WO2022097301A1

WO2022097301A1 - Predicting apparatus, mounting apparatus, mounting system, and predicting method

Info

Publication number: WO2022097301A1
Application number: PCT/JP2020/041745
Authority: WO
Inventors: 剛内田; 大悟近藤; 弘健江嵜; 博史大池; 健二杉山; 雅史天野
Original assignee: 株式会社Fuji
Priority date: 2020-11-09
Filing date: 2020-11-09
Publication date: 2022-05-12
Also published as: JPWO2022097301A1

Abstract

A predicting apparatus of the present disclosure is used for a mounting apparatus comprising: an attachment unit for attaching a feeder including a drive unit and a gear connected to the drive unit to supply a component by feeding a holding member holding the component; a collecting unit for collecting the component from the feeder by means of a collecting member and disposing the component on a workpiece; and an imaging unit for imaging the component as collected by the collecting member. The predicting apparatus is provided with a control unit which: acquires a captured image capturing the component as collected by the collecting unit, each time the collecting unit collects a component; acquires, over time as time series position information, information pertaining to the position of the component including a position error of the component, on the basis of the captured image that has been acquired; extracts from the time series position information a periodic component associated with a period of the gear; and determines a problem of the gear on the basis of the extracted periodic component.

Description

Prediction device, mounting device, mounting system and prediction method

This specification discloses a prediction device, a mounting device, a mounting system, and a prediction method.

Conventionally, the mounting device has teeth that engage with the feed holes of the carrier tape that holds the parts, and a reference mark is provided at the center of the tip surface of the teeth of the sprocket that feeds the carrier tape by rotation, and its light reflectance is provided. Is higher than the tip surface, the reference mark is imaged prior to mounting the component on the board, the center position error is acquired, and the error is canceled based on the positional relationship between the feed hole, the component accommodating recess, and the reference mark. Has been proposed to correct the component take-out position of the suction nozzle (see, for example, Patent Document 1). In this device, it is possible to facilitate the improvement of the supply accuracy of the parts held by the carrier tape.

Japanese Unexamined Patent Publication No. 2004-111997

However, in the above-mentioned Patent Document 1, when the misalignment of a part occurs at the time of collecting the part, it is not possible to determine what caused the misalignment.

The present disclosure has been made in view of such problems, and mainly provides a prediction device, a mounting device, a mounting system, and a prediction method capable of more appropriately identifying the cause of misalignment during component sampling. The purpose.

In this disclosure, the following measures have been taken to achieve the above-mentioned main purpose.

The prediction device of the present disclosure is
A mounting unit that has a drive unit and a gear connected to the drive unit and that is equipped with a feeder that sends out a holding member that holds the component and supplies the component, and a mounting unit that collects the component from the feeder and processes it. It is a prediction device used in a mounting device including a sampling unit arranged on an object and an image pickup unit that captures an image of the component in a state collected by the sampling unit.
Time-series position including information on the position of the part including the misalignment of the part obtained based on the image taken every time the part is collected in the state of being collected by the collection unit. A control unit that acquires information, extracts a periodic component related to the cycle of the gear from the time-series position information, and determines a defect of the gear based on the extracted periodic component.
It is equipped with.

In this prediction device, when the parts in the state collected by the sampling unit include information on the position of the parts including the misalignment of the parts obtained based on the captured image taken every time the parts are collected. Acquire series position information. Then, this predictor extracts a periodic component related to the gear cycle from the time-series position information, and determines a gear defect based on the extracted periodic component. The periodic component extracted from the time-series position information is strongly affected by gear defects such as deterioration and wear of the gear, for example. Therefore, in this prediction device, it is possible to determine whether or not the cause is due to a malfunction of the gear of the feeder by using the periodic component, and it is possible to more appropriately identify the cause of the misalignment at the time of collecting parts.

The schematic explanatory diagram which shows an example of the mounting system 10. The schematic explanatory view which shows an example of a feeder 30. Explanatory drawing which component image pickup | component image pickup | pickup part 20 takes an image of a mounting part 20. An explanatory diagram showing an example of information stored in the storage unit 27. A flowchart showing an example of an implementation processing routine. A flowchart showing an example of a defect determination processing routine. Explanatory drawing which shows an example which separates time series position information 28 into a periodic component of each gear. Explanatory drawing which shows an example which separates a periodic component by a Fourier transform. An explanatory diagram showing an example of separating periodic components by a bandpass filter. Explanatory drawing which shows the time-dependent change of the fluctuation value with respect to time. Explanatory drawing which shows an example of a gear defect specific screen 51. Explanatory drawing which shows an example of the defect identification screen 55 other than a gear.

This embodiment will be described below with reference to the drawings. FIG. 1 is a schematic explanatory view showing an example of the mounting system 10 and the mounting device 11 disclosed in the present disclosure. FIG. 2 is a schematic explanatory view showing an example of the feeder 30. FIG. 3 is an explanatory diagram in which the component imaging unit 16 images the mounting unit 20. FIG. 4 is an explanatory diagram showing an example of information stored in the storage unit 27. In this embodiment, the left-right direction (X-axis), the front-back direction (Y-axis), and the up-down direction (Z-axis) are as shown in FIGS.

The mounting system 10 is configured as, for example, a production line in which mounting devices 11 for mounting and processing the component P on the substrate S as a processing target are arranged in the transport direction of the substrate S. Here, the object to be processed will be described as the substrate S, but it is not particularly limited as long as it mounts the component P, and may be a base material having a three-dimensional shape. As shown in FIG. 1, the mounting system 10 includes a mounting device 11, a management device 40, and the like. Note that FIG. 1 shows only one mounting device 11.

The mounting device 11 is a device that collects the component P and mounts it on the board S. The mounting device 11 includes a board processing unit 12, a component supply unit 14, a component imaging unit 16, an operation panel 17, a mounting unit 20, and a control device 25. The board processing unit 12 is a unit for carrying in, carrying, fixing, and carrying out the board S at the mounting position. The substrate processing unit 12 conveys the substrate S by a pair of conveyor belts provided at intervals in the front and rear of FIG. 1 and straddled in the left-right direction.

The component supply unit 14 is a unit that supplies the component P to the mounting unit 20. The component supply unit 14 includes a plurality of mounting units 15 and mounts one or more feeders 30. Further, the component supply unit 14 includes a tray unit having a tray on which a plurality of components P are arranged and placed. As shown in FIG. 2, the feeder 30 includes a controller 31, a drive unit 32, a gear mechanism 33, a sprocket 34, and a reel 35. The feeder 30 is detachably mounted on the mounting portion 15 on the front surface of the mounting device 11, and the reel 35 wound with the tape 36 accommodating the component P is mounted so as to be rotatable around the axis. The controller 31 is configured as a microprocessor centered on a CPU, and controls the entire feeder 30. The controller 31 is electrically connected to the control device 25 of the mounting device 11 so as to be capable of bidirectional communication. The drive unit 32 is a motor that rotationally drives the sprocket 34 and intermittently sends out the tape 36. The drive unit 32 may be configured by, for example, a stepping motor, or may intermittently drive and control a continuously operating motor. The gear mechanism 33 transmits the driving force of the driving unit 32 to the sprocket 34. The gear mechanism 33 has, for example, a first gear 33a, a second gear 33b, and a third gear 33c. The first gear 33a is fixed to the rotation shaft of the drive unit 32. The third gear 33c is fixed to the rotation shaft of the sprocket 34. The second gear 33b meshes with the first gear 33a and the third gear 33c. Here, the first gear 33a, the second gear 33b, and the third gear 33c are simply collectively referred to as gears. The sprocket 34 is a kind of external gear and plays a role of feeding out the tape 36 unwound from the reel 35 to the rear. As shown in FIG. 2, the tape 36 is formed with an accommodating portion 37 accommodating a component P and a feed hole 38 arranged along the longitudinal direction of the tape 36. The teeth of the sprocket 34 are fitted in the feed hole 38. The feeder 30 is defined at a sampling position where the mounting head 22 collects the component P. In the feeder 30, when the drive unit 32 rotates the sprocket 34, the tape 36 is fed backward, and the parts P accommodated in the accommodating portion 37 of the tape 36 are sequentially delivered to the collection position.

The component image pickup unit 16 is a device that captures an image of one or more components P in a state of being collected and held by the mounting head 22. The component imaging unit 16 is arranged between the substrate processing unit 12 and the component supply unit 14. As shown in FIG. 3, the imaging range of the component imaging unit 16 is above the component imaging unit 16. When the mounting head 22 holding the component P passes above the component image pickup unit 16, the component image pickup unit 16 captures an image of the component P and outputs the captured image to the control device 25. The control device 25 uses this captured image to inspect whether the shape and portion of the component P are normal, and to detect the amount of deviation (x, y) such as the position and rotation of the component P at the time of collection. can do.

The operation panel 17 includes a display unit 18 for displaying a screen and an operation unit 19 for receiving an input operation from an operator. The display unit 18 is configured as a liquid crystal display, and displays the operating state and the setting state of the mounting device 11 on the screen. The operation unit 19 is provided with various keys and is configured so that an operator's instruction can be key-inputted.

The mounting unit 20 is a unit that collects the component P from the component supply unit 14 and arranges the component P on the substrate S fixed to the substrate processing unit 12. The mounting unit 20 includes a head moving unit 21, a mounting head 22, and a nozzle 23. The head moving unit 21 includes a slider that is guided by a guide rail and moves in the XY directions, and a motor that drives the slider. The mounting head 22 collects one or more parts P and moves them in the XY direction by the head moving unit 21. The mounting head 22 is detachably mounted on the slider. One or more nozzles 23 are detachably mounted on the lower surface of the mounting head 22 as a collecting member. The nozzle 23 collects the component P by using a negative pressure. In addition to the nozzle 23, the collecting member for collecting the component P may be a mechanical chuck or the like that mechanically holds the component P.

The control device 25 is configured as a microprocessor centered on the CPU 26, and controls the entire device. The control device 25 has a storage unit 27. The storage unit 27 is a large-capacity storage medium such as an HDD or a flash memory for storing various application programs and various data files. As shown in FIG. 4, the storage unit 27 stores, for example, time-series position information 28 and fluctuation information 29. The time-series position information 28 is information in which the detection ID, the component ID, the feeder ID, the detection time, the detection position of the component P, and the deviation amount of the component P are associated with each other. The detection ID identifies the information and is assigned in the order of detection. The component ID is information that identifies the collected component P, and is given in advance for each type of the component P. The feeder ID is information for specifying the feeder 30 that has supplied the collected parts P, and is given to each feeder 30 in advance. The detection time is the time when the position of the component P is detected. The detection position is the center position (coordinates) of the component P captured and detected by the component image pickup unit 16. The amount of deviation is the difference between the reference position for collecting the component P and the actually measured position of the sampled component P (see the balloon diagram (x, y) in FIG. 3). The time-series position information 28 includes changes over time in the position of the tape 36 sent out by the drive unit 32, misalignment of the component P on the tape 36 as a holding member, defects of the nozzle 23 as a sampling member, and the like. It contains information about the position of component P, including multiple factors. The fluctuation information 29 is information obtained by extracting the change over time of the position shift based on the gear of the gear mechanism 33 for each feeder 30 based on the time-series position information 28. In the fluctuation information 29, a fluctuation value corresponding to the periodic component of each gear of the gear mechanism 33 of each feeder 30 is associated with each gear. Further, the storage unit 27 stores mounting condition information and the like as a mounting job. The mounting condition information includes information such as information on the component P, an arrangement order in which the component P is mounted on the substrate S, an arrangement position, and a mounting position of a feeder 30 for collecting the component P. The control device 25 outputs a control signal to the board processing unit 12, the component supply unit 14, the component image pickup unit 16, the operation panel 17, and the mounting unit 20, while the board processing unit 12, the component supply unit 14, and the component image pickup unit 16. A signal from the operation panel 17 and the mounting unit 20 is input.

The management device 40 (see FIG. 1) is configured as a server that manages information on each device of the mounting system 10. The management device 40 stores and manages, for example, a production planning database including a plurality of mounting condition information, a time-series position information 28 of each mounting device 11, and the like. The management device 40 includes a display unit 41 and an input device 42. The display unit 41 is a display that displays a screen. The input device 42 includes a keyboard, a mouse, and the like for input by an operator.

Next, the operation of the mounting system 10 of the present embodiment configured in this way, first, the process of mounting the component P on the board S by the mounting device 11 will be described. FIG. 5 is a flowchart showing an example of a mounting processing routine executed by the CPU 26 of the control device 25 of the mounting device 11. This routine is stored in the storage unit 27 of the mounting device 11 and is executed by the start instruction by the operator. When this routine is started, first, the CPU 26 reads and acquires the mounting condition information of the board S to be produced this time (S100). The CPU 26 may read out the mounting condition information acquired from the management device 40 and stored in the storage unit 27. Next, the CPU 26 conveys the substrate S to the mounting position by the substrate processing unit 12 and causes the substrate processing unit 12 to perform fixing processing (S110). Next, the CPU 26 drives the drive unit 32 of the feeder 30 to execute a process of sending out the tape 36 (S120). The controller 31 that receives the command from the control device 25 drives the drive unit 32 and moves the accommodating unit 37 to the collection position. Next, the CPU 26 causes the mounting head 22 to collect the component P from the feeder 30 at a preset position, and moves the component P onto the component imaging unit 16 (S130).

Next, the CPU 26 causes the component imaging unit 16 to take an image of the mounting head 22 in a state where the component P is collected, and obtains the amount of deviation of the component from the captured image (S140). The CPU 26 uses the difference between the reference position and the center position of the component P as the deviation amount. Next, the CPU 26 stores the obtained deviation amount in the time-series position information 28 (S150). At this time, the CPU 26 stores information such as the detected time and the position (coordinates) of the component P in the time-series position information 28 as well as the feeder ID and the component ID. Subsequently, the CPU 26 corrects the positional deviation so as to cancel the displacement amount, and arranges the component P on the substrate S (S160). Then, the CPU 26 determines whether or not there is still a component to be arranged next with respect to the current board S based on the information of the mounting condition information (S170), and when the next component is present, the processing after S120 is performed. Run. On the other hand, when there is no component P to be arranged next, the CPU 26 determines whether or not there is a next board S on which the component P is arranged based on the information of the mounting condition information (S180). When there is the next board S, the CPU 26 executes the processing after S110. That is, the CPU 26 discharges the board S for which the arrangement of the component P has been completed to the board processing unit 12, conveys the new board S to the mounting position, supplies the component P to the component supply unit 14, and causes the mounting head 22 to supply the component P. While collecting and arranging the component P, the position of the component P is detected and the time-series position information 28 is updated. On the other hand, when there is no next board in S180, the CPU 26 ends this routine. In this way, the control device 25 detects and corrects the positional deviation of the component P, arranges the component P on the substrate S, and executes the mounting process while updating the time-series position information 28.

Next, the operation of the mounting device 11, for example, the process of determining the presence or absence of a defect in the gear mechanism 33 of the feeder 30 by using the time-series position information 28 will be described. FIG. 6 is a flowchart showing an example of a defect determination processing routine executed by the CPU 26 of the control device 25. This routine is stored in the storage unit 27 and is executed after receiving a command from the operator to start execution of the mounting process. When this routine is started, the CPU 26 reads the time-series position information 28 from the storage unit 27 (S200), sets a specific feeder 30 for executing the determination process, and obtains the information of the feeder 30 in the time-series position information. Extract from 28 (S210). Since the time-series position information 28 includes information on a plurality of feeders 30, the CPU 26 first collects information on each feeder 30. The specific feeder 30 may be set in the order of the feeder ID, for example.

Next, the CPU 26 determines whether or not a predetermined period has elapsed since the previous defect determination (S220). When the CPU 26 sends out the tape 36 for a predetermined period, for example, at startup every day, at a preset time, at a preset time, and by a preset number of steps, when the data reaches a preset number. This determination can be made based on any of the above. The determination condition for the lapse of this period can be set in advance by the operator. When the predetermined period has not elapsed, the CPU 26 omits the determination of the defect as the specific feeder 30 still requires data collection, and determines whether or not there is the next feeder 30 for which the defect should be determined. (S310). When there is the next feeder 30, the CPU 26 executes the processing after S210.

On the other hand, when the predetermined period has elapsed in S220, the CPU 26 extracts the periodic component of each gear from the deviation amount corresponding to the feeder 30 (S230). The CPU 26 uses any of the deviation amounts (x, y) corresponding to the transmission direction of the tape 36 as the variable component when extracting the periodic component from the deviation amount. For example, in FIG. 2, since the X direction is the displacement amount x of the component P inside the accommodating portion 37 and the Y direction is the transmission direction of the tape 36, the displacement amount y is used as the variable component.

FIG. 7 is an explanatory diagram showing an example of separating the fluctuation component of the deviation amount included in the time series position information 28 into the periodic component of each gear. FIG. 8 is an explanatory diagram showing an example of separating the periodic components of the gears having the number of teeth Z1 and Z2 by the Fourier transform. FIG. 9 is an explanatory diagram showing an example of separating the periodic component of the gear having the number of teeth Z2 from the variable component by a bandpass filter. Here, as an example, a case where the gear mechanism 33 of the feeder 30 has two gears having the number of teeth Z1 and the number of teeth Z2 will be described. As shown in FIG. 7, the time-series position data of the feed order of the feeder 30 forms a complicated waveform including a periodic component repeated for each number of teeth of each gear and other components (left of FIG. 7). See figure). Focusing on a specific gear from this time-series position data, a periodic component is extracted from the variable component. In this extraction method, for example, as shown in FIG. 8, the CPU 26 can calculate the amplitude spectrum by Fourier transform, acquire the amplitude width of the spectrum corresponding to the gear for which the periodic component is to be extracted, and use it as the periodic component. .. Alternatively, as shown in FIG. 9, the CPU 26 applies a bandpass filter process having a frequency corresponding to the gear cycle as a pass band to the variable component of the time-series position data to obtain an amplitude component of the filtered data. This can be a periodic component. Then, what is obtained by removing the periodic component from the variable component is used as another component (see the third row on the right side of FIG. 7). Other components include, for example, fluctuations caused by the movement of the component P inside the accommodating portion 37, the inclined attachment of the nozzle 23, the adhesion of foreign matter to the nozzle 23, and the like.

Next, the CPU 26 calculates the fluctuation value of the periodic component (S240). This fluctuation value is an evaluation value of the periodic component within a predetermined period, and may be, for example, a difference value between the maximum value and the minimum value of the amplitude of the periodic component obtained every predetermined period. Alternatively, if it represents a periodic component, it is not particularly limited to this, and for example, the CPU 26 may obtain an amplitude value of the periodic component for each step within a predetermined period and use an average of these values as a fluctuation value. .. When the fluctuation value is calculated, the CPU 26 determines whether or not the obtained fluctuation value is within the predetermined allowable range (S250), and when the fluctuation value is not within the predetermined allowable range, the CPU 26 determines whether or not the obtained fluctuation value is within the predetermined allowable range. It is determined that a problem has occurred, and information to that effect is output (S260).

FIG. 10 is an explanatory diagram showing changes over time in fluctuation values with respect to time. FIG. 10 shows changes over time in the fluctuation values of the gears having the number of teeth Z1 and Z2. As shown in FIG. 10, when there is no gear defect, the behavior is relatively flat like Z1. On the other hand, if the wear of the gear or the like is accumulated, it exceeds the permissible range like Z2. The CPU 26 may determine that a gear defect has occurred when the fluctuation value of the periodic component exceeds a predetermined allowable threshold value. Alternatively, the CPU 26 may determine that a gear defect has occurred when the fluctuation value of the periodic component increases beyond a predetermined allowable threshold value as compared with the fluctuation value obtained last time. This permissible range may be empirically set to a range in which, for example, an abnormal operation of the gear mechanism 33 has a great influence on the delivery process of the tape 36. Gear defects include, for example, deterioration and wear of the gear, deformation, breakage, displacement of the rotating shaft, and contamination of foreign matter.

FIG. 11 is an explanatory diagram showing an example of the gear defect specifying screen 51. As shown in FIG. 11, the CPU 26 may display and output the occurrence of a defect in the gear mechanism 33 on the display unit 41 of the management device 40, or display and output the occurrence of a defect in the gear mechanism 33 on the display unit 18 of the operation panel 17. It may be displayed and output. Alternatively, the CPU 26 may turn on the warning light or output a warning sound when the defect is left unattended. The gear defect specifying screen 51 includes a defect display column 52. In the defect display column 52, information for identifying the gear of the feeder 30 for which the occurrence of the defect is determined by the determination process is displayed. The operator who confirms the gear defect specifying screen 51, which is the output information, suspends the use of the corresponding gear mechanism 33, and performs maintenance such as gear replacement and cleaning.

After S260 or when the fluctuation value is within the permissible range in S250, the CPU 26 extracts components other than the periodic component (S270) and determines whether or not there is a defect behavior (S280). This determination may be made based on, for example, whether or not the difference between the maximum value and the minimum value of the amplitude values of other components within a predetermined period exceeds a predetermined allowable range, or may be determined based on whether or not the difference value exceeds a predetermined allowable range. It may be determined based on whether or not the average value of the amplitude values of the other components in the above exceeds the permissible range. The permissible range may be set empirically to a range that affects the sampling process of the component P, for example. When there is a malfunction behavior, it is determined that a malfunction other than the gear has occurred, and information to that effect is output (S290).

FIG. 12 is an explanatory diagram showing an example of the defect identification screen 55 other than the gear. As shown in FIG. 12, the CPU 26 may display and output the occurrence of a defect other than the gear on the display unit 41 of the management device 40, or display and output the occurrence of a defect other than the gear on the display unit 18 of the operation panel 17. May be good. Alternatively, the CPU 26 may turn on the warning light or output a warning sound when the defect is left unattended. The defect identification screen 55 other than the gear includes a defect display column 56. In the defect display column 56, for example, a defect of the tape 36, a defect of the nozzle 23, or the like is displayed and output as a defect. The operator who confirms the defect identification screen 55 other than the gear, which is the output information, suspends the use of the corresponding feeder 30 and nozzle 23, and performs maintenance such as replacement and cleaning.

After S290 or when there is no defect behavior in S280, the CPU 26 updates the fluctuation information 29 by including the information on the obtained periodic component (S300), and the next feeder 30 to be determined to be defective in S310 is Determine if it exists. When there is the next feeder 30 in S310, the CPU 26 executes the processing after S210, and when there is no next feeder 30, it is determined whether or not the mounting processing of the mounting device 11 is completed (S320). When the mounting process is not completed, the CPU 26 executes the process after S200. On the other hand, when the mounting process is completed in S320, the CPU 26 ends this routine.

Here, the correspondence between the components of the present embodiment and the components of the present disclosure will be clarified. The drive unit 32 of the present embodiment corresponds to the drive unit of the present disclosure, and the first gear 33a, the second gear 33b, the third gear 33c, and the like of the gear mechanism 33 correspond to the gears. Further, the tape 36 corresponds to the holding member, the feeder 30 corresponds to the feeder, the mounting portion 15 corresponds to the mounting portion, the nozzle 23 corresponds to the sampling member, the mounting portion 20 corresponds to the sampling portion, and the component image pickup is performed. The unit 16 corresponds to the image pickup unit, and the mounting device 11 corresponds to the mounting device. Further, the control device 25 corresponds to the prediction device, and the CPU 26 corresponds to the control unit. In the present embodiment, an example of the prediction method of the present disclosure is also clarified by explaining the operation of the control device 25.

In the control device 25 of the present embodiment described above, the image pickup image obtained by capturing the image of the component P collected by the mounting unit 20 as the sampling unit is acquired every time the mounting unit 20 collects the component P, and the acquired image pickup is performed. Based on the image, information regarding the position of the component P including the positional deviation of the component P is acquired as time-series position information 28 over time. Then, the control device 25 extracts a periodic component related to the gear cycle from the time-series position information 28, and determines a gear defect based on the extracted periodic component. The time-series position information 28 is a kind of time-series data in which the deviation amount x or y in the image processing result of each component P in the mounting head 22 is arranged in the feed order of the feeder 30. This time-series data includes various variable components depending on the state of the feeder 30 and the nozzle 23 at that time, and the variable components caused by each gear appear for each gear cycle. The periodic component extracted from the time-series position information 28 is strongly affected by gear defects such as deterioration and wear of the gear, for example. That is, the amount of deviation of the component P in the mounting head 22, which depends on the wear, inclination, and deformation of the gear of the gear mechanism 33 of the feeder 30, is highly reproducible to be repeated for each rotation of the gear. Therefore, in this control device 25, by using the periodic component, it is possible to determine whether or not the cause is due to a malfunction of the gear of the feeder 30, and it is possible to more appropriately identify the cause of the misalignment at the time of collecting parts. ..

Further, when determining a gear defect, the CPU 26 determines whether the misalignment of the component P in the mounting unit 20 is due to the gear defect, or the component misalignment on the tape 36 and the component misalignment on the tape 36, based on the extracted periodic component. It is determined whether or not it is based on a defect other than the gear including the defect of the nozzle 23. In this control device 25, by using the periodic component, it is possible to determine whether the malfunction is due to a gear or a defect other than the gear. Further, since the CPU 26 determines the occurrence of a gear defect when the fluctuation value included in the periodic component deviates from a predetermined allowable range, the allowable range can be used to more appropriately determine the gear defect. Furthermore, since the CPU 26 extracts the periodic component from the time series position information 28 using at least one of the Fourier transform and the bandpass filter, the periodic component can be extracted relatively easily by using the Fourier transform and the bandpass filter. Can be done.

It should be noted that the present disclosure is not limited to the above-described embodiment, and it goes without saying that the present disclosure can be carried out in various embodiments as long as it belongs to the technical scope of the present disclosure.

For example, in the above-described embodiment, the occurrence of a gear defect is determined when the fluctuation value included in the periodic component deviates from a predetermined allowable range, but if the defect is determined, it is particularly limited to this. Not done. For example, the control device 25 may determine a defect when the fluctuation value increases beyond a predetermined allowable value from the fluctuation value of the previous periodic component. Further, although the control device 25 derives the fluctuation value of the periodic component from the deviation amount, it may derive the fluctuation value of the periodic component from the coordinates of the component P. Further, although the control device 25 uses the difference value between the maximum value and the minimum value within the predetermined period as the variable value, the average value of the amplitude values within the predetermined period may be used as the variable value.

In the above-described embodiment, the periodic component is extracted by using any one or more of the Fourier transform and the bandpass filter, but any method that can extract the periodic component can be used without limitation.

In the above-described embodiment, the control device 25 acquires the captured image captured by the component image pickup unit 16 and creates the time-series position information 28, but the control device 25 is not particularly limited to this, and the control device 25 may be other than the above. The time-series position information 28 created by the device of the above may be acquired. Also with this control device 25, by using the periodic component obtained from the time series position information 28, it is possible to determine whether or not it is caused by a malfunction of the gear of the feeder 30, and the cause of the misalignment at the time of collecting parts can be determined. It can be identified more appropriately.

In the above-described embodiment, the mounting unit 20 has been described as having a configuration of an XY robot, but the mounting unit 20 is not particularly limited as long as the component P can be arranged on the object to be processed. 20 may be used as an arm robot.

In the above-described embodiment, the control device 25 has been described as having the function of the prediction device of the present disclosure, but the present invention is not particularly limited to this, and the function of the prediction device of the present disclosure is limited to the mounting device 11 such as the management device 40. It may be possessed by the device. Further, in the above-described embodiment, the prediction device of the present disclosure has been described as the control device 25, but the present invention is not particularly limited to this, and it may be a prediction method or a program in which a computer executes this prediction method.

Here, the control device and the information processing device of the present disclosure may be configured as follows. For example, in the prediction device of the present disclosure, when the control unit determines a defect of the gear, the misalignment of the component in the sampling unit is based on the defect of the gear based on the extracted periodic component. It may be determined whether it is based on a defect other than the gear including a component misalignment on the holding member and a defect of the sampling member. In this predictor, by using the periodic component, it is possible to determine whether the gear is defective or is based on a defect other than the gear.

The "holding member" includes a tape member that supplies parts. In addition, "gear malfunction" includes deterioration and wear of the gear, as well as damage and displacement of the rotating shaft. Further, the "time-series position information" includes, for example, the position (coordinate value) of the component obtained from the captured image obtained over time, the amount of misalignment obtained based on the position of the component and the reference position, and the like. Information is included.

In the prediction device of the present disclosure, the control unit may determine the occurrence of a malfunction of the gear when the fluctuation value included in the periodic component deviates from a predetermined allowable range. In this predictor, the allowable range can be used to more appropriately determine a gear defect.

In the prediction device of the present disclosure, the control unit may extract the periodic component from the time-series position information by using at least one of a Fourier transform and a bandpass filter. This predictor can relatively easily extract periodic components using a Fourier transform or a bandpass filter.

The mounting device of the present disclosure includes a mounting portion for mounting a feeder having a drive unit and a gear connected to the drive unit and holding a component to supply the component, and collecting the component from the feeder. It is provided with a collecting unit that collects by a member and arranges it on an object to be processed, an imaging unit that captures an image of the component in a state collected by the collecting unit, and a prediction device according to any one of the above. Since this mounting device includes any of the above-mentioned prediction devices, it is possible to obtain an effect according to the adopted mode.

The mounting system of the present disclosure includes a mounting portion for mounting a feeder having a drive unit and a gear connected to the drive unit and holding a component to supply the component, and collecting the component from the feeder. A mounting device including a sampling unit that collects by a member and arranges it on an object to be processed, and an imaging unit that captures an image of the component in a state collected by the sampling unit, and a prediction device according to any one of the above. It is equipped with. Since this mounting system is provided with any of the above-mentioned prediction devices, it is possible to obtain an effect according to the adopted mode.

The prediction method of this disclosure is
A mounting unit that has a drive unit and a gear connected to the drive unit and that is equipped with a feeder that sends out a holding member that holds the component and supplies the component, and a mounting unit that collects the component from the feeder and processes it. It is a prediction method used in a mounting device including a sampling unit arranged on an object and an image pickup unit that captures an image of the component in a state collected by the sampling unit.
(A) The parts in a state of being collected by the collecting unit include information on the position of the parts including the misalignment of the parts obtained based on an image taken every time the parts are collected. Steps to get time series position information and
(B) A step of extracting a periodic component related to the cycle of the gear from the time-series position information acquired in the step (a), and a step of extracting the periodic component.
(C) A step of determining a defect of the gear based on the periodic component extracted in the step (b), and
Is included.

Similar to the above-mentioned prediction device, this prediction method can more appropriately identify the cause of the misalignment at the time of parts collection by using, for example, a periodic component that has a strong influence on gear deterioration or wear. In this prediction method, there is further a step of acquiring an image taken by the collecting unit for capturing the component in a state of being collected each time the collecting unit collects the component, and based on the captured image acquired in this step. It may be possible to acquire time-series position information including information on the position of the part including the position shift of the part over time. In this prediction method, various aspects of the above-mentioned prediction device may be adopted, or steps may be added to realize each function of the above-mentioned prediction device.

The prediction device, mounting device, mounting system and prediction method of the present disclosure can be used, for example, in the field of mounting electronic components.

10 mounting system, 11 mounting device, 12 board processing unit, 14 parts supply unit, 15 mounting unit, 16 component imaging unit, 17 operation panel, 18 display unit, 19 operation unit, 20 mounting unit, 21 head movement unit, 22 mounting unit. Head, 23 nozzle, 25 control device, 26 CPU, 27 storage unit, 28 time series position information, 29 fluctuation information, 30 feeder, 31 controller, 32 drive unit, 33 gear mechanism, 33a 1st gear, 33b 2nd gear, 33c 3rd gear, 34 sprocket, 35 reel, 36 tape, 37 accommodating part, 38 feed hole, 40 management device, 41 display part, 42 input device, 51 gear defect identification screen, 52 defect display column, 55 defect identification other than gear Screen, 56 defect display column, P parts, S board.

Claims

A mounting unit that has a drive unit and a gear connected to the drive unit and that is equipped with a feeder that sends out a holding member that holds the component and supplies the component, and a mounting unit that collects the component from the feeder and processes it. It is a prediction device used in a mounting device including a sampling unit arranged on an object and an image pickup unit that captures an image of the component in a state collected by the sampling unit.
Time-series position including information on the position of the part including the misalignment of the part obtained based on the image taken every time the part is collected in the state of being collected by the collection unit. A control unit that acquires information, extracts a periodic component related to the cycle of the gear from the time-series position information, and determines a defect of the gear based on the extracted periodic component.
Predictor with.
When determining a gear defect, the control unit determines whether the misalignment of the component in the sampling unit is due to the gear defect based on the extracted periodic component, or on the holding member. The predictive apparatus according to claim 1, wherein it is determined whether or not the gear is based on a defect other than the gear, including a component displacement of the above and a defect of the collection member.
The prediction device according to claim 1 or 2, wherein the control unit determines the occurrence of a malfunction of the gear when the fluctuation value included in the periodic component deviates from a predetermined allowable range.
The prediction device according to any one of claims 1 to 3, wherein the control unit extracts the periodic component from the time-series position information using at least one of a Fourier transform and a bandpass filter.
A mounting unit that has a drive unit and a gear connected to the drive unit, sends out a holding member that holds the component, and mounts a feeder that supplies the component.
A sampling unit that collects the parts from the feeder with a sampling member and arranges them on the object to be processed.
An image pickup unit that captures an image of the component in a state collected by the sampling unit, and an image pickup unit.
The prediction device according to any one of claims 1 to 4, and the prediction device.
Mounting device with.
A mounting unit that has a drive unit and a gear connected to the drive unit and that is equipped with a feeder that sends out a holding member that holds the component and supplies the component, and a mounting unit that collects the component from the feeder and processes it. A mounting device including a sampling unit arranged on an object and an imaging unit that captures an image of the component in a state collected by the sampling unit.
The prediction device according to any one of claims 1 to 4, and the prediction device.
Implementation system with.
A mounting unit that has a drive unit and a gear connected to the drive unit and that is equipped with a feeder that sends out a holding member that holds the component and supplies the component, and a mounting unit that collects the component from the feeder and processes it. It is a prediction method used in a mounting device including a sampling unit arranged on an object and an image pickup unit that captures an image of the component in a state collected by the sampling unit.
(A) The parts in a state of being collected by the collecting unit include information on the position of the parts including the misalignment of the parts obtained based on an image taken every time the parts are collected. Steps to get time series position information and
(B) A step of extracting a periodic component related to the cycle of the gear from the time-series position information acquired in the step (a), and a step of extracting the periodic component.
(C) A step of determining a defect of the gear based on the periodic component extracted in the step (b), and
Prediction method including.