WO2020157889A1 - Component-mounting device, component-mounting system, and component-mounting device management method - Google Patents

Component-mounting device, component-mounting system, and component-mounting device management method Download PDF

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Publication number
WO2020157889A1
WO2020157889A1 PCT/JP2019/003312 JP2019003312W WO2020157889A1 WO 2020157889 A1 WO2020157889 A1 WO 2020157889A1 JP 2019003312 W JP2019003312 W JP 2019003312W WO 2020157889 A1 WO2020157889 A1 WO 2020157889A1
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WO
WIPO (PCT)
Prior art keywords
camera
unit
component
image
component mounter
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Application number
PCT/JP2019/003312
Other languages
French (fr)
Japanese (ja)
Inventor
三輪　猛
寺田　和広
明靖 上杉
謙 谷口
Original Assignee
ヤマハ発動機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by ヤマハ発動機株式会社 filed Critical ヤマハ発動機株式会社
Priority to PCT/JP2019/003312 priority Critical patent/WO2020157889A1/en
Priority to JP2020569255A priority patent/JP7104187B2/en
Publication of WO2020157889A1 publication Critical patent/WO2020157889A1/en

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    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/08—Monitoring manufacture of assemblages

Definitions

  • This invention relates to a technology for managing a component mounter that mounts components on a board.
  • Patent Documents 1 and 2 in order to deal with such an error by remote control from a management device provided outside the component mounter, information regarding the error is transmitted from the component mounter to the management device. Technology is shown.
  • Patent Document 1 for example, when an error occurs in board recognition or component recognition, images picked up for these recognitions are transmitted from the component mounter to the management device.
  • Patent Document 2 various information is recorded in advance as a log file during operation of the component mounter, and when an error occurs, this log file is transmitted from the component mounter to the management device.
  • the present invention has been made in view of the above problems, and enables an administrator who remotely manages a component mounter with a management device to easily acquire an image that helps identify the cause of an error in the component mounter.
  • the purpose is to provide the technology to do so.
  • a component mounter uses a mounting head that moves between a component supply unit that supplies a component and a mounting work position to transfer a component picked up from the component supply unit to a board at the mounting work position.
  • a housing having a mounting mechanism, a door that can be opened and closed, and housing a component mounting mechanism, a camera unit disposed in the housing, a communication unit that receives a camera control command from an external management device, and a communication unit.
  • the communication unit transmits the image captured by the camera unit to the management device, by controlling the camera unit based on the received camera control command to cause the camera unit to capture an image according to the camera control command. To do.
  • a component mounting system uses a mounting head that moves between a component supply unit that supplies a component and a mounting work position, and transfers a component picked up from the component supply unit to a board at the mounting work position.
  • a mounter and a management device that sends a camera control command to the component mounter are provided.
  • the component mounter has a camera unit and controls the camera unit based on the camera control command received from the management device, thereby providing a camera.
  • An image corresponding to the control command is captured by the camera unit, and the image is transmitted to the management device.
  • a component mounter management method uses a mounting head that moves between a component supply unit that supplies a component and a mounting work position to transfer a component picked up from the component supply unit to a board at the mounting work position.
  • it includes a step of causing the camera unit to capture an image corresponding to the camera control command, and a step of transmitting the image captured by the camera unit from the component mounter to the management device.
  • the camera unit is provided in the component mounter, and in response to the camera control command transmitted from the management device to the component mounter.
  • the image is captured by the camera unit.
  • this image is transmitted from the component mounter to the management device. Therefore, the administrator can obtain an image corresponding to the camera control instruction by creating a desired camera control instruction by operating the management device and transmitting the camera control instruction to the mounter. In this way, it is possible to easily acquire an image that helps identify the cause of the error of the component mounter.
  • control unit may configure the component mounter so that the range captured by the camera unit is adjusted according to the camera control command.
  • control unit may configure the component mounter so as to further adjust at least one of focus, zoom, and illumination of the camera unit according to the camera control command.
  • the operator can easily obtain at least one of the focus, zoom, and illumination of the camera unit, and easily obtain an image that helps identify the cause of the error of the component mounter.
  • the camera unit further includes a camera unit that detachably holds the camera unit, and the control unit causes the mounting head to perform a transportation work of picking up the camera unit from the camera station and transporting the camera unit, thereby performing the transportation work.
  • the component mounter may be configured so as to adjust the imaging range by the unit. With such a configuration, by causing the mounting head to carry the camera unit, an operator can easily obtain an image obtained by capturing a desired range that helps identify the cause of an error in the component mounter.
  • control unit permits the mounting head to carry out the carrying work when the door is closed, while prohibiting the carrying work by the mounting head when the door is open. May be configured. With such a configuration, it is possible to carry out the work of transporting the camera unit by the mounting head only during an appropriate period when the door of the housing is closed.
  • the camera unit may have a storage battery, and an image may be captured using electric power supplied from the storage battery, and the camera station may configure the component mounter so as to charge the storage battery of the mounted camera unit. .. With such a configuration, the storage battery of the camera unit can be charged during the period when the camera unit is attached to the camera station.
  • the camera station wirelessly receives an image from the camera unit picked up from the camera station by the mounting head and transfers the image to the communication unit, and the communication unit transmits the image received from the camera station to the management device.
  • a component mounter may be configured. With such a configuration, wiring between the camera station and the camera unit can be eliminated, so that the mounting head can carry the camera unit without being restricted by the wiring.
  • the camera unit may be configured as a component mounter so as to capture an image with a spherical camera. With this configuration, a wide range of images can be captured at one time.
  • the communication unit receives an operation command for operating the imaging target portion by the camera unit of the component mounting mechanism from the management device, and the control unit gives an image including the imaging target portion while giving the operation command to the imaging target portion.
  • the component mounter may be configured to capture an image. With such a configuration, the administrator can easily confirm whether the imaging target portion of the camera unit operates normally.
  • the camera unit may be configured as a component mounter so that the outside of the housing can be imaged through the opened door.
  • the administrator can easily obtain an image of the work performed by the operator through the opening of the door of the housing, and can confirm whether the work of the worker is appropriate.
  • an administrator who remotely manages a component mounter using a management device can easily acquire an image that helps identify the cause of an error in the component mounter.
  • FIG. 3 is a block diagram showing the relationship between a component mounter according to the present invention and a management device that manages the component mounter.
  • the block diagram which shows an example of an electrical structure with which a component mounter is equipped.
  • the top view which shows typically an example of the mechanical constitution of a component mounter.
  • the perspective view which shows the external appearance of a housing typically.
  • the perspective view of the external appearance of a camera station typically.
  • the side view which shows the external appearance of a camera unit.
  • the top view which shows the external appearance of a camera unit.
  • the side view which shows the state which hold
  • 9 is a flowchart showing an example of error monitoring executed by the component mounter.
  • the flowchart which shows an example of the error management in a management apparatus.
  • the flowchart which shows an example of the image pick-up performed by a component mounting machine.
  • the flowchart which shows an example of the moving imaging performed with a component mounting machine.
  • FIG. 1 is a block diagram showing the relationship between a component mounter according to the present invention and a management device that manages the component mounter.
  • the management device 1 communicates with a plurality of component mounters 2 via the Internet I to remotely manage each component mounter 2.
  • the number of management devices 1 managed by the management device 1 is not limited to the example of FIG. 1 and may be one.
  • the management device 1 is, for example, a personal computer, and includes a communication unit 11, a calculation unit 12, a storage unit 13, an input operation unit 14, and a display unit 15.
  • the communication unit 11 communicates with the component mounter 2 via the Internet I.
  • the calculation unit 12 is a processor including a CPU (Central Processing Unit) and a RAM (Random Access Memory), and has a calculation function in the management device 1.
  • the storage unit 13 is a storage device configured by an HDD (Hard Disk Drive) or the like, and stores various data received by the communication unit 11 from the component mounter 2.
  • the input operation unit 14 has a keyboard, a mouse, and a joystick, and an administrator can input a desired command into the input operation unit 14 by operating these.
  • the display unit 15 displays various data received by the communication unit 11 from the component mounter 2 on the screen, and the administrator can visually recognize these data displayed on the screen.
  • FIG. 2 is a block diagram showing an example of the electrical configuration of the component mounter
  • FIG. 3 is a plan view schematically showing an example of the mechanical configuration of the component mounter.
  • an XYZ Cartesian coordinate system composed of X, Y, and Z directions orthogonal to each other is shown as appropriate.
  • the X direction and the Y direction are horizontal directions
  • the Z direction is a vertical direction.
  • the component mounter 2 includes a controller 200 that centrally controls the entire device.
  • the controller 200 has a communication unit 210, a calculation unit 220, a storage unit 230, an input operation unit 240, and a display unit 250.
  • the communication unit 210 communicates with the communication unit 11 of the management device 1 via the internet I.
  • the calculation unit 220 is a processor including a CPU and a RAM, and has a calculation function in the component mounter 2.
  • the storage unit 230 is a storage device configured by an HDD (Hard Disk Drive) or the like, and stores various data such as a log file indicating the operating status of the component mounter 2.
  • the input operation unit 240 has a keyboard and a mouse, and an operator can input a desired command to the input operation unit 240 by operating these.
  • the display unit 250 displays various data stored in the storage unit 230 on the screen, and the operator can visually recognize these data displayed on the screen.
  • the controller 200 has a drive control unit 260, a sensor control unit 270, and an imaging control unit 280.
  • the drive control unit 260 controls the drive system of the component mounter 2
  • the sensor control unit 270 monitors the output from the sensor S attached to each unit of the component mounter 2.
  • the calculation unit 220 executes the component mounting by causing the drive control unit 260 to control the drive system of the component mounter 2 based on the output of each sensor S received by the sensor control unit 270.
  • the imaging control unit 280 controls the imaging/transmission of an image that helps identify the cause of the error by controlling the camera station 31 and the camera unit 32, which will be described later, when an error occurs in component mounting. To do.
  • the component mounter 2 includes a board transfer unit 4 that transfers the board B in the X direction (board transfer direction).
  • the substrate transport unit 4 has a pair of conveyors 41 arranged in parallel in the X direction, and transports the substrate B in the X direction by the conveyors 41.
  • the interval between the conveyors 41 can be changed in the Y direction (width direction) orthogonal to the X direction, and the substrate transport unit 4 adjusts the interval between the conveyors 41 according to the width of the substrate B to be transported.
  • the board carrying unit 4 carries in a predetermined mounting work position 42 from the upstream side in the X direction which is the board carrying direction, and at the same time, carries the board B on which the component E is mounted at the mounting work position 42 from the mounting work position 42 in the X direction. To the downstream side of.
  • Two component supply units 5 are arranged in the X direction on both sides of the board transport unit 4 in the Y direction.
  • a plurality of tape feeders 51 are arranged in the X direction.
  • the component supply unit 5 is provided with a plurality of component supply points 52 arranged in the X direction, and the tape feeder 51 for supplying the component E to be supplied to each component supply point 52 is associated with each component supply point 52. It is removably attached.
  • Each tape feeder 51 is provided with a component supply reel around which a carrier tape containing small-sized components E such as an integrated circuit, a transistor, and a condenser is housed at predetermined intervals, and each tape feeder 51 is By intermittently sending out the carrier tape pulled out from the component supply reel, the component E is supplied to the component supply point 52 at the tip thereof.
  • a carrier tape containing small-sized components E such as an integrated circuit, a transistor, and a condenser
  • a pair of Y-axis rails 61 extending in the Y direction, a Y-axis ball screw 62 extending in the Y direction, and a Y-axis motor My that rotationally drives the Y-axis ball screw 62 are provided. It is provided.
  • the X-axis beam 63 extending in the X-direction is fixed to the nut of the Y-axis ball screw 62 while being supported by the pair of Y-axis rails 61 so as to be movable in the Y-direction.
  • An X-axis ball screw 64 extending in the X-direction and an X-axis motor Mx that rotationally drives the X-axis ball screw 64 are attached to the X-axis beam 63, and the head unit 7 is attached to the X-axis beam 63 in the X direction. It is fixed to the nut of the X-axis ball screw 64 while being supported so as to be movable. Therefore, the drive controller 260 rotates the Y-axis ball screw 62 by the Y-axis motor My to move the head unit 7 in the Y direction, or rotates the X-axis ball screw 64 by the X-axis motor Mx to move the head unit 7 to the X-axis. It can be moved in any direction.
  • the Y-axis rail 61, the Y-axis ball screw 62, the Y-axis motor My, the X-axis beam 63, the X-axis ball screw 64, and the Y-axis motor My constitute the head drive mechanism 6 that drives the head unit 7. ..
  • the head unit 7 has a plurality of mounting heads 71 linearly arranged in the X direction.
  • Each mounting head 71 is movable in the Z direction and the R direction independently of each other.
  • the R direction is a direction of rotation about a rotation axis parallel to the Z direction. Therefore, the drive control unit 260 can raise and lower the mounting head 71 in the Z direction by the Z-axis motor Mz, and rotate the mounting head 71 in the R direction by the R-axis motor Mr.
  • Each of the mounting heads 71 mounts the component E on the board B by the nozzle 72 attached to the lower end thereof. That is, the mounting head 71 lowers the nozzle 72 at the lower end of the mounting head 71 while lowering the nozzle 72 so that the nozzle 72 abuts on the component E supplied from the tape feeder 51 to the component supply place 52. Let Then, the mounting head 71 raises the nozzle 72 when a negative pressure is applied to the nozzle 72 and the component E is sucked by the nozzle 72. The mounting head 71 moves above the substrate B at the mounting work position 42 while sucking and holding the component E picked up from the component supply location 52 by the nozzle 72.
  • the mounting head 71 When the mounting head 71 lowers the nozzle 72 to bring the component E into contact with the substrate B, the negative pressure of the nozzle 72 is released and the component E is placed on the substrate B.
  • the mounting head 71 that moves between the component supply unit 5 that supplies the component E and the mounting work position 42 is used to position the component E picked up from the component supply unit 5 at the mounting work position.
  • the component mounting to be transferred to the board B of 42 is executed. It should be noted that this component mounting is executed in a prescribed procedure under the control of the controller 200.
  • the component mounter 2 also includes a housing 8 that accommodates the component mounting mechanism 20 including the substrate transport unit 4, the component supply unit 5, the head drive mechanism 6, and the head unit 7 described above. Note that, in FIG. 3, the portion hidden by the housing 8 is shown with the housing 8 as a watermark.
  • FIG. 4 is a perspective view schematically showing the appearance of the housing.
  • the housing 8 has a work opening 81 and doors 82 that open and close the work opening 81 on both sides in the Y direction. Therefore, the worker can perform maintenance work on the component mounting mechanism 20 through the work opening 81 in which the door 82 is opened. Further, the camera station 31 and the camera unit 32 described above are arranged in the housing 8.
  • FIG. 5 is a perspective view showing the appearance of the camera station
  • FIG. 6 is a side view showing the appearance of the camera unit
  • FIG. 7 is a plan view showing the appearance of the camera unit. The description will be continued with reference to FIG. 2 and FIGS. 5 to 7.
  • the camera station 31 has a station main body 311 having a substantially rectangular parallelepiped shape, and a unit mounting portion 312 that is open in the upper surface of the station main body 311 and is circular in plan view.
  • the unit mounting portion 312 is formed as a hemispherical hole, and the lower part of the camera unit 32 is fitted into the unit mounting portion 312, so that the camera unit 32 can be mounted on the unit mounting portion 312. That is, the camera station 31 supports the camera unit 32 mounted on the unit mounting portion 312.
  • the camera station 31 has a charging unit 313 and a communication unit 314 shown in FIG.
  • the charging unit 313 charges the camera unit 32 mounted on the unit mounting unit 312, and the communication unit 314 wirelessly communicates with the camera unit 32.
  • the camera unit 32 has a unit main body 321 having a circular shape in a plan view, four circular holes 322 opened on the outer wall of the unit main body 321, and an upper end of the unit main body 321. And a holding portion 323.
  • the four circular holes 322 are arranged so that their center lines intersect at one point at the same solid angle.
  • the nozzle 72 at the lower end of the mounting head 71 described above can be inserted into the holding portion 323.
  • the mounting head 71 inserts the nozzle 72 into the holding portion 323 and sucks the bottom surface of the holding portion 323 by the nozzle 72.
  • the camera unit 32 can be held and transported (FIG. 8).
  • FIG. 8 is a side view showing a state in which the mounting head holds the camera unit.
  • the camera unit 32 incorporates the communication unit 324 and the storage battery 325 shown in FIG. 2 in the unit main body 321.
  • the communication unit 324 wirelessly communicates with the communication unit 314 of the camera station 31.
  • the storage battery 325 has a function of storing electric power required for the operation of the camera unit 32, and the communication unit 324 executes communication using the electric power supplied from the storage battery 325.
  • the storage battery 325 is electrically connected to the charging unit 313 of the camera station 31 while the camera unit 32 is mounted on the unit mounting unit 312 of the camera station 31, and the charging unit 313 charges the storage battery 325.
  • the camera unit 32 has a camera 326 that performs imaging by using the electric power supplied from the storage battery 325.
  • the camera 326 is a spherical camera and has four objective lenses 3261 provided in a one-to-one correspondence with the four circular holes 322, and each objective lens 3261 is fitted into the corresponding circular hole 322. There is. Then, the camera 326 forms an image M of the celestial sphere by focusing the light incident from each objective lens 3261 on the solid-state image pickup element built in the unit main body 321.
  • the optical axes of the four objective lenses 3261 intersect at one point at the same solid angle.
  • the angle of view of each of the four objective lenses 3261 is a wide angle of 120 degrees or more, the spherical image can be captured. It is even better if the angle of view is larger, for example 180 degrees.
  • the number of the objective lenses 3261 is not limited to four and may be two or three.
  • one of the four objective lenses 3261 is arranged so that the optical axis of the camera unit 32 is held vertically by the nozzle 72.
  • the orientation of the optical axis may be any direction as long as it is a spherical camera.
  • the optical axes of the upper three objective lenses 3261 are brought close to the horizontal, so that the side and the lower side can be imaged in all directions, and the one directly above.
  • the camera 326 may be configured so that a part of the upper part including the image is not captured.
  • the nozzle 72 is used for both suction of the component E and suction of the camera 32.
  • the mounting head 71 is provided with a mechanism for changing the direction of the component E by rotating the nozzle 72 around the rotation axis parallel to the Z axis when the component E is sucked by the nozzle 72.
  • the image pickup target may be picked up by the camera 32 with the objective lens 3261 facing the image pickup target by rotating the nozzle 72 that sucks the camera 32.
  • the camera unit 32 has an illumination 327 that emits light by using the electric power supplied from the storage battery 325. These four lights 327 are provided in one-to-one correspondence with the four circular holes 322.
  • Each of the illuminations 327 is a ring illumination having an annular shape and is arranged in the corresponding circular hole 322 to surround the objective lens 3261 fitted in the circular hole 322. That is, the objective lens 3261 is arranged inside the illumination 327.
  • FIG. 9 is a flowchart showing an example of error monitoring executed by the component mounter.
  • the flowchart of FIG. 9 is executed under the control of the controller 200 of the component mounter 2.
  • the creation of the log file F is started (step S102).
  • the operation status of the component mounter 2 such as the output values of the encoders of the motors Mx, My, Mz, and Mr acquired by the drive control unit 260 and the output values of the sensors S acquired by the sensor control unit 270. Is collected and accumulated in the storage unit 230 as a log file F.
  • step S103 based on the output value of each sensor S, it is confirmed whether or not an error occurs during the component mounting (step S103). While the occurrence of the error is not confirmed (“NO” in step S103), the information indicating the operation status of the component mounter 2 is continuously accumulated in parallel with the component mounting. On the other hand, if the occurrence of an error is confirmed (“YES” in step S103), component mounting is interrupted (step S104). Then, the log file F is transmitted from the communication unit 210 of the component mounter 2 to the communication unit 11 of the management device 1 (step S105) and used for error management in the management device 1.
  • FIG. 10 is a flowchart showing an example of error management in the management device.
  • the flowchart of FIG. 10 is executed under the control of the calculation unit 12 of the management device 1.
  • step S201 it is confirmed whether the communication unit 11 has received the log file F from the communication unit 210 of the mounter 2.
  • the log file F is displayed on the display unit 15 (step S202).
  • the administrator can examine the cause of the error based on the log file F displayed on the display unit 15.
  • a camera unit 32 is arranged in the component mounter 2, and the situation in the component mounter 2 can be grasped based on the image M captured by the camera unit 32. Therefore, when the cause of the error cannot be identified only from the log file F, the administrator sends a camera control command C for controlling the camera unit 32 from the management device 1 to the component mounter 2 and controls the camera.
  • the cause of the error can be examined with reference to the image M.
  • step S203 it is confirmed whether the camera control command C has been input by the operation of the input operation unit 14 by the administrator.
  • the communication unit 11 transmits the camera control command C to the communication unit 210 of the mounter 2 (step S204).
  • step S205 it is confirmed that the communication unit 11 has received the image M from the communication unit 210 of the mounter 2.
  • the image M is displayed on the display unit 15 (step S206).
  • steps S203 to S206 are repeated until the administrator inputs the end command Ce for ending the image pickup through the input operation unit 14 (until "YES" in step S207), and the image is picked up by the component mounter 2.
  • the captured image M is acquired.
  • the camera control command C transmitted from the management device 1 to the component mounter 2 may include various commands. Specifically, an image capturing start command Cs for instructing the start of image capturing, a moving image capturing command Cm for instructing the execution of image capturing by the above moving image, or an image capturing execution command for maintenance work by an operator is instructed.
  • the camera control command C may include a maintenance work imaging command Co and the like.
  • FIG. 11 is a flowchart showing an example of image capturing executed by the component mounter.
  • the flowchart of FIG. 11 is executed by the control of the controller 200 according to the camera control command C received by the communication unit 210 from the communication unit 11 of the management device 1.
  • step S301 it is confirmed whether the communication unit 210 has received the imaging start command Cs (camera control command C).
  • the image capturing start command Cs is confirmed (“YES” in step S301)
  • step S302 When the reception of the moving image pickup command Cm is not confirmed (in the case of “NO” in step S302), it is determined that the execution of the fixed image pickup is instructed, and whether the image pickup target of the fixed image pickup is the maintenance work of the worker. Is judged. Specifically, in step S303, it is determined whether the communication unit 210 has received the maintenance work imaging command Co (camera control command C).
  • step S303 When the reception of the maintenance work imaging command Co is confirmed (“YES” in step S303), it is confirmed whether the work opening 81 of the housing 8 is opened (step S304). Then, when the work opening 81 is opened (“YES” in step S304), image pickup of the image M by the camera unit 32 is started (step S305), and transmission of the image M to the management device 1 is started (step S305). S306). The image capturing and the transmission of the image M are repeated at predetermined time intervals and continuously executed.
  • the camera unit 32 mounted on the camera station 31 captures the image M indicating the maintenance work of the operator through the work opening 81 (step S305), and the camera unit 32 receives the image from the camera station 31.
  • the image M is transmitted to the management device 1 via the communication unit 210 (step S306).
  • step S307 it is confirmed whether the communication unit 210 has received the imaging condition adjustment command Ca (camera control command C) instructing the adjustment of the imaging condition of the camera unit 32.
  • the imaging conditions include focus of the camera 326, zoom, and brightness of the illumination 327. That is, the administrator who operates the management device 1 transmits the imaging condition adjustment command Ca from the management device 1 to the component mounter 2 by operating the keyboard or mouse of the input operation unit 14, and according to the imaging condition adjustment command Ca.
  • the camera unit 32 can adjust the imaging conditions.
  • step S307 If the reception of the imaging condition adjustment command Ca is confirmed in step S307 (“YES”), the camera unit 32 adjusts the imaging condition according to the imaging condition adjustment command Ca (step S308).
  • the image M captured by the camera unit 32 is transmitted from the component mounter 2 to the management device 1 and displayed on the display unit 15. Therefore, the administrator can adjust the imaging conditions while checking the image M displayed on the display unit 15 through steps S307 and S308.
  • step S308 After the execution of step S308, or if the reception of the imaging condition adjustment command Cat is not confirmed in step S307 (in the case of “NO”), the process proceeds to step S309. Then, until the communication unit 210 receives the end instruction Ce for instructing the end of the image pickup (until “YES” in step S309), the image pickup condition transmission instruction Ca is received while the image M is continuously picked up and transmitted. The imaging conditions are adjusted each time.
  • the administrator who operates the management apparatus 1 can check whether or not the maintenance work by the worker is appropriate by checking the image M transmitted from the component mounter 2. If the maintenance work is inappropriate, it can be specified that the cause of the error occurred in the component mounter 2 is the inappropriate maintenance work. Specifically, by comparing the images M before and after the maintenance work, a tool or the like left behind in the housing 8 can be found, and the cause of causing an error due to the tool interfering with the component mounting mechanism 20 can be specified. ..
  • steps S305 to S309 are executed without passing through step S304.
  • the camera unit 32 mounted on the camera station 31 captures the image M showing the peripheral component mounting mechanism 20 (step S305), and the image M is transmitted to the management device 1 (step S306).
  • the communication unit 210 receives the end instruction Ce (until “YES” in step S309), the image capturing condition is adjusted each time the image capturing condition adjustment command Ca is received while the image M is continuously captured and transmitted. To be done.
  • the administrator who operates the management apparatus 1 can check whether or not the component mounting mechanism 20 includes an abnormal portion by checking the image M transmitted from the component mounting machine 2. Then, for example, if an abnormal location is found, it can be specified that the cause of the error that occurred in the component mounter 2 is at this abnormal location.
  • FIG. 12 is a flowchart showing an example of the moving image pickup executed by the component mounter.
  • the flowchart of FIG. 12 is executed by the control of the controller 200 according to the camera control command C received by the communication unit 210 from the communication unit 11 of the management device 1.
  • step S401 the mounting head 71 moves above the camera unit 32 mounted on the camera station 31.
  • the mounting head 71 positions the nozzle 72 at the lower end thereof above the circular hole 322 of the camera unit 32 and then lowers the nozzle 72 to bring the nozzle 72 into contact with the bottom surface of the circular hole 322.
  • the mounting head 71 raises the nozzle 72 when a negative pressure is applied to the inside of the nozzle 72 and the camera unit 32 is sucked by the nozzle 72.
  • the mounting head 71 thus picks up the camera unit 32 from the camera station 31.
  • step S402 When the camera unit 32 is picked up, the image pickup of the image M by the camera unit 32 is started (step S402), and the transmission of the image M to the management device 1 is started (step S403).
  • the camera unit 32 held by the mounting head 71 captures the image M showing the surrounding component mounting mechanism 20 (step S402), and this image M is transmitted to the management device 1 (step S403).
  • the image capturing and the transmission of the image M are repeated at predetermined time intervals and continuously executed.
  • step S404 it is confirmed whether the communication unit 210 has received the transportation command Ct (camera control command C). That is, the administrator who operates the management device 1 transmits the transportation command Ct from the management device 1 to the component mounter 2 by operating the joystick, and causes the mounting head 71 to transport the camera unit 32 according to the transportation command Ct. You can In particular, the image M captured by the camera unit 32 is transmitted from the component mounter 2 to the management device 1 and displayed on the display unit 15. Therefore, the administrator operates the joystick of the input operation unit 14 while confirming the imaging range of the camera unit 32 based on the image M displayed on the display unit 15 to image a desired portion of the component mounting mechanism 20. The captured image M can be acquired.
  • the transportation command Ct camera control command C
  • step S404 When the receipt of the transportation instruction Ct is confirmed in step S404 (“YES”), the mounting head 71 transports the camera unit 32 according to the transportation instruction Ct. As a result, the camera unit 32 captures the image M showing the periphery of the transportation destination by the mounting head 71, and this image M is transmitted to the management device 1.
  • step S405 After the execution of step S405, or if the receipt of the transportation instruction Ct is not confirmed in step S404 (“NO”), the process proceeds to step S406, and the imaging condition adjustment instruction Ca (camera control instruction C) is transmitted to the communication unit 210. Is received.
  • the camera unit 32 adjusts the imaging condition according to the imaging condition adjustment command Ca (step S407).
  • the image M captured by the camera unit 32 is transmitted from the component mounter 2 to the management device 1 and displayed on the display unit 15. Therefore, the administrator can adjust the imaging conditions while checking the image M displayed on the display unit 15 through steps S406 and S407.
  • step S407 After the execution of step S407, or if the reception of the imaging condition adjustment command Ca is not confirmed in step S406 (in the case of “NO”), the process proceeds to step S408. Then, steps S404 to 407 are repeated until the end instruction Ce is received (until "YES” in step S408). As a result, the imaging condition is adjusted each time the imaging condition adjustment command Ca is received while the imaging and transmission of the image M of the transportation destination of the camera unit 32 is continued.
  • step S408 When the reception of the end instruction Ce is confirmed (“YES” in step S408), the mounting head 71 returns the camera unit 32 to the camera station 31 (step S409).
  • the camera unit 32 is placed on the camera station 31 in this way, the image capturing of the image M by the camera unit 32 ends (step S410).
  • the camera unit 32 is provided in the component mounter 2, and the image M according to the camera control command C transmitted from the management device 1 to the component mounter 2 is captured by the camera unit 32. (Steps S305, S402). Then, the image M is transmitted from the component mounter 2 to the management device 1 (steps S306 and S403). Therefore, the administrator creates a desired camera control command C by operating the management device 1 (step S203), and transmits this camera control command C to the mounter 2 (step S204). The image M corresponding to the camera control command C can be obtained (step S205). In this way, it is possible to easily acquire the image M that helps identify the cause of the error of the component mounter 2.
  • the controller 200 adjusts the range to be imaged by the camera unit 32 according to the camera control command C (transport command Ct) (step S405).
  • the operator can easily obtain the image M in which a desired range that helps identify the cause of the error of the component mounter 2 is captured.
  • the controller 200 also adjusts at least one of focus, zoom, and illumination of the camera unit 32 according to the camera control command C (imaging condition adjustment command Ca).
  • the operator can easily obtain at least one of the focus, zoom, and illumination of the camera unit 32, and easily obtain the image M that helps identify the cause of the error of the component mounter 2. You can
  • the component mounter 2 also includes a camera station 31 that detachably holds the camera unit 32. Then, the controller 200 causes the mounting head 71 to perform a carrying operation of picking up the camera unit 32 from the camera station 31 and carrying it, according to the camera control command C (carrying command Ct), and thereby the imaging range of the camera unit 32. Is adjusted (steps S404 and S405). In such a configuration, by causing the mounting head 71 to carry the camera unit 32, the operator can easily obtain the image M in which a desired range that helps identify the cause of the error of the component mounter 2 is captured. it can.
  • the camera unit 32 has a storage battery 325, and images the image M using the power supplied by the storage battery 325. Then, the camera station 31 charges the storage battery 325 of the mounted camera unit 32. With such a configuration, the storage battery 325 of the camera unit 32 can be charged while the camera unit 32 is attached to the camera station 31.
  • the camera station 31 wirelessly receives the image M from the camera unit 32 picked up by the mounting head 71 from the camera station 31, and transfers the image M to the communication unit 210. Then, the communication unit 210 transmits the image M received from the camera unit 32 to the management device 1. With such a configuration, the wiring between the camera station 31 and the camera unit 32 can be eliminated, so that the mounting head 71 can carry the camera unit 32 without being restricted by the wiring.
  • the camera unit 32 also captures the image M by the omnidirectional camera 326. With this configuration, a wide range of images M can be captured at one time.
  • the camera unit 32 can take an image of the outside of the housing 8 through the opened door 82.
  • the administrator can easily obtain the image M that is an image of the work performed by the worker through the work opening 81 of the door of the housing 8, and confirm whether the work of the worker is appropriate. You can
  • the management device 1 and the component mounter 2 constitute an example of the “component mounting system” of the present invention, and the management device 1 corresponds to an example of the “management device” of the present invention.
  • the mounting machine 2 corresponds to an example of the “component mounting machine” of the present invention
  • the controller 200 corresponds to an example of the “control section” of the present invention
  • the communication section 210 corresponds to an example of the “communication section” of the present invention.
  • the component mounting mechanism 20 corresponds to an example of the “component mounting mechanism” of the present invention
  • the camera station 31 corresponds to an example of the “camera station” of the present invention
  • the camera unit 32 is an example of the “camera unit” of the present invention.
  • the storage battery 325 corresponds to an example of the “storage battery” of the present invention
  • the component supply unit 5 corresponds to an example of the “component supply unit” of the present invention
  • the mounting head 71 corresponds to the “mounting head” of the present invention.
  • the housing 8 corresponds to an example of the “housing” of the present invention
  • the door 82 corresponds to an example of the “door” of the present invention
  • the camera control command C is an example of the “camera control command” of the present invention.
  • the board B corresponds to an example of the “board” of the present invention
  • the mounting work position 42 corresponds to an example of the “mounting work position” of the present invention
  • the component E corresponds to an example of the “component” of the present invention.
  • step S405 corresponds to an example of the "transporting work" of the present invention.
  • the mounting head 71 may be modified so as to appropriately limit the carrying operation (step S405) of the camera unit 32.
  • the controller 200 permits the carrying operation (step S405) by the mounting head 71 in a state where the door 82 of the housing 8 is closed, while the controller 200 allows the door 82 of the housing 8 to be opened.
  • the carrying operation (step S405) by the mounting head 71 is prohibited. With such a configuration, the work of carrying the camera unit 32 by the mounting head 71 (step S405) can be performed only during an appropriate period when the door 82 of the housing 8 is closed.
  • the result of trying the operation of a part of the component mounting mechanism 20 (for example, the conveyor 41) by remote control from the management device 1 may be modified so that the operator can confirm the image M.
  • the communication unit 210 receives a conveyor operation command (operation command) for operating the conveyor 41 (imaging target portion) from the management device 1.
  • the controller 200 captures the image M including the conveyor 41 while giving a conveyor operation command to the conveyor 41.
  • the administrator can easily confirm, based on the image M, whether or not the conveyor 41, which is the imaging target portion by the camera unit 32, operates normally.
  • the management apparatus 1 displays the image M on the display unit 15, it is possible to selectively display only a part of the area of the image M acquired from the component mounter 2. At this time, the area to be displayed may be selected by the operation of the administrator on the input operation unit 14. As a result, of the image M, only the area required by the administrator can be displayed on the display unit 15.
  • the camera 326 is not limited to a spherical camera, and may be a camera that captures a limited one direction. When such a camera is used, the imaging range of the camera can be changed by transmitting the camera control command C for changing the pan/tilt of the camera from the management device 1 to the component mounter 2.
  • the method of picking up the camera unit 32 by the mounting head 71 is not limited to suction. Therefore, a gripper for gripping an object may be attached to the mounting head 71, the camera unit 32 may be gripped by the gripper, and the camera unit 32 may be picked up.
  • the camera unit 32 may be fixed to the housing 8 so that it cannot be transported.
  • Management device (component mounting system) 2.
  • Component mounting machine (component mounting system) 20
  • Component mounting mechanism 200
  • Controller control unit 210
  • Communication unit 31 ... Camera station 32
  • Camera unit 325 Storage battery 42
  • Mounting work position 5
  • Component supply unit 71
  • Mounting head 8 ... Housing 82
  • Door B Door B
  • Board C Camera control command

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Operations Research (AREA)
  • Supply And Installment Of Electrical Components (AREA)

Abstract

A camera unit 32 is provided in a component-mounting device 2, and an image M corresponding to a camera control command C transmitted from a management device 1 to the component-mounting device 2 is captured by means of a camera unit 32 (steps S305, S402). The image M is then transmitted from the component-mounting device 2 to the management device 1 (steps S306, S403). Accordingly, a manager can create a desired camera control command C (step S203) by operating the management device 1, and, by transmitting the camera control command C to the component-mounting device 2 (step S204), obtain the image M corresponding to the camera control command C (step S205). Thus, it is possible to easily acquire an image useful for identifying the cause of an error in the component-mounting device 2.

Description

部品実装機、部品実装システム、部品実装機管理方法Component mounter, component mount system, component mounter management method
　この発明は、基板に部品を実装する部品実装機を管理する技術に関する。 This invention relates to a technology for managing a component mounter that mounts components on a board.
　テープフィーダー等の部品供給部により供給された部品を、部品供給部と基板との間を移動する実装ヘッドにより基板に移載する部品実装機では、種々のエラーが生じうる。また、特許文献１、２では、このようなエラーに対して、部品実装機の外部に設けられた管理装置からの遠隔操作に対応するため、エラーに関する情報を部品実装機から管理装置に送信する技術が示されている。特許文献１では、例えば基板認識や部品認識にエラーが生じると、これらの認識のために撮像された画像が部品実装機から管理装置に送信される。また、特許文献２では、部品実装機の運転中に種々の情報をログファイルとして予め記録しておき、エラーが生じると、このログファイルが部品実装機から管理装置に送信される。 Various errors may occur in the component mounter that transfers the components supplied by the component supply unit such as the tape feeder to the substrate by the mounting head that moves between the component supply unit and the substrate. Further, in Patent Documents 1 and 2, in order to deal with such an error by remote control from a management device provided outside the component mounter, information regarding the error is transmitted from the component mounter to the management device. Technology is shown. In Patent Document 1, for example, when an error occurs in board recognition or component recognition, images picked up for these recognitions are transmitted from the component mounter to the management device. Further, in Patent Document 2, various information is recorded in advance as a log file during operation of the component mounter, and when an error occurs, this log file is transmitted from the component mounter to the management device.
特開２０１７－１４３１６９号公報JP, 2017-143169, A 特開２０００－２３６１９７号公報JP-A-2000-236197
　ところで、管理装置により遠隔で管理を行う管理者にしてみると、特許文献１、２で部品実装機から管理装置に送信される情報では、エラーの原因を特定するのが困難な場合がある。そこで、部品実装機が設置された現場の作業者に、写真の撮像を依頼して、この写真を入手するといった運用が行われることがある。しかしながら、管理者から作業者への連絡が正確に伝わらないために写真がエラーの原因特定に資するものではなかったり、写真の入手に時間を要したりといった問題があった。 By the way, for the administrator who remotely manages by the management device, it may be difficult to identify the cause of the error in the information transmitted from the component mounter to the management device in Patent Documents 1 and 2. Therefore, there is a case where an operation is performed by requesting a worker on the site where the component mounter is installed to take a picture and obtaining the picture. However, there is a problem in that the photograph does not help identify the cause of the error because the administrator does not accurately communicate with the worker, and it takes time to obtain the photograph.
　この発明は上記課題に鑑みなされたものであり、部品実装機を管理装置により遠隔管理する管理者が、部品実装機のエラーの原因を特定するのに資する画像を簡便に取得することを可能とする技術の提供を目的とする。 The present invention has been made in view of the above problems, and enables an administrator who remotely manages a component mounter with a management device to easily acquire an image that helps identify the cause of an error in the component mounter. The purpose is to provide the technology to do so.
　本発明に係る部品実装機は、部品を供給する部品供給部と実装作業位置との間を移動する実装ヘッドを用いて、部品供給部からピックアップした部品を実装作業位置の基板に移載する部品実装機構と、開閉可能な扉を有し、部品実装機構を収容するハウジングと、ハウジング内に配置されたカメラユニットと、外部の管理装置からのカメラ制御指令を受信する通信部と、通信部が受信したカメラ制御指令に基づきカメラユニットを制御することで、カメラ制御指令に応じた画像をカメラユニットに撮像させる制御部とを備え、通信部は、カメラユニットにより撮像された画像を管理装置に送信する。 A component mounter according to the present invention uses a mounting head that moves between a component supply unit that supplies a component and a mounting work position to transfer a component picked up from the component supply unit to a board at the mounting work position. A housing having a mounting mechanism, a door that can be opened and closed, and housing a component mounting mechanism, a camera unit disposed in the housing, a communication unit that receives a camera control command from an external management device, and a communication unit. The communication unit transmits the image captured by the camera unit to the management device, by controlling the camera unit based on the received camera control command to cause the camera unit to capture an image according to the camera control command. To do.
　本発明に係る部品実装システムは、部品を供給する部品供給部と実装作業位置との間を移動する実装ヘッドを用いて、部品供給部からピックアップした部品を実装作業位置の基板に移載する部品実装機と、カメラ制御指令を部品実装機に送信する管理装置とを備え、　部品実装機は、カメラユニットを有し、管理装置から受信したカメラ制御指令に基づきカメラユニットを制御することで、カメラ制御指令に応じた画像をカメラユニットにより撮像し、画像を管理装置に送信する。 A component mounting system according to the present invention uses a mounting head that moves between a component supply unit that supplies a component and a mounting work position, and transfers a component picked up from the component supply unit to a board at the mounting work position. A mounter and a management device that sends a camera control command to the component mounter are provided. The component mounter has a camera unit and controls the camera unit based on the camera control command received from the management device, thereby providing a camera. An image corresponding to the control command is captured by the camera unit, and the image is transmitted to the management device.
　本発明に係る部品実装機管理方法は、部品を供給する部品供給部と実装作業位置との間を移動する実装ヘッドを用いて、部品供給部からピックアップした部品を実装作業位置の基板に移載する部品実装機に対して、部品実装機の外部の管理装置からカメラ制御指令を送信する工程と、部品実装機が受信したカメラ制御指令に基づき、部品実装機内に配置されたカメラユニットを制御することで、カメラ制御指令に応じた画像をカメラユニットに撮像させる工程と、カメラユニットにより撮像された画像を部品実装機から管理装置に送信する工程とを備える。 A component mounter management method according to the present invention uses a mounting head that moves between a component supply unit that supplies a component and a mounting work position to transfer a component picked up from the component supply unit to a board at the mounting work position. A process of transmitting a camera control command from a management device external to the component mounter to the component mounter, and controlling the camera unit arranged in the component mounter based on the camera control command received by the component mounter. Thus, it includes a step of causing the camera unit to capture an image corresponding to the camera control command, and a step of transmitting the image captured by the camera unit from the component mounter to the management device.
　このように構成された発明（部品実装機、部品実装システム、部品実装機管理方法）では、カメラユニットが部品実装機内に設けられ、管理装置から部品実装機に送信されたカメラ制御指令に応じた画像がカメラユニットにより撮像される。そして、この画像が部品実装機から管理装置に送信される。したがって、管理者は、管理装置を操作することで所望のカメラ制御指令を作成して、このカメラ制御指令を部品実装機に送信することで、このカメラ制御指令に応じた画像を入手できる。こうして、部品実装機のエラーの原因を特定するのに資する画像を簡便に取得することが可能となっている。 In the invention (component mounter, component mounting system, component mounter management method) configured in this way, the camera unit is provided in the component mounter, and in response to the camera control command transmitted from the management device to the component mounter. The image is captured by the camera unit. Then, this image is transmitted from the component mounter to the management device. Therefore, the administrator can obtain an image corresponding to the camera control instruction by creating a desired camera control instruction by operating the management device and transmitting the camera control instruction to the mounter. In this way, it is possible to easily acquire an image that helps identify the cause of the error of the component mounter.
　また、制御部は、カメラユニットにより撮像する範囲をカメラ制御指令に応じて調整するように、部品実装機を構成しても良い。かかる構成では、作業者は、部品実装機のエラーの原因を特定するのに資する所望の範囲を撮像した画像を簡便に入手することができる。 Also, the control unit may configure the component mounter so that the range captured by the camera unit is adjusted according to the camera control command. With this configuration, the operator can easily obtain an image obtained by capturing a desired range that helps identify the cause of the error of the component mounter.
　また、制御部は、カメラユニットのフォーカス、ズームおよび照明の少なくとも１つをカメラ制御指令に応じてさらに調整するように、部品実装機を構成しても良い。かかる構成では、作業者は、カメラユニットのフォーカス、ズームおよび照明の少なくとも１つを適切に調整しつつ、部品実装機のエラーの原因を特定するのに資する画像を簡便に入手することができる。 Further, the control unit may configure the component mounter so as to further adjust at least one of focus, zoom, and illumination of the camera unit according to the camera control command. With such a configuration, the operator can easily obtain at least one of the focus, zoom, and illumination of the camera unit, and easily obtain an image that helps identify the cause of the error of the component mounter.
　また、カメラユニットを着脱可能に保持するカメラステーションをさらに備え、制御部は、カメラユニットをカメラステーションからピックアップして運搬する運搬作業を、カメラ制御指令に応じて実装ヘッドに実行させることで、カメラユニットにより撮像する範囲を調整するように、部品実装機を構成しても良い。かかる構成では、実装ヘッドにカメラユニットを運搬させることで、作業者は、部品実装機のエラーの原因を特定するのに資する所望の範囲を撮像した画像を簡便に入手することができる。 Further, the camera unit further includes a camera unit that detachably holds the camera unit, and the control unit causes the mounting head to perform a transportation work of picking up the camera unit from the camera station and transporting the camera unit, thereby performing the transportation work. The component mounter may be configured so as to adjust the imaging range by the unit. With such a configuration, by causing the mounting head to carry the camera unit, an operator can easily obtain an image obtained by capturing a desired range that helps identify the cause of an error in the component mounter.
　また、制御部は、扉が閉じられている状態において実装ヘッドによる運搬作業の実行を許可する一方、扉が開かれている状態において実装ヘッドによる運搬作業の実行を禁止するように、部品実装機を構成しても良い。かかる構成では、ハウジングの扉が閉じられている適切な期間に限定して、実装ヘッドによるカメラユニットの運搬作業を実行することができる。 Further, the control unit permits the mounting head to carry out the carrying work when the door is closed, while prohibiting the carrying work by the mounting head when the door is open. May be configured. With such a configuration, it is possible to carry out the work of transporting the camera unit by the mounting head only during an appropriate period when the door of the housing is closed.
　また、カメラユニットは、蓄電池を有し、蓄電池が供給する電力を用いて画像を撮像し、カメラステーションは、装着されたカメラユニットの蓄電池を充電するように、部品実装機を構成しても良い。かかる構成では、カメラユニットがカメラステーションに装着されている期間を利用して、カメラユニットの蓄電池を充電しておくことができる。 In addition, the camera unit may have a storage battery, and an image may be captured using electric power supplied from the storage battery, and the camera station may configure the component mounter so as to charge the storage battery of the mounted camera unit. .. With such a configuration, the storage battery of the camera unit can be charged during the period when the camera unit is attached to the camera station.
　また、カメラステーションは、実装ヘッドによりカメラステーションからピックアップされたカメラユニットから画像を無線により受信して、通信部に転送し、通信部は、カメラステーションから受信した画像を管理装置に送信するように、部品実装機を構成しても良い。かかる構成では、カメラステーションとカメラユニットとの間の配線を排除することができるため、配線による制限を受けることなく、実装ヘッドによるカメラユニットの運搬作業を実行できる。 Further, the camera station wirelessly receives an image from the camera unit picked up from the camera station by the mounting head and transfers the image to the communication unit, and the communication unit transmits the image received from the camera station to the management device. A component mounter may be configured. With such a configuration, wiring between the camera station and the camera unit can be eliminated, so that the mounting head can carry the camera unit without being restricted by the wiring.
　また、カメラユニットは、全天球カメラによって画像を撮像するように、部品実装機を構成しても良い。かかる構成では、広い範囲の画像を一度に撮像することができる。 Also, the camera unit may be configured as a component mounter so as to capture an image with a spherical camera. With this configuration, a wide range of images can be captured at one time.
　また、通信部は、部品実装機構のうち、カメラユニットによる撮像対象部分を動作させる動作指令を管理装置から受信し、制御部は、動作指令を撮像対象部分に与えつつ撮像対象部分を含む画像を撮像するように、部品実装機を構成しても良い。かかる構成では、管理者は、カメラユニットによる撮像対象部分が正常に動作するかを簡便に確認することができる。 Further, the communication unit receives an operation command for operating the imaging target portion by the camera unit of the component mounting mechanism from the management device, and the control unit gives an image including the imaging target portion while giving the operation command to the imaging target portion. The component mounter may be configured to capture an image. With such a configuration, the administrator can easily confirm whether the imaging target portion of the camera unit operates normally.
　また、カメラユニットは、開かれた扉を介してハウジングの外部を撮像可能であるように、部品実装機を構成しても良い。かかる構成では、管理者は、ハウジングの扉の開口を介して実行される作業者の作業を撮像した画像を簡便に入手でき、作業者の作業が適切であるかを確認することができる。 Also, the camera unit may be configured as a component mounter so that the outside of the housing can be imaged through the opened door. With such a configuration, the administrator can easily obtain an image of the work performed by the operator through the opening of the door of the housing, and can confirm whether the work of the worker is appropriate.
　本発明によれば、部品実装機を管理装置により遠隔管理する管理者が、部品実装機のエラーの原因を特定するのに資する画像を簡便に取得することが可能となる。 According to the present invention, an administrator who remotely manages a component mounter using a management device can easily acquire an image that helps identify the cause of an error in the component mounter.
本発明に係る部品実装機と当該部品実装機を管理する管理装置との関係を示すブロック図。FIG. 3 is a block diagram showing the relationship between a component mounter according to the present invention and a management device that manages the component mounter. 部品実装機が備える電気的構成の一例を示すブロック図。The block diagram which shows an example of an electrical structure with which a component mounter is equipped. 部品実装機の機械的構成の一例を模式的に示す平面図。The top view which shows typically an example of the mechanical constitution of a component mounter. ハウジングの外観を模式的に示す斜視図。The perspective view which shows the external appearance of a housing typically. カメラステーションの外観を斜視図。The perspective view of the external appearance of a camera station. カメラユニットの外観を示す側面図。The side view which shows the external appearance of a camera unit. カメラユニットの外観を示す平面図。The top view which shows the external appearance of a camera unit. 実装ヘッドによりカメラユニットを保持した状態を示す側面図。The side view which shows the state which hold|maintained the camera unit by the mounting head. 部品実装機で実行されるエラー監視の一例を示すフローチャート。9 is a flowchart showing an example of error monitoring executed by the component mounter. 管理装置でのエラー管理の一例を示すフローチャート。The flowchart which shows an example of the error management in a management apparatus. 部品実装機で実行される画像撮像の一例を示すフローチャート。The flowchart which shows an example of the image pick-up performed by a component mounting machine. 部品実装機で実行される移動撮像の一例を示すフローチャート。The flowchart which shows an example of the moving imaging performed with a component mounting machine.
　図１は本発明に係る部品実装機と当該部品実装機を管理する管理装置との関係を示すブロック図である。管理装置１は、インターネットＩを介して複数の部品実装機２と通信すすることで、各部品実装機２の管理を遠隔から実行する。なお、管理装置１が管理する管理装置１の台数は図１の例に限られず、１台でも構わない。この管理装置１は、例えばパーソナルコンピューターであり、通信部１１、演算部１２、記憶部１３、入力操作部１４および表示部１５を備える。 FIG. 1 is a block diagram showing the relationship between a component mounter according to the present invention and a management device that manages the component mounter. The management device 1 communicates with a plurality of component mounters 2 via the Internet I to remotely manage each component mounter 2. The number of management devices 1 managed by the management device 1 is not limited to the example of FIG. 1 and may be one. The management device 1 is, for example, a personal computer, and includes a communication unit 11, a calculation unit 12, a storage unit 13, an input operation unit 14, and a display unit 15.
　通信部１１は、インターネットＩを介して部品実装機２の通信を行う。演算部１２は、ＣＰＵ(Central Processing Unit) やＲＡＭ(Random Access Memory)で構成されたプロセッサーであり、管理装置１における演算機能を担う。記憶部１３は、ＨＤＤ(Hard Disk Drive)等で構成された記憶装置であり、通信部１１が部品実装機２から受信した各種データを記憶する。入力操作部１４は、キーボード、マウスおよびジョイスティックを有し、管理者はこれらを操作することで所望の指令を入力操作部１４に入力することができる。表示部１５は、通信部１１が部品実装機２から受信した各種データを画面に表示し、管理者は画面に表示されたこれらのデータを視認することができる。 The communication unit 11 communicates with the component mounter 2 via the Internet I. The calculation unit 12 is a processor including a CPU (Central Processing Unit) and a RAM (Random Access Memory), and has a calculation function in the management device 1. The storage unit 13 is a storage device configured by an HDD (Hard Disk Drive) or the like, and stores various data received by the communication unit 11 from the component mounter 2. The input operation unit 14 has a keyboard, a mouse, and a joystick, and an administrator can input a desired command into the input operation unit 14 by operating these. The display unit 15 displays various data received by the communication unit 11 from the component mounter 2 on the screen, and the administrator can visually recognize these data displayed on the screen.
　図２は部品実装機が備える電気的構成の一例を示すブロック図であり、図３は部品実装機の機械的構成の一例を模式的に示す平面図である。図３および以下の図では、互いに直交するＸ方向、Ｙ方向およびＺ方向で構成されるＸＹＺ直交座標系を適宜示す。ここで、Ｘ方向およびＹ方向はそれぞれ水平方向であり、Ｚ方向は鉛直方向である。 2 is a block diagram showing an example of the electrical configuration of the component mounter, and FIG. 3 is a plan view schematically showing an example of the mechanical configuration of the component mounter. In FIG. 3 and the following figures, an XYZ Cartesian coordinate system composed of X, Y, and Z directions orthogonal to each other is shown as appropriate. Here, the X direction and the Y direction are horizontal directions, and the Z direction is a vertical direction.
　図２に示すように、部品実装機２は、装置全体を統括的に制御するコントローラー２００を備える。コントローラー２００は、通信部２１０、演算部２２０、記憶部２３０、入力操作部２４０および表示部２５０を有する。通信部２１０は、インターネットＩを介して管理装置１の通信部１１と通信を行う。演算部２２０は、ＣＰＵやＲＡＭで構成されたプロセッサーであり、部品実装機２における演算機能を担う。記憶部２３０は、ＨＤＤ(Hard Disk Drive)等で構成された記憶装置であり、部品実装機２の稼働状況を示すログファイル等の各種データを記憶する。入力操作部２４０は、キーボードおよびマウスを有し、作業者はこれらを操作することで所望の指令を入力操作部２４０に入力することができる。表示部２５０は、記憶部２３０に記憶された各種データを画面に表示し、作業者は画面に表示されたこれらのデータを視認することができる。 As shown in FIG. 2, the component mounter 2 includes a controller 200 that centrally controls the entire device. The controller 200 has a communication unit 210, a calculation unit 220, a storage unit 230, an input operation unit 240, and a display unit 250. The communication unit 210 communicates with the communication unit 11 of the management device 1 via the internet I. The calculation unit 220 is a processor including a CPU and a RAM, and has a calculation function in the component mounter 2. The storage unit 230 is a storage device configured by an HDD (Hard Disk Drive) or the like, and stores various data such as a log file indicating the operating status of the component mounter 2. The input operation unit 240 has a keyboard and a mouse, and an operator can input a desired command to the input operation unit 240 by operating these. The display unit 250 displays various data stored in the storage unit 230 on the screen, and the operator can visually recognize these data displayed on the screen.
　さらに、コントローラー２００は、駆動制御部２６０、センサー制御部２７０および撮像制御部２８０を有する。駆動制御部２６０は、部品実装機２の駆動系を制御し、センサー制御部２７０は部品実装機２の各部に取り付けられたセンサーＳからの出力を監視する。そして、演算部２２０は、センサー制御部２７０が受信した各センサーＳの出力に基づき、駆動制御部２６０に部品実装機２の駆動系を制御させることで、部品実装を実行する。また、撮像制御部２８０は、部品実装にエラーが生じた場合等に、後述のカメラステーション３１およびカメラユニット３２を制御することで、エラーの原因を特定するのに資する画像の撮像・送信を制御する。 Further, the controller 200 has a drive control unit 260, a sensor control unit 270, and an imaging control unit 280. The drive control unit 260 controls the drive system of the component mounter 2, and the sensor control unit 270 monitors the output from the sensor S attached to each unit of the component mounter 2. Then, the calculation unit 220 executes the component mounting by causing the drive control unit 260 to control the drive system of the component mounter 2 based on the output of each sensor S received by the sensor control unit 270. Further, the imaging control unit 280 controls the imaging/transmission of an image that helps identify the cause of the error by controlling the camera station 31 and the camera unit 32, which will be described later, when an error occurs in component mounting. To do.
　図３に示すように、部品実装機２は、基板ＢをＸ方向（基板搬送方向）に搬送する基板搬送部４を備える。この基板搬送部４は、Ｘ方向に並列に配置された一対のコンベア４１を有し、コンベア４１によって基板ＢをＸ方向に搬送する。これらコンベア４１の間隔は、Ｘ方向に直交するＹ方向（幅方向）に変更可能であり、基板搬送部４は、搬送する基板Ｂの幅に応じてコンベア４１の間隔を調整する。この基板搬送部４は、基板搬送方向であるＸ方向の上流側から所定の実装作業位置４２に搬入するとともに、実装作業位置４２で部品Ｅが実装された基板Ｂを実装作業位置４２からＸ方向の下流側に搬出する。 As shown in FIG. 3, the component mounter 2 includes a board transfer unit 4 that transfers the board B in the X direction (board transfer direction). The substrate transport unit 4 has a pair of conveyors 41 arranged in parallel in the X direction, and transports the substrate B in the X direction by the conveyors 41. The interval between the conveyors 41 can be changed in the Y direction (width direction) orthogonal to the X direction, and the substrate transport unit 4 adjusts the interval between the conveyors 41 according to the width of the substrate B to be transported. The board carrying unit 4 carries in a predetermined mounting work position 42 from the upstream side in the X direction which is the board carrying direction, and at the same time, carries the board B on which the component E is mounted at the mounting work position 42 from the mounting work position 42 in the X direction. To the downstream side of.
　基板搬送部４のＹ方向の両側それぞれでは２つの部品供給部５がＸ方向に並んでおり、各部品供給部５では、複数のテープフィーダー５１がＸ方向に並ぶ。部品供給部５では、Ｘ方向に並ぶ複数の部品供給箇所５２が設けられており、各部品供給箇所５２に供給すべき部品Ｅを供給するテープフィーダー５１が、各部品供給箇所５２に対応付けられて着脱可能に装着される。各テープフィーダー５１に対しては、集積回路、トランジスター、コンデンサー等の小片状の部品Ｅを所定間隔おきに収容したキャリアテープが巻き付けられた部品供給リールが配置されており、各テープフィーダー５１は部品供給リールから引き出されたキャリアテープを間欠的に送り出すことで、その先端部の部品供給箇所５２に部品Ｅを供給する。 Two component supply units 5 are arranged in the X direction on both sides of the board transport unit 4 in the Y direction. In each component supply unit 5, a plurality of tape feeders 51 are arranged in the X direction. The component supply unit 5 is provided with a plurality of component supply points 52 arranged in the X direction, and the tape feeder 51 for supplying the component E to be supplied to each component supply point 52 is associated with each component supply point 52. It is removably attached. Each tape feeder 51 is provided with a component supply reel around which a carrier tape containing small-sized components E such as an integrated circuit, a transistor, and a condenser is housed at predetermined intervals, and each tape feeder 51 is By intermittently sending out the carrier tape pulled out from the component supply reel, the component E is supplied to the component supply point 52 at the tip thereof.
　また、部品実装機２では、Ｙ方向に延設された一対のＹ軸レール６１と、Ｙ方向に延設されたＹ軸ボールネジ６２と、Ｙ軸ボールネジ６２を回転駆動するＹ軸モーターＭｙとが設けられている。そして、Ｘ方向に延設されたＸ軸ビーム６３が一対のＹ軸レール６１にＹ方向に移動可能に支持された状態で、Ｙ軸ボールネジ６２のナットに固定されている。Ｘ軸ビーム６３には、Ｘ方向に延設されたＸ軸ボールネジ６４と、Ｘ軸ボールネジ６４を回転駆動するＸ軸モーターＭｘとが取り付けられており、ヘッドユニット７がＸ軸ビーム６３にＸ方向に移動可能に支持された状態でＸ軸ボールネジ６４のナットに固定されている。したがって、駆動制御部２６０は、Ｙ軸モーターＭｙによりＹ軸ボールネジ６２を回転させてヘッドユニット７をＹ方向に移動させたり、Ｘ軸モーターＭｘによりＸ軸ボールネジ６４を回転させてヘッドユニット７をＸ方向に移動させたりすることができる。このように、Ｙ軸レール６１、Ｙ軸ボールネジ６２、Ｙ軸モーターＭｙ、Ｘ軸ビーム６３、Ｘ軸ボールネジ６４およびＹ軸モーターＭｙにより、ヘッドユニット７を駆動するヘッド駆動機構６が構成されている。 In the component mounter 2, a pair of Y-axis rails 61 extending in the Y direction, a Y-axis ball screw 62 extending in the Y direction, and a Y-axis motor My that rotationally drives the Y-axis ball screw 62 are provided. It is provided. The X-axis beam 63 extending in the X-direction is fixed to the nut of the Y-axis ball screw 62 while being supported by the pair of Y-axis rails 61 so as to be movable in the Y-direction. An X-axis ball screw 64 extending in the X-direction and an X-axis motor Mx that rotationally drives the X-axis ball screw 64 are attached to the X-axis beam 63, and the head unit 7 is attached to the X-axis beam 63 in the X direction. It is fixed to the nut of the X-axis ball screw 64 while being supported so as to be movable. Therefore, the drive controller 260 rotates the Y-axis ball screw 62 by the Y-axis motor My to move the head unit 7 in the Y direction, or rotates the X-axis ball screw 64 by the X-axis motor Mx to move the head unit 7 to the X-axis. It can be moved in any direction. Thus, the Y-axis rail 61, the Y-axis ball screw 62, the Y-axis motor My, the X-axis beam 63, the X-axis ball screw 64, and the Y-axis motor My constitute the head drive mechanism 6 that drives the head unit 7. ..
　ヘッドユニット７は、Ｘ方向に直線状に並ぶ複数の実装ヘッド７１を有する。各実装ヘッド７１は、互いに独立してＺ方向およびＲ方向へ可動である。ここで、Ｒ方向はＺ方向に平行な回転軸を中心に回転する方向である。したがって、駆動制御部２６０は、Ｚ軸モーターＭｚにより実装ヘッド７１をＺ方向に昇降させたり、Ｒ軸モーターＭｒにより実装ヘッド７１をＲ方向に回転させたりすることができる。 The head unit 7 has a plurality of mounting heads 71 linearly arranged in the X direction. Each mounting head 71 is movable in the Z direction and the R direction independently of each other. Here, the R direction is a direction of rotation about a rotation axis parallel to the Z direction. Therefore, the drive control unit 260 can raise and lower the mounting head 71 in the Z direction by the Z-axis motor Mz, and rotate the mounting head 71 in the R direction by the R-axis motor Mr.
　これら実装ヘッド７１のそれぞれは、その下端に取り付けられたノズル７２により、基板Ｂへの部品Ｅの実装を行う。つまり、実装ヘッド７１は、その下端のノズル７２を部品供給箇所５２の上方に位置させつつノズル７２を下降させることで、テープフィーダー５１が部品供給箇所５２に供給する部品Ｅにノズル７２を当接させる。そして、実装ヘッド７１は、ノズル７２内に負圧を与えてノズル７２により部品Ｅを吸着すると、ノズル７２を上昇させる。実装ヘッド７１は、こうして部品供給箇所５２からピックアップした部品Ｅをノズル７２によって吸着・保持しつつ、実装作業位置４２の基板Ｂの上方へ移動する。そして、実装ヘッド７１は、ノズル７２を下降させて部品Ｅを基板Ｂに接触させると、ノズル７２の負圧を解除して、部品Ｅを基板Ｂに載置する。このように、部品実装機２では、　部品Ｅを供給する部品供給部５と実装作業位置４２との間を移動する実装ヘッド７１を用いて、部品供給部５からピックアップした部品Ｅを実装作業位置４２の基板Ｂに移載する部品実装が実行される。なお、この部品実装は、コントローラー２００の制御に基づき、規定された手順で実行される。 Each of the mounting heads 71 mounts the component E on the board B by the nozzle 72 attached to the lower end thereof. That is, the mounting head 71 lowers the nozzle 72 at the lower end of the mounting head 71 while lowering the nozzle 72 so that the nozzle 72 abuts on the component E supplied from the tape feeder 51 to the component supply place 52. Let Then, the mounting head 71 raises the nozzle 72 when a negative pressure is applied to the nozzle 72 and the component E is sucked by the nozzle 72. The mounting head 71 moves above the substrate B at the mounting work position 42 while sucking and holding the component E picked up from the component supply location 52 by the nozzle 72. When the mounting head 71 lowers the nozzle 72 to bring the component E into contact with the substrate B, the negative pressure of the nozzle 72 is released and the component E is placed on the substrate B. As described above, in the component mounter 2, the mounting head 71 that moves between the component supply unit 5 that supplies the component E and the mounting work position 42 is used to position the component E picked up from the component supply unit 5 at the mounting work position. The component mounting to be transferred to the board B of 42 is executed. It should be noted that this component mounting is executed in a prescribed procedure under the control of the controller 200.
　また、部品実装機２は、上述の基板搬送部４、部品供給部５、ヘッド駆動機構６およびヘッドユニット７で構成された部品実装機構２０を収容するハウジング８を備える。なお、図３では、ハウジング８によって隠蔽される部分を、ハウジング８を透かして表記している。 The component mounter 2 also includes a housing 8 that accommodates the component mounting mechanism 20 including the substrate transport unit 4, the component supply unit 5, the head drive mechanism 6, and the head unit 7 described above. Note that, in FIG. 3, the portion hidden by the housing 8 is shown with the housing 8 as a watermark.
　図４はハウジングの外観を模式的に示す斜視図である。ハウジング８は、作業開口８１と、作業開口８１を開閉する扉８２とを、Ｙ方向の両側に有する。したがって、作業者は、扉８２が開かれた作業開口８１を介して、部品実装機構２０に対して保守作業を実行することができる。さらに、このハウジング８内には、上述のカメラステーション３１およびカメラユニット３２が配置されている。 FIG. 4 is a perspective view schematically showing the appearance of the housing. The housing 8 has a work opening 81 and doors 82 that open and close the work opening 81 on both sides in the Y direction. Therefore, the worker can perform maintenance work on the component mounting mechanism 20 through the work opening 81 in which the door 82 is opened. Further, the camera station 31 and the camera unit 32 described above are arranged in the housing 8.
　図５はカメラステーションの外観を斜視図であり、図６はカメラユニットの外観を示す側面図であり、図７はカメラユニットの外観を示す平面図である。図２とこれらの図５～図７を用いて説明を続ける。 FIG. 5 is a perspective view showing the appearance of the camera station, FIG. 6 is a side view showing the appearance of the camera unit, and FIG. 7 is a plan view showing the appearance of the camera unit. The description will be continued with reference to FIG. 2 and FIGS. 5 to 7.
　図５に示すように、カメラステーション３１は、略直方体形状を有するステーション本体３１１と、ステーション本体３１１の上面に開口する平面視で円形のユニット載置部３１２とを有する。ユニット載置部３１２は半球形状の孔として構成され、ユニット載置部３１２にカメラユニット３２の下部を嵌めることで、カメラユニット３２をユニット載置部３１２に載置することができる。つまり、カメラステーション３１は、ユニット載置部３１２に載置されたカメラユニット３２を支持する。さらに、カメラステーション３１は、図２に示す充電部３１３と通信部３１４とをステーション本体３１１に内蔵する。充電部３１３は、ユニット載置部３１２に載置されたカメラユニット３２に充電を行い、通信部３１４は、カメラユニット３２と無線により通信を行う。 As shown in FIG. 5, the camera station 31 has a station main body 311 having a substantially rectangular parallelepiped shape, and a unit mounting portion 312 that is open in the upper surface of the station main body 311 and is circular in plan view. The unit mounting portion 312 is formed as a hemispherical hole, and the lower part of the camera unit 32 is fitted into the unit mounting portion 312, so that the camera unit 32 can be mounted on the unit mounting portion 312. That is, the camera station 31 supports the camera unit 32 mounted on the unit mounting portion 312. Further, the camera station 31 has a charging unit 313 and a communication unit 314 shown in FIG. The charging unit 313 charges the camera unit 32 mounted on the unit mounting unit 312, and the communication unit 314 wirelessly communicates with the camera unit 32.
　図６および図７に示すように、カメラユニット３２は、平面視で円形を有するユニット本体３２１と、ユニット本体３２１の外壁で開口する４個の円形孔３２２と、ユニット本体３２１の上端で開口する保持部３２３とを有する。４個の円形孔３２２は、それぞれの中心線が互いに等しい立体角で１点において交差するように配置されている。保持部３２３には、上述の実装ヘッド７１の下端のノズル７２が挿入可能であり、実装ヘッド７１は、ノズル７２を保持部３２３に挿入して保持部３２３の底面をノズル７２により吸着することで、カメラユニット３２を保持・運搬することができる（図８）。ここで、図８は実装ヘッドによりカメラユニットを保持した状態を示す側面図である。 As shown in FIGS. 6 and 7, the camera unit 32 has a unit main body 321 having a circular shape in a plan view, four circular holes 322 opened on the outer wall of the unit main body 321, and an upper end of the unit main body 321. And a holding portion 323. The four circular holes 322 are arranged so that their center lines intersect at one point at the same solid angle. The nozzle 72 at the lower end of the mounting head 71 described above can be inserted into the holding portion 323. The mounting head 71 inserts the nozzle 72 into the holding portion 323 and sucks the bottom surface of the holding portion 323 by the nozzle 72. The camera unit 32 can be held and transported (FIG. 8). Here, FIG. 8 is a side view showing a state in which the mounting head holds the camera unit.
　カメラユニット３２は、図２に示す通信部３２４と蓄電池３２５とを、ユニット本体３２１に内蔵する。通信部３２４は、カメラステーション３１の通信部３１４と無線により通信を行う。蓄電池３２５は、カメラユニット３２の動作に必要な電力を蓄える機能を果たし、通信部３２４は蓄電池３２５から供給された電力を利用して通信を実行する。カメラステーション３１のユニット載置部３１２にカメラユニット３２が載置された状態で、蓄電池３２５は、カメラステーション３１の充電部３１３と電気的に接続され、充電部３１３が蓄電池３２５を充電する。 The camera unit 32 incorporates the communication unit 324 and the storage battery 325 shown in FIG. 2 in the unit main body 321. The communication unit 324 wirelessly communicates with the communication unit 314 of the camera station 31. The storage battery 325 has a function of storing electric power required for the operation of the camera unit 32, and the communication unit 324 executes communication using the electric power supplied from the storage battery 325. The storage battery 325 is electrically connected to the charging unit 313 of the camera station 31 while the camera unit 32 is mounted on the unit mounting unit 312 of the camera station 31, and the charging unit 313 charges the storage battery 325.
　また、カメラユニット３２は、蓄電池３２５から供給された電力を利用して撮像を実行するカメラ３２６を有する。カメラ３２６は全天球カメラであり、４個の円形孔３２２に一対一の対応関係で設けられた４個の対物レンズ３２６１を有し、各対物レンズ３２６１は対応する円形孔３２２に嵌め込まれている。そして、カメラ３２６は、ユニット本体３２１に内蔵された個体撮像素子に各対物レンズ３２６１から入射した光を結像させることで、全天球の画像Ｍを撮像する。 Also, the camera unit 32 has a camera 326 that performs imaging by using the electric power supplied from the storage battery 325. The camera 326 is a spherical camera and has four objective lenses 3261 provided in a one-to-one correspondence with the four circular holes 322, and each objective lens 3261 is fitted into the corresponding circular hole 322. There is. Then, the camera 326 forms an image M of the celestial sphere by focusing the light incident from each objective lens 3261 on the solid-state image pickup element built in the unit main body 321.
　ちなみに、ここの例では、４個の対物レンズ３２６１の光軸が互いに等しい立体角で１点において交差する。かかる構成では、４個の対物レンズ３２６１それぞれの画角が１２０度以上の広角であれば全天球を撮像できる。画角がより大きく、例えば１８０度であればさらに良い。対物レンズ３２６１は４個に限らず、２個または３個でも良い。ここの例では、４つの対物レンズ３２６１の１つは、カメラユニット３２がノズル７２により保持された状態で、その光軸が鉛直真下を向くように配置されている。ただし、全天球カメラであれば、光軸の向きはいずれの方向でも構わない。 By the way, in this example, the optical axes of the four objective lenses 3261 intersect at one point at the same solid angle. With such a configuration, if the angle of view of each of the four objective lenses 3261 is a wide angle of 120 degrees or more, the spherical image can be captured. It is even better if the angle of view is larger, for example 180 degrees. The number of the objective lenses 3261 is not limited to four and may be two or three. In this example, one of the four objective lenses 3261 is arranged so that the optical axis of the camera unit 32 is held vertically by the nozzle 72. However, the orientation of the optical axis may be any direction as long as it is a spherical camera.
　なお、側方および下方のみを撮像できれば良い場合には、上方の３つの対物レンズ３２６１の光軸を水平に近づけることで、側方および下方を全方位で撮像できるようにする一方、真上を含む上方の一部は写らないように、カメラ３２６を構成しても良い。 If only the side and the lower side can be imaged, the optical axes of the upper three objective lenses 3261 are brought close to the horizontal, so that the side and the lower side can be imaged in all directions, and the one directly above. The camera 326 may be configured so that a part of the upper part including the image is not captured.
　また、上述のとおり、ノズル７２は、部品Ｅの吸着およびカメラ３２の吸着の両方に用いられる。これに対して、実装ヘッド７１は、ノズル７２により部品Ｅを吸着した際に、Ｚ軸に平行な回転軸を中心にノズル７２を回転させることで、部品Ｅの向きを変える機構を具備する場合がある。この場合、カメラ３２を吸着するノズル７２を回転させて、カメラ３２を回転させることで、撮像対象に対物レンズ３２６１を対向させた状態で、カメラ３２により撮像対象を撮像しても良い。 Further, as described above, the nozzle 72 is used for both suction of the component E and suction of the camera 32. On the other hand, when the mounting head 71 is provided with a mechanism for changing the direction of the component E by rotating the nozzle 72 around the rotation axis parallel to the Z axis when the component E is sucked by the nozzle 72. There is. In this case, the image pickup target may be picked up by the camera 32 with the objective lens 3261 facing the image pickup target by rotating the nozzle 72 that sucks the camera 32.
　さらに、カメラユニット３２は、蓄電池３２５から供給された電力を利用して光を照射する照明３２７を有する。これら４個の照明３２７は、４個の円形孔３２２に一対一の対応関係で設けられている。各照明３２７は円環形状を有するリング照明であり、対応する円形孔３２２内に配置されて、当該円形孔３２２に嵌め込まれた対物レンズ３２６１を囲む。つまり、対物レンズ３２６１は、照明３２７の内側に配置されている。 Further, the camera unit 32 has an illumination 327 that emits light by using the electric power supplied from the storage battery 325. These four lights 327 are provided in one-to-one correspondence with the four circular holes 322. Each of the illuminations 327 is a ring illumination having an annular shape and is arranged in the corresponding circular hole 322 to surround the objective lens 3261 fitted in the circular hole 322. That is, the objective lens 3261 is arranged inside the illumination 327.
　かかる部品実装機２では、カメラユニット３２をカメラステーション３１に載置した状態でカメラユニット３２により画像を撮像する「固定撮像」と、カメラユニット３２を実装ヘッド７１により移動させつつカメラユニット３２により画像を撮像する「移動撮像」とを選択的に実行することができる。 In such a component mounter 2, “fixed image pickup” in which an image is picked up by the camera unit 32 while the camera unit 32 is placed on the camera station 31, and the image is taken by the camera unit 32 while moving the camera unit 32 by the mounting head 71. It is possible to selectively execute "moving imaging" for imaging.
　図９は部品実装機で実行されるエラー監視の一例を示すフローチャートである。図９のフローチャートは、部品実装機２のコントローラー２００の制御によって実行される。部品実装の開始が確認されると（ステップＳ１０１で「ＹＥＳ」）、ログファイルＦの作成が開始される（ステップＳ１０２）。具体的には、駆動制御部２６０が取得した各モーターＭｘ、Ｍｙ、Ｍｚ、Ｍｒのエンコーダーの出力値や、センサー制御部２７０が取得した各センサーＳの出力値といった、部品実装機２の稼働状況を示す情報が収集されて、ログファイルＦとして記憶部２３０に蓄積される。 FIG. 9 is a flowchart showing an example of error monitoring executed by the component mounter. The flowchart of FIG. 9 is executed under the control of the controller 200 of the component mounter 2. When the start of component mounting is confirmed (“YES” in step S101), the creation of the log file F is started (step S102). Specifically, the operation status of the component mounter 2 such as the output values of the encoders of the motors Mx, My, Mz, and Mr acquired by the drive control unit 260 and the output values of the sensors S acquired by the sensor control unit 270. Is collected and accumulated in the storage unit 230 as a log file F.
　そして、各センサーＳの出力値に基づき、部品実装の実行中にエラーが発生したか否かが確認される（ステップＳ１０３）。エラーの発生が確認されない間は（ステップＳ１０３で「ＮＯ」）、部品実装の実行と並行して、部品実装機２の稼働状況を示す情報の蓄積が継続される。一方、エラーの発生が確認されると（ステップＳ１０３で「ＹＥＳ」）、部品実装が中断される（ステップＳ１０４）。そして、部品実装機２の通信部２１０から管理装置１の通信部１１にログファイルＦが送信され（ステップＳ１０５）、管理装置１でのエラー管理に利用される。 Then, based on the output value of each sensor S, it is confirmed whether or not an error occurs during the component mounting (step S103). While the occurrence of the error is not confirmed (“NO” in step S103), the information indicating the operation status of the component mounter 2 is continuously accumulated in parallel with the component mounting. On the other hand, if the occurrence of an error is confirmed (“YES” in step S103), component mounting is interrupted (step S104). Then, the log file F is transmitted from the communication unit 210 of the component mounter 2 to the communication unit 11 of the management device 1 (step S105) and used for error management in the management device 1.
　図１０は管理装置でのエラー管理の一例を示すフローチャートである。図１０のフローチャートは、管理装置１の演算部１２の制御によって実行される。ステップＳ２０１では通信部１１が部品実装機２の通信部２１０からログファイルＦを受信したかが確認される。ログファイルＦの受信が確認されると（ステップＳ２０１で「ＹＥＳ」）、このログファイルＦが表示部１５に表示される（ステップＳ２０２）。 FIG. 10 is a flowchart showing an example of error management in the management device. The flowchart of FIG. 10 is executed under the control of the calculation unit 12 of the management device 1. In step S201, it is confirmed whether the communication unit 11 has received the log file F from the communication unit 210 of the mounter 2. When the reception of the log file F is confirmed (“YES” in step S201), the log file F is displayed on the display unit 15 (step S202).
　したがって、管理者は、表示部１５に表示されたログファイルＦに基づき、エラーの原因を検討することができる。また、部品実装機２にはカメラユニット３２が配置されており、カメラユニット３２によって撮像した画像Ｍに基づき、部品実装機２における状況を把握することができる。そのため、ログファイルＦのみからはエラーの原因を特定できない場合には、管理者は、カメラユニット３２を制御するためのカメラ制御指令Ｃを管理装置１から部品実装機２に送信し、このカメラ制御指令Ｃに応じてカメラユニット３２に撮像させた画像Ｍを部品実装機２から取得することで、この画像Ｍを参照してエラーの原因を検討できる。 Therefore, the administrator can examine the cause of the error based on the log file F displayed on the display unit 15. A camera unit 32 is arranged in the component mounter 2, and the situation in the component mounter 2 can be grasped based on the image M captured by the camera unit 32. Therefore, when the cause of the error cannot be identified only from the log file F, the administrator sends a camera control command C for controlling the camera unit 32 from the management device 1 to the component mounter 2 and controls the camera. By acquiring the image M captured by the camera unit 32 according to the command C from the mounter 2, the cause of the error can be examined with reference to the image M.
　つまり、ステップＳ２０３では、管理者による入力操作部１４の操作によりカメラ制御指令Ｃが入力されたかが確認される。カメラ制御指令Ｃの入力が確認されると（ステップＳ２０３で「ＹＥＳ」）、通信部１１が部品実装機２の通信部２１０にカメラ制御指令Ｃを送信する（ステップＳ２０４）。 That is, in step S203, it is confirmed whether the camera control command C has been input by the operation of the input operation unit 14 by the administrator. When the input of the camera control command C is confirmed (“YES” in step S203), the communication unit 11 transmits the camera control command C to the communication unit 210 of the mounter 2 (step S204).
　カメラ制御指令Ｃを受信した部品実装機２は、図１１および図１２を用いて後述する画像撮像を実行することで、カメラ制御指令Ｃに応じた画像Ｍを撮像して、管理装置１に送信する。そこで、ステップＳ２０５では、通信部１１が部品実装機２の通信部２１０から画像Ｍを受信したが確認される。画像Ｍの受信が確認されると（ステップＳ２０５で「ＹＥＳ」）、この画像Ｍが表示部１５に表示される（ステップＳ２０６）。 The component mounter 2 that has received the camera control command C executes the image capturing described below with reference to FIGS. 11 and 12, thereby capturing an image M according to the camera control command C and transmitting it to the management device 1. To do. Therefore, in step S205, it is confirmed that the communication unit 11 has received the image M from the communication unit 210 of the mounter 2. When the reception of the image M is confirmed (“YES” in step S205), the image M is displayed on the display unit 15 (step S206).
　そして、管理者が画像撮像を終了する終了指令Ｃｅを入力操作部１４により入力するまで（ステップＳ２０７で「ＹＥＳ」となるまで）、ステップＳ２０３～Ｓ２０６が繰り返されて、部品実装機２で撮像された画像Ｍが取得される。 Then, steps S203 to S206 are repeated until the administrator inputs the end command Ce for ending the image pickup through the input operation unit 14 (until "YES" in step S207), and the image is picked up by the component mounter 2. The captured image M is acquired.
　なお、管理装置１から部品実装機２に送信されるカメラ制御指令Ｃは、種々の指令を含みうる。具体的には、画像撮像の開始を指示する撮像開始指令Ｃｓ、上記の移動撮像による画像撮像の実行を指示する移動撮像指令Ｃｍ、あるいは作業者による保守作業を対象とした画像撮像の実行を指示する保守作業撮像指令Ｃｏ等をカメラ制御指令Ｃは含みうる。続いては、この点を踏まえて、部品実装機２で実行される画像撮像について説明する。 The camera control command C transmitted from the management device 1 to the component mounter 2 may include various commands. Specifically, an image capturing start command Cs for instructing the start of image capturing, a moving image capturing command Cm for instructing the execution of image capturing by the above moving image, or an image capturing execution command for maintenance work by an operator is instructed. The camera control command C may include a maintenance work imaging command Co and the like. Next, based on this point, the image pickup executed by the component mounter 2 will be described.
　図１１は部品実装機で実行される画像撮像の一例を示すフローチャートである。図１１のフローチャートは、管理装置１の通信部１１から通信部２１０が受信したカメラ制御指令Ｃに応じたコントローラー２００の制御によって実行される。 FIG. 11 is a flowchart showing an example of image capturing executed by the component mounter. The flowchart of FIG. 11 is executed by the control of the controller 200 according to the camera control command C received by the communication unit 210 from the communication unit 11 of the management device 1.
　ステップＳ３０１では、通信部２１０が撮像開始指令Ｃｓ（カメラ制御指令Ｃ）を受信したかが確認される。撮像開始指令Ｃｓの受信が確認されると（ステップＳ３０１で「ＹＥＳ」）、撮像開始指令Ｃｓに応じて開始する画像撮像での撮像方法が、移動撮像および固定撮像のいずれであるかが判断される。具体的には、ステップＳ３０２では、通信部２１０が移動撮像指令Ｃｍ（カメラ制御指令Ｃ）を受信したかが判断される。 In step S301, it is confirmed whether the communication unit 210 has received the imaging start command Cs (camera control command C). When the reception of the image capturing start command Cs is confirmed (“YES” in step S301), it is determined whether the image capturing method for image capturing starting in response to the image capturing start command Cs is moving image capturing or fixed image capturing. It Specifically, in step S302, it is determined whether the communication unit 210 has received the moving image pickup command Cm (camera control command C).
　移動撮像指令Ｃｍの受信が確認されない場合（ステップＳ３０２で「ＮＯ」の場合）は、固定撮像の実行が指示されたと判断されるとともに、その固定撮像による撮像対象が作業者の保守作業であるかが判断される。具体的には、ステップＳ３０３では、通信部２１０が保守作業撮像指令Ｃｏ（カメラ制御指令Ｃ）を受信したかが判断される。 When the reception of the moving image pickup command Cm is not confirmed (in the case of “NO” in step S302), it is determined that the execution of the fixed image pickup is instructed, and whether the image pickup target of the fixed image pickup is the maintenance work of the worker. Is judged. Specifically, in step S303, it is determined whether the communication unit 210 has received the maintenance work imaging command Co (camera control command C).
　保守作業撮像指令Ｃｏの受信が確認されると（ステップＳ３０３で「ＹＥＳ」）、ハウジング８の作業開口８１が開いたかが確認される（ステップＳ３０４）。そして、作業開口８１が開くと（ステップＳ３０４で「ＹＥＳ」）、カメラユニット３２による画像Ｍの撮像が開始されるとともに（ステップＳ３０５）、画像Ｍの管理装置１への送信が開始される（ステップＳ３０６）。かかる画像Ｍの撮像と送信は、所定の時間間隔で繰り返し、継続的に実行される。 When the reception of the maintenance work imaging command Co is confirmed (“YES” in step S303), it is confirmed whether the work opening 81 of the housing 8 is opened (step S304). Then, when the work opening 81 is opened (“YES” in step S304), image pickup of the image M by the camera unit 32 is started (step S305), and transmission of the image M to the management device 1 is started (step S305). S306). The image capturing and the transmission of the image M are repeated at predetermined time intervals and continuously executed.
　これによって、カメラステーション３１に載置されたカメラユニット３２は、作業開口８１を介して作業者の保守作業を示す画像Ｍを撮像し（ステップＳ３０５）、カメラユニット３２は、カメラステーション３１から受信した画像Ｍを、通信部２１０を介して管理装置１に送信する（ステップＳ３０６）。 As a result, the camera unit 32 mounted on the camera station 31 captures the image M indicating the maintenance work of the operator through the work opening 81 (step S305), and the camera unit 32 receives the image from the camera station 31. The image M is transmitted to the management device 1 via the communication unit 210 (step S306).
　ステップＳ３０７では、カメラユニット３２の撮像条件の調整を指示する撮像条件調整指令Ｃａ（カメラ制御指令Ｃ）を通信部２１０が受信したかが確認される。この撮像条件には、カメラ３２６のフォーカス、ズームおよび照明３２７の明るさが含まれる。つまり、管理装置１を操作する管理者は、入力操作部１４のキーボードやマウスを操作することで撮像条件調整指令Ｃａを管理装置１から部品実装機２に送信し、この撮像条件調整指令Ｃａに従ってカメラユニット３２に撮像条件を調整させることができる。 In step S307, it is confirmed whether the communication unit 210 has received the imaging condition adjustment command Ca (camera control command C) instructing the adjustment of the imaging condition of the camera unit 32. The imaging conditions include focus of the camera 326, zoom, and brightness of the illumination 327. That is, the administrator who operates the management device 1 transmits the imaging condition adjustment command Ca from the management device 1 to the component mounter 2 by operating the keyboard or mouse of the input operation unit 14, and according to the imaging condition adjustment command Ca. The camera unit 32 can adjust the imaging conditions.
　ステップＳ３０７で撮像条件調整指令Ｃａの受信が確認された場合（「ＹＥＳ」の場合）は、カメラユニット３２が撮像条件調整指令Ｃａに応じて撮像条件を調整する（ステップＳ３０８）。なお、カメラユニット３２が撮像した画像Ｍは、部品実装機２から管理装置１に送信されて表示部１５に表示されている。そのため、管理者は、ステップＳ３０７、Ｓ３０８を通じて、表示部１５に表示された画像Ｍを確認しながら撮像条件を調整できる。 If the reception of the imaging condition adjustment command Ca is confirmed in step S307 (“YES”), the camera unit 32 adjusts the imaging condition according to the imaging condition adjustment command Ca (step S308). The image M captured by the camera unit 32 is transmitted from the component mounter 2 to the management device 1 and displayed on the display unit 15. Therefore, the administrator can adjust the imaging conditions while checking the image M displayed on the display unit 15 through steps S307 and S308.
　かかるステップＳ３０８の実行後、あるいはステップＳ３０７で撮像条件調整指令Ｃａｔの受信が確認されない場合（「ＮＯ」の場合）は、ステップＳ３０９に進む。そして、通信部２１０が画像撮像の終了を指示する終了指令Ｃｅを受信するまで（ステップＳ３０９で「ＹＥＳ」となるまで）、画像Ｍの撮像と送信が継続されつつ、撮像条件調整指令Ｃａの受信の度に撮像条件が調整される。 After the execution of step S308, or if the reception of the imaging condition adjustment command Cat is not confirmed in step S307 (in the case of “NO”), the process proceeds to step S309. Then, until the communication unit 210 receives the end instruction Ce for instructing the end of the image pickup (until “YES” in step S309), the image pickup condition transmission instruction Ca is received while the image M is continuously picked up and transmitted. The imaging conditions are adjusted each time.
　したがって、管理装置１を操作する管理者は、部品実装機２から送信される画像Ｍを確認することで、作業者による保守作業が適切であるか否かを検討することができる。そして、保守作業が不適切であれば、部品実装機２で発生したエラーの原因が不適切な保守作業にあると特定できる。具体的には、保守作業の前後の画像Ｍの比較から、ハウジング８内に置き忘れられた工具などを見つけ出し、この工具が部品実装機構２０に干渉していることでエラーが生じるといった原因を特定できる。 Therefore, the administrator who operates the management apparatus 1 can check whether or not the maintenance work by the worker is appropriate by checking the image M transmitted from the component mounter 2. If the maintenance work is inappropriate, it can be specified that the cause of the error occurred in the component mounter 2 is the inappropriate maintenance work. Specifically, by comparing the images M before and after the maintenance work, a tool or the like left behind in the housing 8 can be found, and the cause of causing an error due to the tool interfering with the component mounting mechanism 20 can be specified. ..
　また、ステップＳ３０３で保守作業撮像指令Ｃｏの受信が確認されない場合（ステップＳ３０３で「ＮＯ」の場合）は、ステップＳ３０４を経ずにステップＳ３０５～Ｓ３０９が実行される。これによって、カメラステーション３１に載置されたカメラユニット３２が周囲の部品実装機構２０を示す画像Ｍを撮像し（ステップＳ３０５）、この画像Ｍが管理装置１に送信される（ステップＳ３０６）。そして、通信部２１０が終了指令Ｃｅを受信するまで（ステップＳ３０９で「ＹＥＳ」となるまで）、画像Ｍの撮像と送信が継続されつつ、撮像条件調整指令Ｃａの受信の度に撮像条件が調整される。 If reception of the maintenance work imaging command Co is not confirmed in step S303 (“NO” in step S303), steps S305 to S309 are executed without passing through step S304. Thereby, the camera unit 32 mounted on the camera station 31 captures the image M showing the peripheral component mounting mechanism 20 (step S305), and the image M is transmitted to the management device 1 (step S306). Then, until the communication unit 210 receives the end instruction Ce (until “YES” in step S309), the image capturing condition is adjusted each time the image capturing condition adjustment command Ca is received while the image M is continuously captured and transmitted. To be done.
　したがって、管理装置１を操作する管理者は、部品実装機２から送信される画像Ｍを確認することで、部品実装機構２０に異常箇所が含まれるか否かを検討することができる。そして、例えば異常箇所が見つかれば、部品実装機２で発生したエラーの原因がこの異常個所にあると特定できる。 Therefore, the administrator who operates the management apparatus 1 can check whether or not the component mounting mechanism 20 includes an abnormal portion by checking the image M transmitted from the component mounting machine 2. Then, for example, if an abnormal location is found, it can be specified that the cause of the error that occurred in the component mounter 2 is at this abnormal location.
　なお、上記のステップＳ３０２で移動撮像指令Ｃｍの受信が確認された場合（「ＹＥＳ」の場合）は、図１２の移動撮像が実行される（ステップＳ３０８）。ここで、図１２は部品実装機で実行される移動撮像の一例を示すフローチャートである。図１２のフローチャートは、管理装置１の通信部１１から通信部２１０が受信したカメラ制御指令Ｃに応じたコントローラー２００の制御によって実行される。 Note that, when the reception of the moving image capturing command Cm is confirmed in the above step S302 (in the case of “YES”), the moving image capturing of FIG. 12 is executed (step S308). Here, FIG. 12 is a flowchart showing an example of the moving image pickup executed by the component mounter. The flowchart of FIG. 12 is executed by the control of the controller 200 according to the camera control command C received by the communication unit 210 from the communication unit 11 of the management device 1.
　ステップＳ４０１では、実装ヘッド７１は、カメラステーション３１に載置されたカメラユニット３２の上方に移動する。こうして実装ヘッド７１は、その下端のノズル７２をカメラユニット３２の円形孔３２２の上方に位置させてからノズル７２を下降させることで、円形孔３２２の底面にノズル７２を当接させる。続いて、実装ヘッド７１は、ノズル７２内に負圧を与えてノズル７２によりカメラユニット３２を吸着すると、ノズル７２を上昇させる。実装ヘッド７１は、こうしてカメラステーション３１からカメラユニット３２をピックアップする。 In step S401, the mounting head 71 moves above the camera unit 32 mounted on the camera station 31. In this way, the mounting head 71 positions the nozzle 72 at the lower end thereof above the circular hole 322 of the camera unit 32 and then lowers the nozzle 72 to bring the nozzle 72 into contact with the bottom surface of the circular hole 322. Subsequently, the mounting head 71 raises the nozzle 72 when a negative pressure is applied to the inside of the nozzle 72 and the camera unit 32 is sucked by the nozzle 72. The mounting head 71 thus picks up the camera unit 32 from the camera station 31.
　カメラユニット３２がピックアップされると、カメラユニット３２による画像Ｍの撮像が開始されるとともに（ステップＳ４０２）、画像Ｍの管理装置１への送信が開始される（ステップＳ４０３）。これによって、実装ヘッド７１に保持されるカメラユニット３２が周囲の部品実装機構２０を示す画像Ｍを撮像し（ステップＳ４０２）、この画像Ｍが管理装置１に送信される（ステップＳ４０３）。かかる画像Ｍの撮像と送信は、所定の時間間隔で繰り返し、継続的に実行される。 When the camera unit 32 is picked up, the image pickup of the image M by the camera unit 32 is started (step S402), and the transmission of the image M to the management device 1 is started (step S403). As a result, the camera unit 32 held by the mounting head 71 captures the image M showing the surrounding component mounting mechanism 20 (step S402), and this image M is transmitted to the management device 1 (step S403). The image capturing and the transmission of the image M are repeated at predetermined time intervals and continuously executed.
　ステップＳ４０４では通信部２１０が運搬指令Ｃｔ（カメラ制御指令Ｃ）を受信したかが確認される。つまり、管理装置１を操作する管理者は、ジョイスティックを操作することで運搬指令Ｃｔを管理装置１から部品実装機２に送信し、この運搬指令Ｃｔに従って実装ヘッド７１にカメラユニット３２を運搬させることができる。特にカメラユニット３２が撮像した画像Ｍは、部品実装機２から管理装置１に送信されて表示部１５に表示されている。そのため、管理者は、表示部１５に表示された画像Ｍに基づきカメラユニット３２の撮像範囲を確認しつつ入力操作部１４のジョイスティックを操作することで、部品実装機構２０のうちの所望箇所を撮像した画像Ｍを取得できる。 In step S404, it is confirmed whether the communication unit 210 has received the transportation command Ct (camera control command C). That is, the administrator who operates the management device 1 transmits the transportation command Ct from the management device 1 to the component mounter 2 by operating the joystick, and causes the mounting head 71 to transport the camera unit 32 according to the transportation command Ct. You can In particular, the image M captured by the camera unit 32 is transmitted from the component mounter 2 to the management device 1 and displayed on the display unit 15. Therefore, the administrator operates the joystick of the input operation unit 14 while confirming the imaging range of the camera unit 32 based on the image M displayed on the display unit 15 to image a desired portion of the component mounting mechanism 20. The captured image M can be acquired.
　ステップＳ４０４で運搬指令Ｃｔの受信が確認された場合（「ＹＥＳ」の場合）は、実装ヘッド７１はこの運搬指令Ｃｔに従ってカメラユニット３２を運搬する。これによって、カメラユニット３２は実装ヘッド７１による運搬先の周囲を示す画像Ｍを撮像し、この画像Ｍが管理装置１に送信される。 When the receipt of the transportation instruction Ct is confirmed in step S404 (“YES”), the mounting head 71 transports the camera unit 32 according to the transportation instruction Ct. As a result, the camera unit 32 captures the image M showing the periphery of the transportation destination by the mounting head 71, and this image M is transmitted to the management device 1.
　かかるステップＳ４０５の実行後、あるいはステップＳ４０４で運搬指令Ｃｔの受信が確認されない場合（「ＮＯ」の場合）は、ステップＳ４０６に進んで、撮像条件調整指令Ｃａ（カメラ制御指令Ｃ）を通信部２１０が受信したかが確認される。ステップＳ４０６で撮像条件調整指令Ｃａの受信が確認された場合（「ＹＥＳ」の場合）は、カメラユニット３２が撮像条件調整指令Ｃａに応じて撮像条件を調整する（ステップＳ４０７）。なお、カメラユニット３２が撮像した画像Ｍは、部品実装機２から管理装置１に送信されて表示部１５に表示されている。そのため、管理者は、ステップＳ４０６、Ｓ４０７を通じて、表示部１５に表示された画像Ｍを確認しつつ撮像条件を調整できる。 After the execution of step S405, or if the receipt of the transportation instruction Ct is not confirmed in step S404 (“NO”), the process proceeds to step S406, and the imaging condition adjustment instruction Ca (camera control instruction C) is transmitted to the communication unit 210. Is received. When reception of the imaging condition adjustment command Ca is confirmed in step S406 (in the case of “YES”), the camera unit 32 adjusts the imaging condition according to the imaging condition adjustment command Ca (step S407). The image M captured by the camera unit 32 is transmitted from the component mounter 2 to the management device 1 and displayed on the display unit 15. Therefore, the administrator can adjust the imaging conditions while checking the image M displayed on the display unit 15 through steps S406 and S407.
　かかるステップＳ４０７の実行後、あるいはステップＳ４０６で撮像条件調整指令Ｃａの受信が確認されない場合（「ＮＯ」の場合）は、ステップＳ４０８に進む。そして、終了指令Ｃｅを受信するまで（ステップＳ４０８で「ＹＥＳ」となるまで）、ステップＳ４０４～４０７が繰り返される。その結果、カメラユニット３２の運搬先の画像Ｍの撮像と送信が継続されつつ、撮像条件調整指令Ｃａの受信の度に撮像条件が調整される。 After the execution of step S407, or if the reception of the imaging condition adjustment command Ca is not confirmed in step S406 (in the case of “NO”), the process proceeds to step S408. Then, steps S404 to 407 are repeated until the end instruction Ce is received (until "YES" in step S408). As a result, the imaging condition is adjusted each time the imaging condition adjustment command Ca is received while the imaging and transmission of the image M of the transportation destination of the camera unit 32 is continued.
　また、終了指令Ｃｅの受信が確認されると（ステップＳ４０８で「ＹＥＳ」）、実装ヘッド７１は、カメラユニット３２をカメラステーション３１に戻す（ステップＳ４０９）。こうしてカメラユニット３２がカメラステーション３１に載置されると、カメラユニット３２による画像Ｍの撮像が終了する（ステップＳ４１０）。 When the reception of the end instruction Ce is confirmed (“YES” in step S408), the mounting head 71 returns the camera unit 32 to the camera station 31 (step S409). When the camera unit 32 is placed on the camera station 31 in this way, the image capturing of the image M by the camera unit 32 ends (step S410).
　以上に説明した実施形態では、カメラユニット３２が部品実装機２内に設けられ、管理装置１から部品実装機２に送信されたカメラ制御指令Ｃに応じた画像Ｍがカメラユニット３２により撮像される（ステップＳ３０５、Ｓ４０２）。そして、この画像Ｍが部品実装機２から管理装置１に送信される（ステップＳ３０６、Ｓ４０３）。したがって、管理者は、管理装置１を操作することで所望のカメラ制御指令Ｃを作成して（ステップＳ２０３）、このカメラ制御指令Ｃを部品実装機２に送信することで（ステップＳ２０４）、このカメラ制御指令Ｃに応じた画像Ｍを入手できる（ステップＳ２０５）。こうして、部品実装機２のエラーの原因を特定するのに資する画像Ｍを簡便に取得することが可能となっている。 In the embodiment described above, the camera unit 32 is provided in the component mounter 2, and the image M according to the camera control command C transmitted from the management device 1 to the component mounter 2 is captured by the camera unit 32. (Steps S305, S402). Then, the image M is transmitted from the component mounter 2 to the management device 1 (steps S306 and S403). Therefore, the administrator creates a desired camera control command C by operating the management device 1 (step S203), and transmits this camera control command C to the mounter 2 (step S204). The image M corresponding to the camera control command C can be obtained (step S205). In this way, it is possible to easily acquire the image M that helps identify the cause of the error of the component mounter 2.
　また、コントローラー２００は、カメラユニット３２により撮像する範囲をカメラ制御指令Ｃ（運搬指令Ｃｔ）に応じて調整する（ステップＳ４０５）。かかる構成では、作業者は、部品実装機２のエラーの原因を特定するのに資する所望の範囲を撮像した画像Ｍを簡便に入手することができる。 Further, the controller 200 adjusts the range to be imaged by the camera unit 32 according to the camera control command C (transport command Ct) (step S405). With such a configuration, the operator can easily obtain the image M in which a desired range that helps identify the cause of the error of the component mounter 2 is captured.
　また、コントローラー２００は、カメラユニット３２のフォーカス、ズームおよび照明の少なくとも１つをカメラ制御指令Ｃ（撮像条件調整指令Ｃａ）に応じて調整する。かかる構成では、作業者は、カメラユニット３２のフォーカス、ズームおよび照明の少なくとも１つを適切に調整しつつ、部品実装機２のエラーの原因を特定するのに資する画像Ｍを簡便に入手することができる。 The controller 200 also adjusts at least one of focus, zoom, and illumination of the camera unit 32 according to the camera control command C (imaging condition adjustment command Ca). With such a configuration, the operator can easily obtain at least one of the focus, zoom, and illumination of the camera unit 32, and easily obtain the image M that helps identify the cause of the error of the component mounter 2. You can
　また、部品実装機２は、カメラユニット３２を着脱可能に保持するカメラステーション３１を備える。そして、コントローラー２００は、カメラユニット３２をカメラステーション３１からピックアップして運搬する運搬作業を、カメラ制御指令Ｃ（運搬指令Ｃｔ）に応じて実装ヘッド７１に実行させることで、カメラユニット３２による撮像範囲を調整する（ステップＳ４０４、Ｓ４０５）。かかる構成では、実装ヘッド７１にカメラユニット３２を運搬させることで、作業者は、部品実装機２のエラーの原因を特定するのに資する所望の範囲を撮像した画像Ｍを簡便に入手することができる。 The component mounter 2 also includes a camera station 31 that detachably holds the camera unit 32. Then, the controller 200 causes the mounting head 71 to perform a carrying operation of picking up the camera unit 32 from the camera station 31 and carrying it, according to the camera control command C (carrying command Ct), and thereby the imaging range of the camera unit 32. Is adjusted (steps S404 and S405). In such a configuration, by causing the mounting head 71 to carry the camera unit 32, the operator can easily obtain the image M in which a desired range that helps identify the cause of the error of the component mounter 2 is captured. it can.
　また、カメラユニット３２は、蓄電池３２５を有し、蓄電池３２５が供給する電力を用いて画像Ｍを撮像する。そして、カメラステーション３１は、装着されたカメラユニット３２の蓄電池３２５を充電する。かかる構成では、カメラユニット３２がカメラステーション３１に装着されている期間を利用して、カメラユニット３２の蓄電池３２５を充電しておくことができる。 Further, the camera unit 32 has a storage battery 325, and images the image M using the power supplied by the storage battery 325. Then, the camera station 31 charges the storage battery 325 of the mounted camera unit 32. With such a configuration, the storage battery 325 of the camera unit 32 can be charged while the camera unit 32 is attached to the camera station 31.
　また、カメラステーション３１は、実装ヘッド７１によりカメラステーション３１からピックアップされたカメラユニット３２から画像Ｍを無線により受信して、通信部２１０に転送する。そして、通信部２１０は、カメラユニット３２から受信した画像Ｍを管理装置１に送信する。かかる構成では、カメラステーション３１とカメラユニット３２との間の配線を排除することができるため、配線による制限を受けることなく、実装ヘッド７１によるカメラユニット３２の運搬作業を実行できる。 Further, the camera station 31 wirelessly receives the image M from the camera unit 32 picked up by the mounting head 71 from the camera station 31, and transfers the image M to the communication unit 210. Then, the communication unit 210 transmits the image M received from the camera unit 32 to the management device 1. With such a configuration, the wiring between the camera station 31 and the camera unit 32 can be eliminated, so that the mounting head 71 can carry the camera unit 32 without being restricted by the wiring.
　また、カメラユニット３２は、全天球カメラ３２６によって画像Ｍを撮像する。かかる構成では、広い範囲の画像Ｍを一度に撮像することができる。 The camera unit 32 also captures the image M by the omnidirectional camera 326. With this configuration, a wide range of images M can be captured at one time.
　また、カメラユニット３２は、開かれた扉８２を介してハウジング８の外部を撮像可能である。かかる構成では、管理者は、ハウジング８の扉の作業開口８１を介して作業者により実行される作業を撮像した画像Ｍを簡便に入手でき、作業者の作業が適切であるかを確認することができる。 Further, the camera unit 32 can take an image of the outside of the housing 8 through the opened door 82. With such a configuration, the administrator can easily obtain the image M that is an image of the work performed by the worker through the work opening 81 of the door of the housing 8, and confirm whether the work of the worker is appropriate. You can
　このように本実施形態では、管理装置１と部品実装機２とが本発明の「部品実装システム」の一例を構成し、管理装置１が本発明の「管理装置」の一例に相当し、部品実装機２が本発明の「部品実装機」の一例に相当し、コントローラー２００が本発明の「制御部」の一例に相当し、通信部２１０が本発明の「通信部」の一例に相当し、部品実装機構２０が本発明の「部品実装機構」の一例に相当し、カメラステーション３１が本発明の「カメラステーション」の一例に相当し、カメラユニット３２が本発明の「カメラユニット」の一例に相当し、蓄電池３２５が本発明の「蓄電池」の一例に相当し、部品供給部５が本発明の「部品供給部」の一例に相当し、実装ヘッド７１が本発明の「実装ヘッド」の一例に相当し、ハウジング８が本発明の「ハウジング」の一例に相当し、扉８２が本発明の「扉」の一例に相当し、カメラ制御指令Ｃが本発明の「カメラ制御指令」の一例に相当し、基板Ｂが本発明の「基板」の一例に相当し、実装作業位置４２が本発明の「実装作業位置」の一例に相当し、部品Ｅが本発明の「部品」の一例に相当し、ステップＳ４０５が本発明の「運搬作業」の一例に相当する。 As described above, in the present embodiment, the management device 1 and the component mounter 2 constitute an example of the “component mounting system” of the present invention, and the management device 1 corresponds to an example of the “management device” of the present invention. The mounting machine 2 corresponds to an example of the “component mounting machine” of the present invention, the controller 200 corresponds to an example of the “control section” of the present invention, and the communication section 210 corresponds to an example of the “communication section” of the present invention. The component mounting mechanism 20 corresponds to an example of the “component mounting mechanism” of the present invention, the camera station 31 corresponds to an example of the “camera station” of the present invention, and the camera unit 32 is an example of the “camera unit” of the present invention. The storage battery 325 corresponds to an example of the “storage battery” of the present invention, the component supply unit 5 corresponds to an example of the “component supply unit” of the present invention, and the mounting head 71 corresponds to the “mounting head” of the present invention. The housing 8 corresponds to an example of the “housing” of the present invention, the door 82 corresponds to an example of the “door” of the present invention, and the camera control command C is an example of the “camera control command” of the present invention. The board B corresponds to an example of the “board” of the present invention, the mounting work position 42 corresponds to an example of the “mounting work position” of the present invention, and the component E corresponds to an example of the “component” of the present invention. Correspondingly, step S405 corresponds to an example of the "transporting work" of the present invention.
　なお、本発明は上記実施形態に限定されるものではなく、その趣旨を逸脱しない限りにおいて上述したものに対して種々の変更を加えることが可能である。例えば、実装ヘッド７１によるカメラユニット３２の運搬作業（ステップＳ４０５）の実行を適宜制限するように変形しても良い。この変形例では、コントローラー２００は、ハウジング８の扉８２が閉じられている状態において実装ヘッド７１による運搬作業（ステップＳ４０５）の実行を許可する一方、ハウジング８の扉８２が開かれている状態において実装ヘッド７１による運搬作業（ステップＳ４０５）の実行を禁止する。かかる構成では、ハウジング８の扉８２が閉じられている適切な期間に限定して、実装ヘッド７１によるカメラユニット３２の運搬作業（ステップＳ４０５）を実行することができる。 Note that the present invention is not limited to the above embodiment, and various modifications can be made to the above without departing from the spirit of the present invention. For example, the mounting head 71 may be modified so as to appropriately limit the carrying operation (step S405) of the camera unit 32. In this modification, the controller 200 permits the carrying operation (step S405) by the mounting head 71 in a state where the door 82 of the housing 8 is closed, while the controller 200 allows the door 82 of the housing 8 to be opened. The carrying operation (step S405) by the mounting head 71 is prohibited. With such a configuration, the work of carrying the camera unit 32 by the mounting head 71 (step S405) can be performed only during an appropriate period when the door 82 of the housing 8 is closed.
　また、管理装置１からの遠隔操作により部品実装機構２０の一部（例えば、コンベア４１）の動作を試行した結果を、作業者が画像Ｍで確認できるように変形しても良い。この変形例では、通信部２１０は、コンベア４１（撮像対象部分）を動作させるコンベア動作指令（動作指令）を管理装置１から受信する。そして、コントローラー２００は、コンベア動作指令をコンベア４１に与えつつコンベア４１を含む画像Ｍを撮像する。かかる構成では、管理者は、カメラユニット３２による撮像対象部分であるコンベア４１が正常に動作するかを、画像Ｍに基づき簡便に確認することができる。 Further, the result of trying the operation of a part of the component mounting mechanism 20 (for example, the conveyor 41) by remote control from the management device 1 may be modified so that the operator can confirm the image M. In this modification, the communication unit 210 receives a conveyor operation command (operation command) for operating the conveyor 41 (imaging target portion) from the management device 1. Then, the controller 200 captures the image M including the conveyor 41 while giving a conveyor operation command to the conveyor 41. With such a configuration, the administrator can easily confirm, based on the image M, whether or not the conveyor 41, which is the imaging target portion by the camera unit 32, operates normally.
　また、管理装置１で表示部１５に画像Ｍを表示する場合には、部品実装機２から取得した画像Ｍのうち、一部の領域のみを選択的に表示することができる。この際、表示する領域は、入力操作部１４に対する管理者の操作によって選択できるように構成しても良い。これによって、画像Ｍのうち、管理者が必要とする領域のみを表示部１５に表示することができる。 Further, when the management apparatus 1 displays the image M on the display unit 15, it is possible to selectively display only a part of the area of the image M acquired from the component mounter 2. At this time, the area to be displayed may be selected by the operation of the administrator on the input operation unit 14. As a result, of the image M, only the area required by the administrator can be displayed on the display unit 15.
　また、カメラ３２６は全天球カメラではなく、限られた一方向を撮像するカメラであっても良い。かかるカメラを用いる場合、カメラのパン・チルトを変更するカメラ制御指令Ｃを管理装置１から部品実装機２に送信することで、カメラによる撮像範囲を変更することができる。 Also, the camera 326 is not limited to a spherical camera, and may be a camera that captures a limited one direction. When such a camera is used, the imaging range of the camera can be changed by transmitting the camera control command C for changing the pan/tilt of the camera from the management device 1 to the component mounter 2.
　また、実装ヘッド７１によりカメラユニット３２をピックアップする手法は吸着に限られない。したがって、対象物を掴むグリッパーを実装ヘッド７１に取り付けて、このグリッパーによりカメラユニット３２を掴んで、カメラユニット３２をピックアップしても良い。 Also, the method of picking up the camera unit 32 by the mounting head 71 is not limited to suction. Therefore, a gripper for gripping an object may be attached to the mounting head 71, the camera unit 32 may be gripped by the gripper, and the camera unit 32 may be picked up.
　また、カメラユニット３２は、運搬不能にハウジング８に固定されていても良い。 The camera unit 32 may be fixed to the housing 8 so that it cannot be transported.
　１…管理装置（部品実装システム）
　２…部品実装機（部品実装システム）
　２０…部品実装機構
　２００…コントローラー（制御部）
　２１０…通信部
　３１…カメラステーション
　３２…カメラユニット
　３２５…蓄電池
　４２…実装作業位置
　５…部品供給部
　７１…実装ヘッド
　８…ハウジング
　８２…扉
　Ｂ…基板
　Ｃ…カメラ制御指令
　Ｅ…部品
　Ｓ４０５…運搬作業
  1... Management device (component mounting system)
2. Component mounting machine (component mounting system)
20... Component mounting mechanism 200... Controller (control unit)
210... Communication unit 31... Camera station 32... Camera unit 325... Storage battery 42... Mounting work position 5... Component supply unit 71... Mounting head 8... Housing 82... Door B... Board C... Camera control command E... Component S405... Transportation work

Claims (12)

  1. 　部品を供給する部品供給部と実装作業位置との間を移動する実装ヘッドを用いて、前記部品供給部からピックアップした部品を前記実装作業位置の基板に移載する部品実装機構と、
    　開閉可能な扉を有し、前記部品実装機構を収容するハウジングと、
    　前記ハウジング内に配置されたカメラユニットと、
    　外部の管理装置からのカメラ制御指令を受信する通信部と、
    　前記通信部が受信した前記カメラ制御指令に基づき前記カメラユニットを制御することで、前記カメラ制御指令に応じた画像を前記カメラユニットに撮像させる制御部と
    を備え、
    　前記通信部は、前記カメラユニットにより撮像された前記画像を前記管理装置に送信する部品実装機。     A component mounting mechanism that transfers a component picked up from the component supply unit to the board at the mounting work position by using a mounting head that moves between a component supply unit that supplies the component and a mounting work position,
    A housing having an openable and closable door, which houses the component mounting mechanism,
    A camera unit arranged in the housing,
    A communication unit that receives a camera control command from an external management device,
    By controlling the camera unit based on the camera control command received by the communication unit, a control unit for causing the camera unit to capture an image according to the camera control command,
    The communication unit is a component mounter that transmits the image captured by the camera unit to the management device.
  2. 　前記制御部は、前記カメラユニットにより撮像する範囲を前記カメラ制御指令に応じて調整する請求項１に記載の部品実装機。 The component mounter according to claim 1, wherein the control unit adjusts an image capturing range of the camera unit according to the camera control command.
  3. 　前記制御部は、前記カメラユニットのフォーカス、ズームおよび照明の少なくとも１つを前記カメラ制御指令に応じてさらに調整する請求項１に記載の部品実装機。 The component mounter according to claim 1, wherein the control unit further adjusts at least one of focus, zoom, and illumination of the camera unit according to the camera control command.
  4. 　前記カメラユニットを着脱可能に保持するカメラステーションをさらに備え、
    　前記制御部は、前記カメラユニットを前記カメラステーションからピックアップして運搬する運搬作業を、前記カメラ制御指令に応じて前記実装ヘッドに実行させることで、前記カメラユニットにより撮像する範囲を調整する請求項２または３に記載の部品実装機。     Further comprising a camera station detachably holding the camera unit,
    The control unit adjusts a range to be imaged by the camera unit by causing the mounting head to perform a transportation work of picking up and transporting the camera unit from the camera station according to the camera control command. The component mounter according to 2 or 3.
  5. 　前記制御部は、前記扉が閉じられている状態において前記実装ヘッドによる前記運搬作業の実行を許可する一方、前記扉が開かれている状態において前記実装ヘッドによる前記運搬作業の実行を禁止する請求項４に記載の部品実装機。 The control unit allows the mounting head to perform the carrying operation in a state where the door is closed, while prohibiting the carrying work to be performed by the mounting head in a state where the door is opened. The component mounter according to Item 4.
  6. 　前記カメラユニットは、蓄電池を有し、前記蓄電池が供給する電力を用いて前記画像を撮像し、
    　前記カメラステーションは、装着された前記カメラユニットの前記蓄電池を充電する請求項４または５に記載の部品実装機。     The camera unit has a storage battery, captures the image using electric power supplied by the storage battery,
    The component mounter according to claim 4, wherein the camera station charges the storage battery of the mounted camera unit.
  7. 　前記カメラステーションは、前記実装ヘッドにより前記カメラステーションからピックアップされた前記カメラユニットから前記画像を無線により受信して、前記通信部に転送し、
    　前記通信部は、前記カメラステーションから受信した前記画像を前記管理装置に送信する請求項４ないし６のいずれか一項に記載の部品実装機。     The camera station wirelessly receives the image from the camera unit picked up from the camera station by the mounting head, and transfers the image to the communication unit,
    The component mounter according to claim 4, wherein the communication unit transmits the image received from the camera station to the management device.
  8. 　前記カメラユニットは、全天球カメラによって前記画像を撮像する請求項１ないし７のいずれか一項に記載の部品実装機。 The component mounter according to any one of claims 1 to 7, wherein the camera unit captures the image with a spherical camera.
  9. 　前記通信部は、前記部品実装機構のうち、前記カメラユニットによる撮像対象部分を動作させる動作指令を前記管理装置から受信し、
    　前記制御部は、前記動作指令を前記撮像対象部分に与えつつ前記撮像対象部分を含む前記画像を撮像する請求項１ないし８のいずれか一項に記載の部品実装機。     The communication unit receives, from the management device, an operation command to operate an imaging target portion by the camera unit in the component mounting mechanism,
    The component mounter according to claim 1, wherein the control unit captures the image including the image capturing target portion while giving the operation command to the image capturing target portion.
  10. 　前記カメラユニットは、開かれた前記扉を介して前記ハウジングの外部を撮像可能である請求項１ないし９のいずれか一項に記載の部品実装機。 The component mounter according to any one of claims 1 to 9, wherein the camera unit can image the outside of the housing through the opened door.
  11. 　部品を供給する部品供給部と実装作業位置との間を移動する実装ヘッドを用いて、前記部品供給部からピックアップした部品を前記実装作業位置の基板に移載する部品実装機と、
    　カメラ制御指令を前記部品実装機に送信する管理装置と
    を備え、
    　前記部品実装機は、カメラユニットを有し、前記管理装置から受信した前記カメラ制御指令に基づき前記カメラユニットを制御することで、前記カメラ制御指令に応じた画像を前記カメラユニットにより撮像し、前記画像を前記管理装置に送信する部品実装システム。     A component mounter that transfers a component picked up from the component supply unit to the board at the mounting work position by using a mounting head that moves between a component supply unit that supplies a component and a mounting work position,
    And a management device for transmitting a camera control command to the component mounter,
    The component mounter has a camera unit, and controls the camera unit based on the camera control command received from the management device, thereby capturing an image according to the camera control command with the camera unit, A component mounting system for transmitting an image to the management device.
  12. 　部品を供給する部品供給部と実装作業位置との間を移動する実装ヘッドを用いて、前記部品供給部からピックアップした部品を前記実装作業位置の基板に移載する部品実装機に対して、前記部品実装機の外部の管理装置からカメラ制御指令を送信する工程と、
    　前記部品実装機が受信した前記カメラ制御指令に基づき、前記部品実装機内に配置されたカメラユニットを制御することで、前記カメラ制御指令に応じた画像を前記カメラユニットに撮像させる工程と、
    　前記カメラユニットにより撮像された前記画像を前記部品実装機から前記管理装置に送信する工程と
    を備えた部品実装機管理方法。
          Using a mounting head that moves between a component supply unit that supplies a component and a mounting work position, to the component mounter that transfers the component picked up from the component supply unit to the board at the mounting work position, A step of transmitting a camera control command from a management device outside the component mounter,
    Controlling the camera unit arranged in the component mounter based on the camera control command received by the component mounter, thereby causing the camera unit to capture an image according to the camera control command;
    A component mounter management method, comprising: transmitting the image captured by the camera unit from the component mounter to the management device.
PCT/JP2019/003312 2019-01-31 2019-01-31 Component-mounting device, component-mounting system, and component-mounting device management method WO2020157889A1 (en)

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Citations (6)

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WO2002056662A1 (en) * 2001-01-10 2002-07-18 Matsushita Electric Industrial Co., Ltd. Component mounter, service supplier, and service supplying method
JP2003204199A (en) * 2001-09-28 2003-07-18 Fuji Mach Mfg Co Ltd Producing apparatus, producing apparatus managing unit and producing apparatus managing system
JP2005235942A (en) * 2004-02-18 2005-09-02 I-Pulse Co Ltd Article recognizer, and surface mounting machine, component tester and substrate inspecting device including the same
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