WO2019142299A1

WO2019142299A1 - Component mounting device, and component shortage determination method

Info

Publication number: WO2019142299A1
Application number: PCT/JP2018/001446
Authority: WO
Inventors: 大山　和義; 亮介中村; 清隆相澤
Original assignee: ヤマハ発動機株式会社
Priority date: 2018-01-18
Filing date: 2018-01-18
Publication date: 2019-07-25
Also published as: JPWO2019142299A1; JP6974503B2; CN112042287B; CN112042287A

Abstract

From an image obtained by imaging a component feed position Ls at which an exposed pocket 621 is positioned, the presence/absence of a component E in the pocket 621 transported to the component feed position Ls is verified. Specifically, the presence/absence of a component E in the pocket 621 is verified on the basis of the image obtained by imaging the exposed pocket 621. As a result, the occurrence of a component shortage in a component feed tape 60 can be accurately determined.

Description

Part mounting machine, part out judgment method

The present invention relates to a technique for determining the occurrence of component breakage of a component supply tape in which components are accommodated in a carrier tape accommodating unit in which a plurality of accommodating units are arranged at predetermined intervals.

A tape for supplying components to the supply position by sequentially transporting the respective storage units to the supply position by intermittently driving the component supply tape containing the components in the storage units of the carrier tape in which a plurality of storage units are arranged at predetermined intervals. Feeders are widely used. Further, Patent Documents 1 to 3 disclose a technique for determining the end of the parts supply tape.

For example, according to Patent Document 1, when the mounting head fails to pick up a component from the supply position and the sensor provided in the tape feeder detects the end of the component supply tape, it is determined that the component supply tape has run out of components. Ru. However, the trailing end portion of the component supply tape is provided with a trail portion in which an empty accommodating portion not accommodating the components is continuous. Therefore, if the trail portion is long, it takes a long time from when the mounting head fails to pick up a component to when the end of the component supply tape is detected, and it takes time to determine that the component supply tape is out of components. On the other hand, in Patent Documents 1 and 2, a sensor for detecting the presence or absence of a component in the storage portion of the component supply tape is provided in the tape feeder, and this sensor detects an empty storage portion not storing the component. It is determined that the component supply tape has run out of components.

Patent No. 5985275 gazette JP, 2016-127217, A Patent No. 6173160 gazette

However, the container before being supplied to the supply position is blocked by the cover tape. Therefore, it is necessary for the sensor described in Patent Documents 1 and 2 to detect the presence or absence of a component in the housing through a cover tape or a carrier tape. Therefore, it has been difficult to accurately detect the presence or absence of a part, and it has been difficult to accurately determine the occurrence of a tape breakage of the part supply tape.

The present invention has been made in view of the above problems, and makes it possible to accurately determine the occurrence of component breakage of a component supply tape in which components are housed in a carrier tape housing portion in which a plurality of housing portions are arranged at predetermined intervals. The purpose is to provide technology.

The component mounter according to the present invention is a carrier tape for storing components in the storage section on the tip side of the predetermined range without storing the components in the storage area of the predetermined range from the end among the plurality of storage sections arranged at predetermined intervals. And a tape drive unit for intermittently transporting the storage unit to the supply position by intermittently driving the component supply tape having the cover tape for closing the plurality of storage units, and the cover tape to open the supply tape. A tape feeder having an exposed portion for exposing the transported storage portion, a substrate loading portion for loading a substrate, and a component picked up from the storage portion transported to the supply position and mounted on the substrate loaded by the substrate loading portion Components of the component supply tape based on the result of checking the presence or absence of the components in the storage unit transported to the supply position from the mounting head to be taken, the imaging unit for imaging the supply position, and the image captured by the imaging unit Les and a determining controller whether occurred.

The component breakage determination method according to the present invention is a carrier that accommodates components in the accommodation portion on the tip end side from the predetermined range without accommodating the components in the accommodation portion of the predetermined range from the end among the plurality of accommodation portions arranged at predetermined intervals. The component supply tape having the tape and the cover tape for closing the plurality of storage units is intermittently driven to the supply position by intermittently driving the storage unit to the supply position, and the cover tape is transported to the supply position. The component supply tape is cut off based on the result of confirming the presence or absence of the component in the storage unit transported to the supply position from the process of exposing the storage unit, the process of imaging the supply position, and the image obtained by imaging the supply position. Determining whether or not has occurred.

In the present invention configured as described above (the component mounter, the method for determining the shortage of components), the presence or absence of the component in the container transported to the supply position is confirmed from the image obtained by imaging the supply position where the exposed container is located. Be done. That is, based on the image of the exposed storage portion, the presence or absence of a component in the storage portion is confirmed. As a result, it is possible to accurately determine the occurrence of component breakage of the component supply tape.

In addition, when the control unit confirms that there is no component in the adjacent two or more accommodating units sequentially supplied to the supply position, the control unit determines that the component mounting tape has run out so that the component mounting machine is operated. You may configure. This makes it possible to more accurately determine the occurrence of component breakage of the component supply tape.

In addition, when the control unit determines that the component supply tape has run out of parts, the control unit causes the tape drive unit to execute a tape discharge operation of continuously conveying the component supply tape until the end of the component supply tape is discharged. The component mounting machine may be configured. In such a configuration, it is possible to appropriately execute the tape discharging operation after accurately determining the occurrence of component breakage of the component supply tape.

In addition, the tape feeder further includes a sensor that detects the end of the component supply tape, and the control unit monitors the detection timing at which the sensor detects the end of the component supply tape when the tape drive unit starts the tape discharging operation. The component mounter may be configured to stop the tape drive unit according to the discharge timing of the component supply tape determined from the detection timing. In this configuration, it is possible to stop the tape drive unit that executes the tape discharging operation at an appropriate timing based on the detection timing when the sensor detects the end of the component supply tape. Therefore, when the ejection of the component supply tape is completed, the tape drive can be stopped promptly.

In addition, the imaging unit may configure the component mounter so as to capture the supply position by a camera that captures a fiducial mark of the substrate. In such a configuration, it is possible to share a camera for capturing a fiducial mark for determination of component shortage of the component supply tape, and to reduce the number of cameras provided in the component mounting machine.

In addition, the imaging unit may configure the component mounter so as to image the supply position when the mounting head fails to pick up the component from the storage unit at the supply position. With such a configuration, it is possible to confirm the component breakage of the component supply tape at an appropriate timing, triggered by a failure in picking up the component by the mounting head.

Incidentally, a failure in picking up a component by the mounting head can also be caused by a failure in component exposure in addition to a component shortage in the component supply tape. Therefore, the control unit checks the presence or absence of the component in the storage unit transported to the supply position when it is determined from the image captured by the imaging unit that the component supplied to the supply position has been successfully exposed. You may comprise a component mounting machine. This can suppress unnecessary execution of confirmation of the presence or absence of the component in the housing when the cause of the failure in pickup of the component by the mounting head is failure in exposure of the component.

In addition, the control unit may configure the component mounter so as not to pick up the component from the storage unit to the mounting head when confirming that no component is present in the storage unit transported to the supply position. This can prevent the mounting head from unnecessarily trying to pick up a component.

According to the present invention, it is possible to accurately determine the occurrence of component breakage of a component supply tape in which components are accommodated in a carrier tape accommodating unit in which a plurality of accommodating units are arranged at predetermined intervals.

FIG. 1 is a partial plan view schematically showing a component mounter according to the present invention. FIG. 2 is a block diagram showing an electrical configuration of the component mounter of FIG. 1; FIG. 2 is a partial cross-sectional view schematically showing a configuration of a substrate recognition camera. The side view which shows typically an example of a structure and operation | movement of a tape feeder. The perspective view which shows an example of a components supply tape. FIG. 6 is a plan view showing the vicinity of the end of the component supply tape of FIG. 5; FIG. 7 is a flowchart showing a first example of a pickup operation performed by the component mounting machine of FIG. 1; The figure which shows typically the modification of a mounting head. The flowchart which shows the 2nd example of the processing in pickup operation in a component mounting machine. The figure which shows the modification of the tape feeder with which the component mounting machine of FIG. 1 is provided. FIG. 11 is a flowchart showing an example of processing in a tape ejection operation that can be executed by the tape feeder of FIG. 10; FIG. The flowchart which shows the 3rd example of the processing in pickup operation in a component mounting machine.

FIG. 1 is a partial plan view schematically showing a component mounter according to the present invention, and FIG. 2 is a block diagram showing an electrical configuration provided in the component mounter of FIG. FIG. 1 and the following drawings show XYZ orthogonal coordinates in which the Z direction is a vertical direction and the X direction and the Y direction are horizontal directions.

As shown in FIG. 2, the component mounter 1 includes a main control unit 100 including an arithmetic processing unit 110, a drive control unit 120, a storage unit 130, an image processing unit 140, and a feeder communication unit 150. The arithmetic processing unit 110 is a processor configured of a central processing unit (CPU) and a random access memory (RAM), and the drive control unit 120 and the image processing unit 140 based on programs and data stored in the storage unit 130. And by controlling the feeder communication unit 150, each operation described later is controlled. Further, the component mounting machine 1 is provided with a user interface 160 configured of, for example, a touch panel display, and the arithmetic processing unit 110 executes control according to an input of the user interface 160.

As shown in FIG. 1, the component mounter 1 includes a pair of

conveyors

12, 12 provided on a base 11. Then, the component mounter 1 controls the conveyor 12 by the drive control unit 120 to carry the substrate B required for component mounting. That is, the component mounting machine 1 mounts the component E (FIG. 5) on the substrate B carried in to the working position (the position of the substrate B in FIG. 1) from the upstream side of the X direction (substrate conveyance direction) Then, the substrate B on which the component mounting has been completed is carried out by the conveyor 12 from the work position to the downstream side in the X direction. Mounting the component E on the substrate B means placing the component E on the substrate B.

Two component supply units 25 are aligned in the X direction on both sides of the pair of

conveyors

12 and 12 in the Y direction, and in each component supply unit 25, a plurality of tape feeders 5 are arranged in the X direction. Each tape feeder 5 is provided with a component supply reel on which a component supply tape 60 (FIG. 5) is accommodated, in which small pieces E of integrated circuits, transistors, capacitors and the like are accommodated at predetermined intervals. Each tape feeder 5 intermittently supplies the component E to the component supply position Ls at the tip by intermittently feeding the component supply tape 60 drawn from the component supply reel. The arithmetic processing unit 110 controls the operation of the tape feeder 5 by issuing an instruction to the feeder control unit 50 of the tape feeder 5 via the feeder communication unit 150.

A component recognition camera 7 is attached to the base 11 facing upward between two component supply units 25 arranged in the X direction. The component recognition camera 7 captures an image of the component E passing above as described later, and transmits the image to the image processing unit 140.

Further, in the component mounting machine 1, a pair of Y-

axis rails

21, 21 extending in the Y-direction, a Y-axis ball screw 22 extending in the Y-direction, and a Y-axis motor My for rotating the Y-axis ball screw 22 are provided. The support member 23 is fixed to the nut of the Y-axis ball screw 22 in a state where the support member 23 is supported movably in the Y direction by the pair of Y-

axis rails

21, 21. An X-axis ball screw 24 extending in the X direction and an X-axis motor Mx for rotationally driving the X-axis ball screw 24 are attached to the head support member 23, and the head unit 3 can be moved in the X direction with the head support member 23. While being supported by the X axis ball screw 24 is fixed to the nut of the X axis ball screw 24. Therefore, the drive control unit 120 rotates the Y-axis ball screw 22 by the Y-axis motor My to move the head unit 3 in the Y direction, or rotates the X-axis ball screw 24 by the X-axis motor Mx to rotate the head unit 3 It can be moved in the direction.

The head unit 3 has a plurality (six) of mounting heads 31 aligned in the X direction. Furthermore, the head unit 3 has a Z-axis motor Mz for raising and lowering the mounting head 31 with respect to each mounting head 31. Each mounting head 31 has an elongated shape extending in the Z direction (vertical direction), and has a nozzle 32 for suctioning the component E at its lower end so as to be disengageable. Then, component mounting is performed by the mounting head 31.

That is, the drive control unit 120 causes the nozzle 32 of the mounting head 31 to face the component supply position Ls from above by the X-axis motor Mx and the Y-axis motor My. Next, the drive control unit 120 lowers the mounting head 31 by the Z-axis motor Mz and brings the nozzle 32 into contact with the component E supplied to the component supply position Ls by the tape feeder 5. Subsequently, the drive control unit 120 raises the mounting head 31 having the component E adsorbed by the nozzle 32. Thus, when the mounting head 31 completes picking up the component E from the component supply position Ls, the drive control unit 120 moves the mounting head 31 above the substrate B by the X-axis motor Mx and the Y-axis motor My. The component E is mounted on the substrate B by releasing the adsorption of the component E.

The head unit 3 has an R-axis motor Mr for each mounting head 31 for rotating the mounting head 31 in the R direction (rotational direction about the Z direction), and the drive control unit 120 uses the R-axis motor Mr The rotation angle of the component E mounted on the substrate B is adjusted by rotating the mounting head 31 in the R direction. That is, the mounting head 31 picks up the component E from the component supply position Ls and then moves to the upper side of the substrate B, passing the upper side of the component recognition camera 7 and passing the component recognition camera 7 above it To capture an image of the part E. The image of the component E is transmitted from the component recognition camera 7 to the image processing unit 140, and the image processing unit 140 recognizes the position and orientation of the component E attracted by the mounting head 31 based on the image (component recognition). Then, the drive control unit 120 adjusts the rotation angle of the component E mounted on the substrate B by the mounting head 31 based on the result of the component recognition.

Further, the substrate recognition camera 8 is attached to the head unit 3 so as to face downward, and the substrate recognition camera 8 moves in the X direction and the Y direction along with the head unit 3. The substrate recognition camera 8 captures from above the fiducial mark attached to the substrate B carried into the work position, and acquires an image of the fiducial mark. The image of the fiducial mark is transmitted from the substrate recognition camera 8 to the image processing unit 140, and the image processing unit 140 recognizes the position of the substrate B based on the image (substrate recognition). Then, the drive control unit 120 adjusts the position in the X direction and the Y direction of the component E mounted by the mounting head 31 based on the result of the substrate recognition.

FIG. 3 is a partial cross-sectional view schematically showing the configuration of the substrate recognition camera. The substrate recognition camera 8 has an illumination unit 81 for irradiating the object J with light, and an imaging unit 83 for imaging the object J while facing the object J from the Z direction. The illumination unit 81 arranges a plurality of point light sources in an annular shape centered on the optical axis of the imaging unit 83 parallel to the Z direction, and emits light from the respective light sources downward. As a point light source, for example, an LED (Light Emitting Diode) can be used. The imaging unit 83 has a lens 831 and a solid-state imaging device 832. The lens 831 has an optical axis parallel to the Z direction and faces the object J from above, and images the light reflected by the object J on the solid-state imaging device 832. The solid-state imaging device 832 captures an image of the object J by detecting the light formed by the lens 831. The substrate recognition camera 8 also performs imaging of the component supply position Ls of the tape feeder 5 as described later, in addition to imaging of the fiducial mark.

FIG. 4 is a side view schematically showing an example of the configuration and operation of the tape feeder. In the figure, the tape feeder 5 appropriately indicates the feed direction Df (parallel to the Y direction) in which the component supply tape 60 is sent out, and the arrow side of the feed direction Df corresponds to the “front” of the feed direction Df and the arrows of the feed direction Df. Treat the opposite side as "back" in the feed direction Df as appropriate. Further, in order to distinguish the two component supply tapes 60 attachable to the tape feeder 5, in the same figure and the following figures,

different reference numerals

60a and 60b are appropriately used for the carrier tape.

The tape feeder 5 includes a feeder main body 51 having a mechanical configuration, and feeder motors Mf and Mb for driving the component supply tape 60. The feeder main body 51 has a flat case 52 which is thin in the X direction and long in the feed direction Df. The case 52 accommodates the above-described feeder control unit 50, and the operator can input an instruction to the feeder control unit 50 via the operation button provided on the case 52. Further, at the rear end of the case 52 in the feed direction Df, a tape insertion port 53a (shown by a broken line) extended in the Z direction is opened, and the component supply position Ls is on the upper surface of the front end portion of the case 52 in the feed direction Df. It is provided. In the feeder main body 51, there is provided a tape transport path 53b extending from the tape insertion port 53a to the component supply position Ls. The feeder main body 51 feeds the component supply tape 60 inserted from the tape insertion port 53a into the tape conveyance path 53b in the feed direction Df by receiving the driving force of the feeder motors Mf and Mb, thereby providing components at the component supply position Ls. Supply.

The feeder main body 51 has a sprocket 54 disposed adjacent to the tape insertion port 53a above the tape transport path 53b and a gear 55 for transmitting the driving force of the feeder motor Mb to the sprocket 54 in the case 52, The sprocket 54 rotates in response to the driving force generated by the feeder motor Mb. Furthermore, the feeder main body 51 has a tape support member 56 removably attached to the case 52. The tape support member 56 is opposed to the sprocket 54 from below, and the component supply tape 60 is engaged with the sprocket 54 by sandwiching the component supply tape 60 with the sprocket 54. Thus, the tip of the component supply tape 60 is attached to the tape attachment position La between the sprocket 54 and the tape support member 56. Therefore, the feeder motor Mb can convey the component supply tape 60 engaged with the sprocket 54 in the feed direction Df by rotating in the forward direction (forward rotation). Further, the feeder motor Mb can convey the component supply tape 60 engaged with the sprocket 54 to the opposite side (rear side) of the feed direction Df by rotating in the reverse direction opposite to the forward direction (reverse rotation).

Further, the feeder main body 51 is disposed at the front end portion thereof, and two

sprockets

57d and 57u adjacent to the tape transport path 53b from below and two for transmitting the driving force of the feeder motor Mf to the

sprockets

57d and 57u.

Gears

58 d and 58 u are provided in the case 52. The

sprockets

57d and 57u rotate in response to the driving force generated by the feeder motor Mf. Therefore, the feeder motor Mf can intermittently transport the component supply tape 60 engaged with the

sprockets

57d and 57u in the feed direction Df by intermittently rotating (forward rotation) in the forward direction. Further, the feeder motor Mf can convey the component supply tape 60 engaged with the

sprockets

57d and 57u to the opposite side (rear side) of the feed direction Df by rotating (reversely rotating) in the reverse direction opposite to the forward direction. .

The feeder control unit 50 executes the steps shown in FIG. 4 by controlling the feeder motors Mf and Mb. That is, as shown in step S11, when the component supply tape 60a is attached to the tape attachment position La and the operator inputs an execution instruction of automatic loading to the feeder control unit 50, the feeder motor Mb starts rotating in the forward direction. Then, the sprocket 54 conveys the component supply tape 60a in the feed direction Df. Further, in response to the leading end of the component supply tape 60 reaching the sprocket 57u, the feeder motor Mf starts to rotate in the forward direction, and the

sprockets

57u and 57d transport the component supply tape 60a in the feed direction Df. Then, as shown in step S12, when the leading end of the component supply tape 60a reaches the component supply position Ls, the

sprockets

57u and 57d stop conveying the component supply tape 60a in the feed direction Df. Thus, the tape feeder 5 automatically carries the component supply tape 60 from the tape attachment position La to the component supply position Ls in the feed direction Df, thereby performing automatic loading for supplying the component E to the component supply position Ls.

Incidentally, the tape feeder 5 is disposed between the two

sprockets

57d and 57u, and has a tape sensor Sf that detects the carrier tape 60 near the upstream side of the feed direction Df of the component supply position Ls. Then, based on the timing at which the tape sensor Sf detects the component supply tape 60a, the feeder control unit 50 grasps the timing at which the component supply tape 60a reaches the component supply position Ls.

Further, as shown in step S13, when the operator removes the tape support member 56 from the case 52, the component supply tape 60a is removed from the sprocket 54 and falls into the tape transport path 53b. Subsequently, as shown in step S14, the worker reattaches the tape support member 56 to the case 52, whereby the component supply tape 60b used for component mounting next to the component supply tape 60a is used as the sprocket 54 and the tape support member. It can be attached to the tape attachment position La between 56 and 56. The drive of the component supply tape 60a detached from the sprocket 54 may be performed by the feeder motor Mf in a state where the feeder motor Mb is stopped.

Furthermore, the tape feeder 5 has a component exposing member 59 for releasing the component supply tape 60 at an open position Le near the upstream side of the feed direction Df of the component supply position Ls. The component exposure member 59 has a cutter that contacts the component supply tape 60 at the open position Le, and the component supply tape 60 passing through the open position Le in the feed direction Df is opened by the cutter, and the component is supplied at the component supply position Ls. E is exposed.

FIG. 5 is a perspective view showing an example of a component supply tape, and FIG. 6 is a plan view showing the vicinity of the end of the component supply tape of FIG. The component supply tape 60 is configured of a carrier tape 62 having a sheet shape elongated in one direction, and a cover tape 64 attached to the carrier tape 62. In the carrier tape 62, hollow pockets 621 opened upward are aligned in a row at a predetermined interval in the longitudinal direction of the tape, in other words, at a predetermined arrangement pitch. Then, the part E is accommodated and held in the pocket 621 in a state of being closed by the cover tape 64.

Further, on one side of the carrier tape 62, engagement holes 622 penetrating vertically along the edge thereof are provided at regular intervals, and the above-mentioned sprocket 54 and

sprockets

57d and 57u are engaged with the engagement holes 622 Match. Then, the tape feeder 5 intermittently supplies the component supply tape 60 by intermittently driving the component supply tape 60 in the feed direction Df by the arrangement pitch of the component E by rotating the

sprockets

57d, 57u, 54 by the feeder motors Mf, Mb. Each pocket 621 is sequentially transported to the position Ls. As a result, the part E in the pocket 621 is supplied to the part supply position Ls.

Further, as shown in FIG. 6, a predetermined range from the end 601 of the component supply tape 60 is a trail portion T in which a predetermined number (two or more) of empty pockets 621 in which components E do not exist are arranged. That is, among the plurality of pockets 621 of the carrier tape 62, the pocket 621 of the trail portion T does not accommodate the component E, and the pocket 621 on the tip side of the trail portion T accommodates the component E. The end 601 of the component supply tape 60 corresponds to the upstream end of the feed direction Df of the component supply tape 60 attached to the tape feeder 5, and is attached to the axis of the above-mentioned reel. In addition, the tip of the component supply tape 60 corresponds to the downstream end of the feed direction Df of the component supply tape 60 attached to the tape feeder 5 in other words.

Then, the component exposure member 59 in FIG. 4 exposes the component E supplied to the component supply position Ls by opening the cover tape 64 at the open position Le. At this time, as a method of exposing the component E, a center opening method (Japanese Unexamined Patent Publication No. 2015-220297, etc.) in which the center of the cover tape 64 is opened by a cutter and the cover tape is wound on both sides There is a one-sided method (WO 2017/042898 etc.) in which the peripheral edge is opened by a cutter and the cover tape is turned to the other side.

FIG. 7 is a flow chart showing a first example of the pickup operation performed by the component mounting machine of FIG. The flowchart of FIG. 7 is executed by cooperative control of the arithmetic processing unit 110 and the feeder control unit 50. In step S101, the tape feeder 5 to be picked up by the mounting head 31 intermittently drives the component supply tape 60 to transport the pocket 621 to the component supply position Ls.

In step S102, the arithmetic processing unit 110 confirms whether the pickup of the component from the previous component supply position Ls has succeeded for the tape feeder 5. That is, for example, at the time of component recognition described above, the arithmetic processing unit 110 stores, for each tape feeder 5, the result that the mounting head 31 determines the success or failure of pickup of the component E based on the image captured by the component recognition camera 7. The information is stored in the unit 130. Then, in step S102, the result stored in the storage unit 130 is referred to. Incidentally, the success or failure of the pickup of the component E by the mounting head 31 can be determined without depending on the result of component recognition. That is, the magnitude of the negative pressure generated in the nozzle 32 of the mounting head 31 differs between when the component E is picked up successfully and when it fails. Therefore, based on the pressure of the nozzle 32, the success or failure of the pickup may be determined.

If the pickup is successful (in the case of “YES” in step S103), the arithmetic processing unit 110 permits the mounting head 31 to pick up the component E (step S104). By this, the mounting head 31 can pick up the component E from the pocket 621 transported to the component supply position Ls in step S101 and mount the component E on the substrate B.

If the pickup fails (in the case of “NO” in step S103), the board recognition camera 8 moves above the component supply position Ls to be subjected to the pickup operation by the mounting head 31 (step S105) The component supply position Ls is imaged (step S106). Thus, an image captured by the substrate recognition camera 8 from above is acquired at the component supply position Ls at which the pocket 621 exposed upward by the component exposure member 59 is located. The image of the component supply position Ls is transmitted from the substrate recognition camera 8 to the image processing unit 140, and the image processing unit 140 determines the presence or absence of the component E in the pocket 621 of the component supply position Ls based on the image (step S107). Then, when it is determined that the part E is present (in the case of “YES” in step S107), the arithmetic processing unit 110 permits the mounting head 31 to pick up the part E (step S104).

On the other hand, when it is determined that the part E does not exist (in the case of “NO” in step S107), the imaging number m of the component supply position Ls is incremented (step S108), and the imaging number m is a predetermined number mt (mt is It is determined whether it is an integer of 2 or more) (step S109). The component mounter 1 may be configured such that the user can arbitrarily input the predetermined number of times mt by, for example, an operation on the user interface 160. Here, since the number of times of imaging m is “1”, “NO” is determined in step S109. Accordingly, in step S110, the tape feeder 5 to be picked up by the mounting head 31 intermittently drives the component supply tape 60 to transport the pocket 621 to the component supply position Ls, and then the process returns to step S106. At this time, the arithmetic processing unit 110 prohibits the mounting head 31 from picking up the component E from the component supply position Ls in which it is determined in step S107 that the component E is not present.

Then, the substrate recognition camera 8 captures an image of the component supply position Ls (step S106), and the image processing unit 140 determines the presence or absence of the component E in the pocket 621 of the component supply position Ls based on the image (step S107). ). Then, when it is determined that the part E is present (in the case of “YES” in step S107), the arithmetic processing unit 110 permits the mounting head 31 to pick up the part E (step S104). On the other hand, when it is determined that the part E does not exist (in the case of “NO” in step S107), steps S108 to S110 are re-executed.

Thus, when the pocket 621 in which the part E does not exist is confirmed mt times in a row, in other words, the part E does not exist in the adjacent mt or more pockets 621 sequentially supplied to the part supply position Ls. If confirmed ("YES" in step S109), the arithmetic processing unit 110 determines that the component supply tape 60 has run out of parts (step S112) after resetting the number of times of imaging m to zero (step S111). ). Then, the feeder control unit 50 continuously discharges the component supply tape 60 in the feed direction Df until the end 601 of the component supply tape 60 as the determination target is discharged from the tip of the tape feeder 5. The feeder motors Mf, Mb are executed (step S113). The moving speed of the component supply tape 60 in the tape discharging operation is higher than the moving speed of the component supply tape 60 in intermittent conveyance.

When the ejection of the component supply tape 60 is completed, the sprocket 54 starts to rotate, and the component supply tape 60 engaged with the sprocket 54 with the tape support member 56 is conveyed toward the component supply position Ls. In this way, by performing automatic loading, the component E at the most downstream in the feed direction Df of the component supply tape 60 is supplied to the component supply position Ls, and mounting of the component E by the mounting head 31 is continued. The start of the automatic loading, that is, the start of the rotation of the sprocket 54 is started immediately after it is determined that the parts are out, and the ejection of the leading part supply tape 60 and the automatic loading of the following parts supply tape 60 are performed in parallel. You may.

In the embodiment described above, the presence or absence of the component E in the pocket 621 conveyed to the component supply position Ls is confirmed from the image obtained by imaging the component supply position Ls at which the exposed pocket 621 is located. That is, based on an image obtained by imaging the exposed pocket 621, the presence or absence of the part E in the pocket 621 is confirmed. As a result, it is possible to accurately determine the occurrence of component breakage of the component supply tape 60.

In addition, when the arithmetic processing unit 110 confirms that the component E does not exist in the two or more adjacent pockets 621 sequentially supplied to the component supply position Ls, the arithmetic processing unit 110 determines that the component supply tape 60 is out of components. As a result, the occurrence of component breakage of the component supply tape 60 can be determined more accurately.

In addition, when the arithmetic processing unit 110 determines that the component supply tape 60 has run out of parts, the feeder motor for continuously discharging the component supply tape 60 is continuously fed until the end 601 of the component supply tape 60 is discharged. Make Mf and Mb execute. In such a configuration, it is possible to appropriately execute the tape discharging operation after accurately determining the occurrence of component breakage of the component supply tape 60.

In the tape discharging operation, the component supply tape 60 is continuously transported without being stopped intermittently. Then, with the continuous conveyance of the component supply tape 60, the cover tape 64 is opened. Therefore, even after the detection of the out-of-parts, the presence or absence of the part E in the pocket 621 passing through the parts supply position Ls may be confirmed by continuing the imaging of the parts supply position Ls by the substrate recognition camera 8. Then, when the pocket 621 in which the component E exists is detected, the component supply tape 60 is stopped or transported to the upstream side in the feed direction Df after stopping, and pickup of the component E by the mounting head 31 is permitted. It is good.

Further, the component supply position Ls is imaged by the substrate recognition camera 8 which images the fiducial mark of the substrate B. In such a configuration, the board recognition camera 8 for capturing a fiducial mark can be shared to determine whether the component supply tape 60 is out of parts, and the number of cameras provided in the component mounter 1 can be reduced. .

Further, when the mounting head 31 fails to pick up the component E from the pocket 621 of the component supply position Ls, the board recognition camera 8 captures the component supply position Ls. In such a configuration, it is possible to confirm that the component supply tape 60 has run out of components at an appropriate timing, triggered by a failure in picking up the component E by the mounting head 31.

In addition, when the arithmetic processing unit 110 confirms that the component E does not exist in the pocket 621 conveyed to the component supply position Ls, the arithmetic processing unit 110 prohibits the mounting head from picking up the component E from the pocket 621. This can suppress the mounting head 31 from unnecessarily trying to pick up the component E.

FIG. 8 is a view schematically showing a modified example of the mounting head. The mounting head 31 of FIG. 8 has a plurality of nozzles 32 circumferentially arranged around a rotation center C parallel to the Z direction. In FIG. 8, only two nozzles 32 of the plurality of nozzles 32 are shown. In the mounting head 31, when the plurality of nozzles 32 rotate around the rotation center C, one of the nozzles 32 is selectively located at the operation position Lo, and a component from the component supply position Ls Do E pickup.

Further, a component recognition camera 9 (imaging unit) is attached to the mounting head 31. The component recognition camera 9 brings the component supply position Ls into the field of view with the nozzle 32 at the operation position Lo facing the component supply position Ls from above. Specifically, the component recognition camera 9 includes an illumination unit 91 that emits light to the component supply position Ls, and an imaging unit 93 that images the component supply position Ls. The illumination unit 91 is disposed inside the plurality of nozzles 32, and radiates light from obliquely upward to the component supply position Ls from a plurality of point light sources (for example, LEDs) arranged in a matrix. The imaging unit 93 is disposed outside the plurality of nozzles 32 and includes a lens 931 and a solid-state imaging device 932. The lens 931 faces the component supply position Ls from diagonally above, and focuses the light reflected at the component supply position Ls on the solid-state imaging device 932. Then, the solid-state imaging device 932 detects the light imaged by the lens 931 to capture an image of the component supply position Ls.

The arrangement of the illumination unit 91 is not limited to this example, and the illumination unit 91 may be attached adjacent to the imaging unit 93. In this case, the illumination unit 91 emits light to the component E from the side of the imaging unit 93.

FIG. 9 is a flowchart showing a second example of the processing in the pickup operation in the component mounting machine. This flowchart is executed by using the mounting head 31 of FIG. 8 under cooperative control of the main control unit 100 and the feeder control unit 50. Here, description will be made centering on differences from the flowchart of FIG. 7, common parts will be denoted by corresponding reference numerals, and the description will be appropriately omitted. However, it goes without saying that similar effects can be achieved by providing a common configuration.

In FIG. 9, in step S201, the tape feeder 5 to be picked up by the mounting head 31 intermittently drives the component supply tape 60 to transport the pocket 621 to the component supply position Ls. In step S202, in order to pick up the component E, the mounting head 31 causes the nozzle 32 at the operation position Lo to face the component supply position Ls from above (step S202). As a result, the component supply position Ls falls within the field of view of the component recognition camera 9.

In step S203, the component recognition camera 9 picks up an image of the component supply position Ls which is the target of the pickup operation by the mounting head 31. Thus, an image obtained by the component recognition camera 9 capturing from above (obliquely above) the component supply position Ls at which the pocket 621 exposed upward by the component exposure member 59 is located is acquired. The image of the component supply position Ls is transmitted from the component recognition camera 9 to the image processing unit 140, and the image processing unit 140 determines the presence or absence of the component E in the pocket 621 of the component supply position Ls based on the image (step S107). Then, when it is determined that the part E is present (in the case of “YES” in step S107), the arithmetic processing unit 110 permits the mounting head 31 to pick up the part E (step S104).

As a result, the mounting head 31 can pick up the component E from the pocket 621 transported to the component supply position Ls in step S201 and mount the component E on the substrate B. At this time, the pickup of the component E is performed while correcting the positions of the nozzle 32 of the mounting head 31 and the component E in the pocket 621 based on the position of the component E calculated from the image captured in step S203. By this, it is possible to pick up the part E while sucking an appropriate part of the part E by the nozzle 32.

On the other hand, when it is determined that the part E does not exist (in the case of “NO” in step S107), steps S107 to S113 are executed as in FIG. In step S203 performed according to the determination result in step S109, imaging of the component supply position Ls is performed by the component recognition camera 9.

It may be impossible to determine the presence or absence of the component E because the component E is not stored in the pocket 621 in a normal posture. In order to be able to cope with such a case, when the presence or absence of the part E can be clearly determined, the flowcharts of FIGS. 7 and 9 are executed. When the presence or absence of the part E can not be clearly determined, the part E In the flowcharts of FIG. 7 and FIG. 9, the number of times of imaging may not be incremented while the pickup of the above is prohibited.

Also in the embodiment described above, the presence or absence of the component E in the pocket 621 conveyed to the component supply position Ls is confirmed from the image obtained by imaging the component supply position Ls at which the exposed pocket 621 is located. That is, based on an image obtained by imaging the exposed pocket 621, the presence or absence of the part E in the pocket 621 is confirmed. As a result, it is possible to accurately determine the occurrence of component breakage of the component supply tape 60.

FIG. 10 is a view showing a modified example of the tape feeder provided in the component mounter of FIG. The tape feeder 5 shown in FIG. 10 has a tape sensor Sb in the case 52 for detecting the component supply tape 60 upstream of the component supply position Ls in the feed direction Df. In particular, the tape sensor Sb detects that the end 601 (upstream end of the feed direction Df) of the component supply tape 60 has passed the detection area of the tape sensor Sb. The tape feeder 5 can execute the tape discharging operation shown in FIG.

FIG. 11 is a flowchart showing an example of processing in the tape discharge operation that can be executed by the tape feeder of FIG. To start the tape discharging operation, the feeder control unit 50 causes the feeder motors Mf and Mb to start driving the component supply tape 60 in the feed direction Df (step S301), and the tape sensor Sb controls the component supply tape 60. The detection timing for detecting the end 601 is monitored (step S302). Then, when the tape sensor Sb detects the end 601 of the component supply tape 60 ("YES" in step S302), the feeder control unit 50 confirms whether a predetermined time has elapsed from the detection timing (step S303). The predetermined time corresponds to the time required from the detection of the end 601 of the component supply tape 60 by the tape sensor Sb to the discharge from the tape feeder 5. And if progress of predetermined time is checked ("YES" at Step S303), feeder control part 50 will stop a drive of parts supply tape 60 by feeder motor Mf and Mb (Step 304).

In the embodiment described above, when the feeder control unit 50 causes the feeder motors Mf and Mb to start the tape discharging operation, the feeder control unit 50 monitors detection timing when the tape sensor Sb detects the end 601 of the component supply tape 60. Then, the feeder control unit 50 stops the feeder motors Mf and Mb according to the discharge timing of the component supply tape 60 (that is, the timing when a predetermined time has elapsed from the detection timing) obtained from the detection timing. In this configuration, the feeder motors Mf and Mb that execute the tape discharging operation can be stopped at an appropriate timing based on the detection timing at which the tape sensor Sb detects the end 601 of the component supply tape 60. Therefore, when the component supply tape 60 is completely discharged, the feeder motors Mf and Mb can be stopped promptly.

FIG. 12 is a flowchart showing a third example of the processing in the pickup operation in the component mounting machine. The flowchart is executed by cooperative control of the main control unit 100 and the feeder control unit 50. Here, description will be made centering on differences from the flowchart of FIG. 7, common parts will be denoted by corresponding reference numerals, and the description will be appropriately omitted. However, it goes without saying that similar effects can be achieved by providing a common configuration.

In step S401, it is monitored whether the mounting head 31 succeeds in picking up the component E from the pocket 621 of the component supply position Ls. When the mounting head 31 fails to pick up the component E ("NO" in step S401), the board recognition camera 8 moves above the component supply position Ls targeted for the pick-up (step S402). The supply position Ls is imaged (step S403).

Then, the arithmetic processing unit 110 confirms whether the exposure of the pocket 621 has succeeded at the component supply position Ls (step S404). In this step S404, when the cover tape 64 is removed from the range necessary for picking up the part E among the openings of the pocket 621, it is determined that the exposure is successful (YES), and at least one of the cover tapes 64 is If the sets overlap, it is determined that the exposure has failed (NO). Then, if it is determined in step S404 that the exposure has failed (NO), the arithmetic processing unit 110 notifies the operator via the user interface 160 that the exposure of the pocket 621p has failed (step S405). On the other hand, if it is determined in step S404 that the exposure is successful (YES), step S107 and subsequent steps are executed as in FIG. 7 described above.

A failure in picking up the component E by the mounting head 31 may also occur due to a failure in exposure of the component E, in addition to the component breakage of the component supply tape 60. Therefore, when the arithmetic processing unit 110 determines that the exposure of the component E supplied to the component supply position Ls is successful from the image captured by the substrate recognition camera 8, the inside of the pocket 621 transported to the component supply position Ls The presence or absence of the part E is checked (step S107). On the other hand, when it is determined that the exposure of the part E has failed, the arithmetic processing unit 110 does not confirm the presence or absence of the part E in the pocket 621 of the part supply position Ls. This can suppress unnecessary execution of confirmation of the presence or absence of the component E in the pocket 621 when the cause of the failure in picking up the component E by the mounting head 31 is failure in exposure of the component E.

Thus, in the present embodiment, the component mounting machine 1 corresponds to an example of the "component mounting machine" of the present invention, the tape feeder 5 corresponds to an example of the "tape feeder" of the present invention, and the feeder motors Mf and Mb The component exposure member 59 corresponds to an example of the "exposed portion" of the present invention, and the component supply position Ls corresponds to an example of the "supply position" of the present invention. The conveyor 12 corresponds to an example of the "substrate loading unit" of the present invention, the mounting head 31 corresponds to an example of the "mounting head" of the present invention, and the substrate recognition camera 8 or the component recognition camera 9 is the "imaging unit" of the present invention The substrate recognition camera 8 corresponds to an example of the “camera” of the present invention, and the main control unit 100 and the feeder control unit 50 cooperate to function as an example of the “control unit” of the present invention. , The tape sensor Sb The component supply tape 60 corresponds to an example of the "component supply tape" of the present invention, the carrier tape 62 corresponds to an example of the "carrier tape" of the present invention, and the pocket 621 is an example of the present invention. The trail portion T corresponds to an example of the "predetermined range" of the present invention, the cover tape 64 corresponds to an example of the "cover tape" of the present invention, and the component E is an example of the "cover portion" of the present invention. The substrate B corresponds to an example of the “part” of the invention, and the substrate B corresponds to an example of the “substrate” of the invention.

The present invention is not limited to the above-described embodiment, and various modifications can be made to the above-described one without departing from the scope of the invention. For example, the moving speed of the component supply tape 60 in the tape discharging operation can also be changed as appropriate.

Further, when it is determined that the component supply tape 60 has run out of parts, notification of component run out is performed by the user interface 160 without executing the tape discharging operation, and the component supply tape 60 with a component run out is generated. The operator may be prompted to perform splicing to connect the next component supply tape 60.

Further, the configuration for exposing the pocket 621 at the component supply position Ls is not limited to the above example. That is, as described in JP-A-2015-143225, the pocket 621 may be exposed by a peeling member which pulls the cover tape 64 to peel it from the carrier tape 62.

In addition, it is not necessary to confirm the absence of the part E for the plurality of pockets 621 in order to confirm the occurrence of part breakage. That is, when it is confirmed that there is no part E for the single pocket 621, it may be determined that the part supply tape 60 has run out of parts.

1 Component mounting machine 12 Conveyor (substrate loading unit)
31 ... mounting head 5 ... tape feeder 59 ... part exposed member (exposed part)
Mf, Mb: Feeder motor (tape drive unit)
Sb ... tape sensor (sensor)
Ls: Parts supply position (supply position)
60 ... parts supply tape 62 ... carrier tape 621 ... pocket (housing part)
64 ... cover tape T ... trail section (predetermined range)
7 ... Part recognition camera (imaging unit, camera)
9: Parts recognition camera (imaging unit)
100: Main control unit (control unit)
50: Feeder control unit (control unit)
B: Board E: Parts

Claims

Among a plurality of storage units arranged at a predetermined interval, a carrier tape for storing components in a storage section on the tip end side from a predetermined range without storing components in a storage area of a predetermined range from the end, and closing the plurality of storage units A tape drive unit that intermittently transports the storage unit to a supply position by intermittently driving a component supply tape having a cover tape, and the storage that is transported to the supply position by opening the cover tape. A tape feeder having an exposed portion exposing the portion;
A substrate loading unit for loading a substrate;
A mounting head which picks up a component from the storage section transported to the supply position and mounts the component on the substrate loaded by the substrate loading section;
An imaging unit for imaging the supply position;
And a control unit that determines whether or not a component shortage of the component supply tape has occurred based on a result of confirming the presence or absence of components in the storage unit conveyed to the supply position from the image captured by the imaging unit. Component mounter.
The said control part determines that it is out of parts of the said component supply tape, when it confirms that components do not exist in the adjacent two or more said accommodating parts sequentially supplied to the said supply position. Part mounting machine.
When the control unit determines that a component breakage of the component supply tape has occurred, the tape drive unit executes a tape discharge operation of continuously conveying the component supply tape until the end of the component supply tape is discharged. The component mounting machine according to claim 1 or 2.
The tape feeder further comprises a sensor for detecting the end of the component supply tape,
The control unit monitors the detection timing when the sensor detects the end of the component supply tape when the tape drive unit starts the tape discharge operation, and the component supply tape discharge timing determined from the detection timing. The component mounter according to claim 3, wherein the tape drive unit is stopped accordingly.
The component mounting machine according to any one of claims 1 to 4, wherein the imaging unit captures the supply position by a camera that captures a fiducial mark of the substrate.
The component mounting machine according to any one of claims 1 to 5, wherein the imaging unit images the supply position when the mounting head fails to pick up a component from the storage unit at the supply position.
The said control part confirms the presence or absence of the components in the said accommodating part conveyed to the said supply position, when it determines with the exposure of the components supplied to the said supply position being successful from the image which the said imaging part imaged. The component mounting machine according to claim 6.
The said control part prohibits the pick-up of the components from the said accommodating part to the said mounting head, when it confirms that components do not exist in the said accommodating part conveyed to the said supply position. The component mounting machine described in.
Among a plurality of storage units arranged at a predetermined interval, a carrier tape for storing components in a storage section on the tip end side from a predetermined range without storing components in a storage area of a predetermined range from the end, and closing the plurality of storage units A component supply tape having a cover tape is intermittently driven to intermittently convey the storage portion to the supply position while the cover tape is opened to expose the storage portion transferred to the supply position. And a process of
Imaging the supply position;
And a step of determining whether or not a component shortage of the component supply tape has occurred based on the result of confirming the presence or absence of the component in the storage unit conveyed to the supply position from the image obtained by imaging the supply position. Out-of-stock check method.