion where the viscous fluid is present or an area where the viscous fluid does not exist. The substrate working device according to claim 2, wherein the control unit is configured to obtain a binarized image of the specific region by performing binarization processing on the captured image of the specific region, and based on the acquired image The binarized image acquires at least one of an area of a portion where the viscous fluid exists in the specific region or an area where a portion of the viscous fluid does not exist. The substrate working device according to claim 1, further comprising a viscous fluid supply unit that supplies the viscous fluid, wherein the control unit is configured to determine that the obtained residual amount of the viscous fluid is a specific threshold In the following cases, the above viscous fluid is The supply unit supplies the control of the viscous fluid. A substrate working device according to claim 1, further comprising: a mounting head that mounts a component to the substrate and that is relatively movable with respect to the blade portion; and the imaging portion is opposed to the blade portion together with the mounting head The way the ground moves. The substrate working device according to claim 5, wherein the imaging unit includes a substrate recognition imaging unit that images a substrate identification mark for identifying the substrate. The substrate working device according to claim 1, wherein the doctor blade portion has a frame shape capable of storing the viscous fluid, and the imaging portion is configured to image a specific region inside the blade portion, the specific region including And a portion where the viscous fluid which is in the form of a block and the portion where the viscous fluid does not exist in the inside of the blade portion having the frame shape in which the viscous fluid is stored. The substrate working device according to claim 1, wherein the transfer target includes a component mounted on the substrate, and the substrate working device further includes a coating film forming plate that forms a coating film of the viscous fluid transferred to the component; The doctor blade portion is configured to be smeared while being scraped with respect to the coating film forming plate while scraping the viscous fluid, and to form the viscous fluid transferred to the component on the coating film forming plate. The image forming unit is configured such that the portion of the viscous fluid which is formed into a block shape on the coating film forming plate and the viscous fluid does not exist from above the coating film forming plate. Part of the above specific area is taken. The substrate working device of claim 1, wherein the transfer object includes a substrate for mounting a component, and the substrate working device is further provided to have a transfer to the substrate by printing a mask for the printed pattern of the viscous fluid; the doctor blade portion configured to be smeared while moving the mask to scrape the viscous fluid, and to adhere the viscous layer to the mask via the printing pattern The fluid is transferred to the substrate; the imaging unit is configured such that a portion of the viscous fluid that is formed into a block shape on the mask and the viscous fluid does not exist from above the mask Part of the above specific area is taken. The substrate working device according to claim 1, further comprising an illuminating unit that can illuminate the specific area, wherein the illuminating unit is configured to change the intensity and the light of the light irradiated to the specific area according to the type of the viscous fluid At least one of an angle of light to the specific region and a wavelength of light that is irradiated to the specific region. A method for measuring a residual amount of a viscous fluid in a substrate working device, comprising the steps of: scraping a viscous fluid transferred to a transfer object while being scraped off by a doctor blade; The portion of the viscous fluid scraped in the block shape and the specific region where the viscous fluid does not exist is imaged by the scraper portion; and the sticking is based on the image of the specific region captured by the image capturing portion. The control unit acquires the residual amount of the viscous fluid by at least one of the size of the portion where the fluid is present or the size of the portion where the viscous fluid does not exist.