WO2023163027A1

WO2023163027A1 - Mounting system and mounting method

Info

Publication number: WO2023163027A1
Application number: PCT/JP2023/006421
Authority: WO
Inventors: 晋平杉野; 誠一松尾; 弘之藤原; 悠人海老原
Original assignee: パナソニックＩｐマネジメント株式会社
Priority date: 2022-02-25
Filing date: 2023-02-22
Publication date: 2023-08-31
Also published as: CN117813930A

Abstract

The present disclosure addresses the problem of improving productivity. A mounting system (1) according to the present disclosure is provided with: a head unit (2) that includes a capturing unit (21); a drive unit (3) that includes a motor (30) for driving the head unit (2); and a motor driver (4) that controls the motor (30). The head unit (2) further includes an imaging unit (22) and a processing unit (23). The imaging unit (22) images a first object before being captured by the capturing unit (21), or images a mount portion of a second object before the first object is mounted thereon. The processing unit (23) creates correction information for correcting the position in which the first object is captured by the capturing unit (21), or the position in which the first object is mounted on the second object, on the basis of the result of imaging by the imaging unit (22). The motor driver (4) acquires the correction information from the head unit (2), and corrects the control of the motor (30) on the basis of the correction information.

Description

Mounting system and mounting method

The present disclosure relates generally to a mounting system and a mounting method, and more particularly to a mounting system for attaching a first object captured by a capturing unit to a second object and a mounting method used in the mounting system.

Patent Document 1 describes an electronic component mounting machine that mounts a plurality of electronic components on a printed circuit board in the manufacturing process of integrated circuits. An electronic component mounter described in Patent Literature 1 includes a mounter control device and a camera. The mounting machine control device and the camera are communicably connected by a communication cable.

The mounting machine control device has a servo control section and an image processing section. The image processing unit acquires image data captured by the camera and performs image processing on the image data according to the application. The servo control unit controls each axis motor, each device, etc. of the electronic component mounting machine so that the electronic component is appropriately mounted on the printed circuit board based on the processing result of the image processing unit.

WO2014/016928

In the electronic component mounter (mounting system) as described in Patent Document 1, it is desired to improve productivity.

An object of the present disclosure is to provide a mounting system and a mounting method capable of improving productivity.

A mounting system according to one aspect of the present disclosure is a mounting system that attaches a first target captured by a capturing unit to a second target. The mounting system includes a head section, a drive section, and a motor driver. The head portion has the catching portion. The drive section has a motor that drives the head section. The motor driver controls the motor. The head section further includes an imaging section and a processing section. The image capturing unit captures an image of the first object before being captured by the capturing unit or the mounting portion of the second object before being mounted with the first object. Correction information for correcting a capturing position of the first object by the capturing unit or a mounting position of the first object on the second object based on an imaging result of the imaging unit. to create The motor driver drives the catching portion toward the catching position or the mounting position by controlling the motor. The motor driver acquires the correction information from the head unit and corrects control of the motor based on the correction information.

A mounting method according to an aspect of the present disclosure is a mounting method used in a mounting system. The mounting system includes a head section, a drive section, and a motor driver. The head portion has a catch portion. The drive section has a motor that drives the head section. The motor driver controls the motor. The mounting system attaches the first object captured by the capturing unit to the second object. The mounting method includes an imaging step, a creation step, an acquisition step, and a correction step. In the imaging step, an image of the first object before being captured by the capturing unit or the mounting portion of the second object before being mounted with the first object is captured. In the creating step, correction information for correcting the capturing position of the first object by the capturing unit or the mounting position of the first object on the second object is generated based on the imaging result of the imaging step. create. The acquiring step acquires the correction information created in the creating step. In the correcting step, control of the motor is corrected based on the correction information acquired in the acquiring step. The imaging step and the creating step are performed by the head section. The acquiring step and the correcting step are performed by the motor driver.

FIG. 1 is a schematic configuration diagram of a mounting system according to an embodiment. FIG. 2 is a perspective view of a main part in the first operation of the mounting system same as the above. FIG. 3 is a perspective view of a main part in the second operation of the mounting system same as the above. FIG. 4 is a block diagram of the mounting system same as above. FIG. 5 is a schematic diagram showing an output example of the imaging unit in the first operation of the mounting system; FIG. 6 is a schematic diagram showing an output example of the imaging unit in the second operation of the mounting system; FIG. 7 is a sequence diagram showing the operation of the same mounting system. FIG. 8 is a flowchart showing a mounting method executed by the mounting system; FIG. 9 is a perspective view of the main part in the first operation of the mounting system according to

Modifications

1 and 2 of the embodiment. FIG. 10 is a schematic diagram showing an output example of the imaging unit in the first operation of the mounting system; FIG. 11 is a schematic diagram showing another output example of the imaging unit in the first operation of the mounting system; FIG. 12 is a perspective view of the main part in the second operation of the mounting system according to

Modifications

3 and 4 of the embodiment. FIG. 13 is a schematic diagram showing an output example of the imaging unit in the second operation of the mounting system; FIG. 14 is a schematic diagram showing another output example of the imaging unit in the second operation of the mounting system;

(embodiment)
A mounting system and a mounting method according to embodiments will be described below with reference to the drawings. Each drawing described in the following embodiments is a schematic drawing, and the ratio of the size and thickness of each component does not necessarily reflect the actual dimensional ratio. Also, the configurations described in the following embodiments are merely examples of the present disclosure. The present disclosure is not limited to the following embodiments, and various modifications are possible according to design and the like as long as the effects of the present disclosure can be achieved.

(1) Overview of Mounting System First, an overview of the mounting system 1 according to the embodiment will be described.

The mounting system 1 according to the present embodiment is a mounting apparatus (mounting machine) for mounting the first target object 100 captured by the capturing unit 21 on the second target object 200, as shown in FIG. The mounting system 1 is used, for example, in facilities such as factories, research institutes, offices, and educational facilities, for operations for manufacturing various products such as electronic devices and automobiles.

In this embodiment, a case where the mounting system 1 is used for manufacturing electronic devices in a factory will be described. A typical electronic device has various circuit boards such as a power supply circuit and a control circuit. In manufacturing these circuit boards, for example, a solder application process, a mounting process, and a soldering process are performed in this order. In the solder application process, cream solder is applied (or printed) on a board (including a printed wiring board). In the mounting process, components (including electronic components) are mounted (mounted) on the board. In the soldering process, for example, the board on which the components are mounted is heated in a reflow oven to melt creamy solder for soldering. In the mounting process, the mounting system 1 performs an operation of capturing the first target object 100 by the capturing unit 21 described later and an operation of attaching the first target object 100 captured by the capturing unit 21 to the second target object 200 . That is, in this embodiment, the first target object 100 is a component (hereinafter also referred to as "component 100"). Also, the second object 200 is a substrate (hereinafter also referred to as “substrate 200”) on which the component 100 is mounted.

Thus, the mounting system 1 used for mounting the first object 100 to the second object 200 includes the head unit 2, the drive unit 3, and the motor driver 4 (see FIG. 4), as shown in FIG. ), a control device 5 , a plurality of component supply devices 6 , a conveying device 7 , a fixed camera 8 , and a pedestal 9 . A plurality of component supply devices 6 have tape feeders mounted side by side in the X-axis direction (perpendicular to the plane of FIG. 1) on a feeder base 111 of a carriage 11 connected to the base 9 . Each of the component supply devices 6 pitch-feeds the carrier tape 121 supplied from the reel 12 and supplies the first object (component) 100 held on the carrier tape 121 to the component supply port 61 . The reel 12 is held by the carriage 11 . The transport device 7 has a pair of conveyor mechanisms 71 extending in the X-axis direction on the base 9, transports the second object (substrate) 200 in the X-axis direction, and positions it in a predetermined mounting space. . A fixed camera 8 is mounted on a base 9 and captures an image of the upper side. The base 9 is installed on the structure 300 . The structure 300 is, for example, a floor in a factory. That is, the mounting system 1 further includes a base 9 installed on the structure 300 and holding a first motor driver 41 (described later). A head portion 2, a driving portion 3, and a motor driver 4, which will be described later, are provided on the base 9. As shown in FIG.

A pair of support legs (not shown) are installed on the base 9 . A pair of support legs are positioned on opposite sides of the conveyor mechanism and extend in the Y-axis direction. Each of the pair of support legs is provided with a guide rail (not shown), and both ends of a shaft member that holds the head body 25 in a state that it can move in the X-axis direction are attached to these guide rails. The support legs are provided with a Y-axis motor, which is the first motor 31 of the drive unit 3, and the Y-axis motor moves the shaft member and a head body 25, which will be described later, along the guide rails in the Y direction. Furthermore, the shaft member is provided with a guide member extending in the X-axis direction and an X-axis motor, which is the first motor 31 of the drive unit 3 . The X-axis motor moves the head body 25 along the guide member in the X direction.

The head part 2 has a capturing part 21 for capturing the first object (component) 100 . The capturing unit 21 is, for example, a suction nozzle, and captures (holds) the first target object 100 in a state in which it can be released (that is, released from capturing). The mounting system 1 lowers the catching section 21 so as to approach the component supply port 61 of the component supply device 6 and causes the catching section 21 to catch the first target 100 . Further, the mounting system 1 lowers the catching unit 21 so as to approach the second object 200 in a state in which the catching unit 21 has captured the first object 100, and moves the first object 100 to the second object. Equipped with 200.

In the field of mounting parts (including electronic parts) in which the mounting system 1 described above is used, it is desired to improve productivity without lowering mounting accuracy. As means for realizing this, it is possible to control the position of the driving section in real time, thereby suppressing vibration of the capturing section (suction nozzle) and improving the positioning accuracy. However, in order to control the position of the drive unit in real time, the problem is how to minimize the communication and data processing required for correction based on the measurement result of the imaging unit.

Therefore, the mounting system 1 includes a head section 2, a drive section 3, and a motor driver 4, as shown in FIGS. The head portion 2 has a catching portion 21 . The drive section 3 has a motor 30 that drives the head section 2 . A motor driver 4 controls a motor 30 . The head section 2 further has an imaging section 22 and a processing section 23 . The imaging unit 22 images the first target object 100 before being captured by the capturing unit 21 or the mounting unit 202 of the second target object 200 before the first target object 100 is mounted. The processing unit 23 corrects the capturing position P1 of the first target object 100 by the capturing unit 21 or the mounting position P4 of the first target object 100 on the second target object 200 based on the imaging result of the imaging unit 22. Create correction information. The motor driver 4 drives the catching portion 21 toward the catching position P1 or the mounting position P4 by controlling the motor 30 . The motor driver 4 acquires correction information from the head unit 2 and corrects control of the motor 30 based on the correction information.

In such a mounting system 1, the head unit 2 is provided with the processing unit 23, and the correction information created by the processing unit 23 can be directly output (transmitted) from the head unit 2 to the motor driver 4. Therefore, the communication time can be shortened compared to the case where the correction information is created by another device (for example, the control device 5) different from the head unit 2, and as a result, the productivity can be improved. It becomes possible.

(2) Details of Mounting System (2.1) Premises In this embodiment, as an example, a case where the mounting system 1 is used for mounting a component (first object 100) by surface mount technology (SMT) will be explained. That is, the first object 100 is a component for surface mounting (SMD: Surface Mount Device), and is mounted by being arranged on the surface (mounting surface 201) of the second object 200. FIG. However, not limited to this example, the mounting system 1 may be used for mounting the first target object 100 by an insertion mount technology (IMT). In this case, the first object 100 is a component for insertion mounting having lead terminals, and by inserting the lead terminals into the holes of the second object 200, the surface (mounting surface) of the second object 200 201). That is, the term "attaching the first object to the second object" as used in the present disclosure means placing the first object on the surface of the second object and placing the first object in the hole of the second object. inserting the lead terminals of the object.

The “imaging optical axis” referred to in the present disclosure is an optical axis of an image captured by the imaging unit 22 (captured image of the imaging unit 22), and is an optical axis determined by an imaging device and an optical system that constitute the imaging unit 22. is. In other words, a straight line connecting the center of the light receiving surface of the image pickup device and the part in the image pickup region R1 (see FIG. 5) formed through the optical system at the center of the light receiving surface of the image pickup device is the image pickup optical axis of the image pickup unit 22. Become.

The "imaging result" referred to in the present disclosure is an image captured by the imaging unit 22 and includes still images (still images) and moving images (moving images). Furthermore, "moving image" includes captured images composed of a plurality of still images obtained by frame-by-frame shooting or the like. The captured image of the imaging unit 22 may not be the data output from the imaging unit 22 itself. For example, the captured image of the imaging unit 22 can be appropriately compressed, converted to another data format, processed to cut out a part of the captured image of the imaging unit 22, adjusted in focus, adjusted in brightness, or adjusted in contrast as necessary. etc. processing may be applied. In this embodiment, as an example, the image captured by the imaging unit 22 is a full-color or monochrome moving image.

In the following, as an example, three axes, the X-axis, the Y-axis, and the Z-axis, which are orthogonal to each other, are set, and the axes parallel to the surface of the second object (substrate) 200 are defined as the "X-axis" and the "Y-axis". 2 Let the axis parallel to the thickness direction of the object 200 be the “Z” axis. Furthermore, one of the two directions along the Z-axis is the upward direction, and the other direction is the downward direction. For example, when the capturing part 21 faces the second target object 200 , the second target object 200 is positioned below the capturing part 21 . The X-axis, Y-axis and Z-axis are all imaginary axes, and the arrows indicating "X", "Y" and "Z" in the drawings are for illustration purposes only. neither is material. Moreover, these directions are not meant to limit the directions during use of the mounting system 1 .

Also, the mounting system 1 is connected to a pipe for circulating cooling water, a cable for power supply, a pipe for supplying air pressure (including positive pressure and vacuum), and the like. Illustrations are omitted as appropriate.

(2.2) Overall Configuration Next, each component of the mounting system 1 according to the present embodiment will be described with reference to FIGS. 1 to 6. FIG. The mounting system 1 according to this embodiment is a mounting apparatus that mounts the first target object 100 captured by the capturing unit 21 on the second target object 200 as described above.

The mounting system 1 includes a head section 2, a drive section 3, and a motor driver 4, as shown in FIGS. Moreover, the mounting system 1 further includes a control device 5 , a plurality of component supply devices 6 , a transport device 7 , a fixed camera 8 , and a mount 9 . However, the control device 5 , the plurality of component supply devices 6 , the transport device 7 , the fixed camera 8 and the mount 9 are not essential components of the mounting system 1 . That is, all or part of the control device 5 , the plurality of component supply devices 6 , the transport device 7 , the fixed camera 8 and the mount 9 may not be included in the components of the mounting system 1 . 2 and 3, only the head unit 2 and the driving unit 3 are illustrated, and illustration of other components of the mounting system 1 is omitted as appropriate.

(2.2.1) Head Section The head section 2 has at least one catching section 21 . In this embodiment, the head portion 2 has one catching portion 21 . The head unit 2 moves the catching part 21 so as to approach the catching position P1 (see FIG. 1), and causes the catching part 21 to catch the first object 100 positioned at the catching position P1. Further, the head unit 2 moves the catching part 21 so as to approach the mounting position P4 (see FIG. 1) on the mounting surface 201 of the second object 200 in a state where the catching part 21 is made to catch the first object 100 . Then, the first object 100 is mounted at the mounting position P4. That is, the head section 2 holds the catching section 21 movably toward the catching position P1 and the mounting position P4.

The head section 2 further includes an imaging section 22 and a processing section 23 in addition to the capturing section 21 . The imaging unit 22 is fixed to the head unit 2, as shown in FIGS. The imaging unit 22 includes an imaging device and an optical system. The imaging unit 22 is, for example, a video camera that captures moving images. For example, as shown in FIG. 5, the imaging unit 22 performs a first operation (capturing operation) in which the capturing unit 21 captures the first object 100 located at the capturing position P1 (see FIG. 1). An imaging region (angle of view) R1 including 100 is imaged. That is, the imaging unit 22 images the first target object 100 before being captured by the capturing unit 21 .

In addition, as shown in FIG. 6, the imaging unit 22 performs , an imaging region R1 including the mounting portion 202 is imaged. The mounting portion 202 is, for example, a rectangular area containing two pads 203,203. That is, the first object 100 is attached to the mounting surface 201 of the second object 200 by the two pads 203 included in the attachment portion 202 . In this case, the imaging section 22 images the mounting section 202 of the second target object 200 before the first target object 100 is mounted.

As shown in FIGS. 2 and 3, the imaging unit 22 is attached to a head body 25 (to be described later) with its orientation adjusted so that the imaging optical axis of the imaging unit 22 is in the vertical direction (Z-axis direction). It is Therefore, when capturing an image of the first target object 100 or the mounting unit 202, it is necessary to move the imaging unit 22 to a position facing the first target object 100 or the mounting unit 202 in the Z-axis direction.

The processing unit 23 creates correction information based on the imaging result of the imaging unit 22 . In other words, the processing unit 23 performs conversion processing from image data, which is the result of imaging by the imaging unit 22, to coordinate data. The correction information is information for correcting the capturing position P<b>1 of the first target object 100 by the capturing unit 21 or the mounting position P<b>4 of the first target object 100 on the second target object 200 . More specifically, the correction information includes first position information, which is position information of the first object 100 , or second position information, which is position information of the mounting section 202 .

The first position information is, for example, information about the center position P11 of the first object (component) 100 housed in the pocket 122 of the carrier tape 121, as shown in FIG. In other words, the first position information is position information of the center position P11 of the first object 100 in the imaging region R1 of the imaging unit 22 . Note that the first position information may be position information of the center-of-gravity position (not shown) of the first object 100 . Also, the first position information may be calculated by performing image processing on the captured image of the imaging unit 22 .

Also, the second position information is, for example, information about the central position P41 of the mounting portion 202 on the mounting surface 201 of the second object (substrate) 200, as shown in FIG. In other words, the second position information is position information of the central position P41 of the mounting section 202 in the imaging region R1 of the imaging section 22 . Here, in this embodiment, the central position P41 of the mounting portion 202 is the central position of the rectangular area including the two pads 203,203. In other words, the “center position of the mounting portion” is the second position that bisects two sides of the four sides that form the rectangular area that are opposed to each other in the first direction in plan view from the Z-axis direction. It is defined by the intersection of one straight line and a second straight line that bisects two of the four sides that face each other in the second direction perpendicular to the first direction. The head unit 2 outputs (transmits) the correction information (position information) created by the processing unit 23 to the motor driver 4 described later.

The processing unit 23 can be realized, for example, by a computer system having one or more processors and one or more memories. That is, it functions as the processing unit 23 by one or more processors executing programs recorded in one or more memories of the computer system. The program may be prerecorded in a memory, may be provided through an electric communication line such as the Internet, or may be provided by being recorded in a non-temporary recording medium such as a memory card.

Here, in the present embodiment, the imaging unit 22 images the first object 100 or the mounting unit 202 during the driving period during which the capturing unit 21 is driven toward the capturing position P1 or the mounting position P4. More specifically, the imaging unit 22 images the first object 100 housed in the pocket 122 of the carrier tape 121 during the first driving period during which the capturing unit 21 is driven toward the capturing position P1. Further, the imaging unit 22 images the mounting unit 202 on the mounting surface 201 of the second target object 200 during the second driving period during which the capturing unit 21 is driven toward the mounting position P4. Further, the processing unit 23 creates correction information based on the imaging result of the imaging unit 22 during the drive period.

In addition to the capturing unit 21 , the imaging unit 22 and the processing unit 23 , the head unit 2 includes an actuator 24 for moving the capturing unit 21 and a head body 25 for holding the capturing unit 21 , the imaging unit 22 and the actuator 24 . (See FIGS. 2 and 3). In this embodiment, one head body 25 holds one capturing unit 21, one imaging unit 22, and one actuator 24. As shown in FIG. Thereby, the head unit 2 can hold one first object (part) 100 .

The capture unit 21 is, for example, a suction nozzle. The capturing unit 21 is controlled by the control device 5 and can be switched between an adsorption state in which the first target object (component) 100 is adsorbed (held) and a release state in which the first target object 100 is released (released from adsorption). is. However, the capturing unit 21 is not limited to the suction nozzle, and may be configured to capture (hold) the first target object 100 by grasping (picking) the first target object 100, for example, like a robot hand. That is, "capturing the first object" as used in the present disclosure includes attracting the first object and grasping the first object.

Regarding the capturing of the first object 100 by the capturing unit 21, the head unit 2 operates by being supplied with air pressure (vacuum) as power. In other words, the head unit 2 switches between the suction state and the released state of the catching unit 21 by opening and closing a valve on a pneumatic (vacuum) supply path connected to the catching unit 21 .

The actuator 24 linearly moves the capturing part 21 in the Z-axis direction. Further, the actuator 24 rotates the catching portion 21 in a rotational direction (hereinafter referred to as "the θ direction") around an axis along the Z-axis direction. In the present embodiment, as an example, the actuator 24 is driven by a driving force generated by a linear motor included in the second motor 32 described below to move the catching portion 21 in the Z-axis direction. Regarding the movement of the catching portion 21 in the θ direction, the actuator 24 is driven by the driving force generated by the rotary motor included in the second motor 32 .

On the other hand, as will be described later, the head portion 2 is linearly moved in the X-axis direction and the Y-axis direction by the first motor 31 of the driving portion 3 . As a result, the catching portion 21 included in the head portion 2 can be moved in the X-axis direction, the Y-axis direction, the Z-axis direction, and the θ direction by the driving portion 3 and the actuator 24 .

As an example, the head body 25 is made of metal and has a rectangular parallelepiped shape elongated in the X-axis direction. The head body 25 holds the capturing section 21 , the imaging section 22 and the actuator 24 by assembling the capturing section 21 , the imaging section 22 and the actuator 24 to the head body 25 . In this embodiment, the catching portion 21 is indirectly held by the head body 25 via the actuator 24 in a state in which it can move in the Z-axis direction and the θ direction. The head section 2 moves within the XY plane as the head body 25 is moved within the XY plane by the first motor 31 of the driving section 3 .

According to the configuration described above, the head section 2 moves the catching section 21 so as to approach the catching position P1 (see FIG. 1), and causes the catching section 21 to catch the first object 100 positioned at the catching position P1. becomes possible. Further, the head unit 2 captures (adsorbs) the first target 100 to the capturing unit 21 so as to approach the mounting position P4 (see FIG. 1) on the mounting surface 201 of the second target 200. By moving the part 21, it is possible to mount the first target object 100 at the mounting position P4.

(2.2.2) Driving Section The driving section 3 has a motor 30 that drives the head section 2, as shown in FIG. Motor 30 includes a first motor 31 and a second motor 32 . The first motor 31 is a motor that drives the head section 2 along the XY plane (one plane). The “XY plane” referred to here is a plane including the X-axis and the Y-axis and perpendicular to the Z-axis. That is, the first motor 31 is a motor that moves the head section 2 in the X-axis direction and the Y-axis direction. The first motor 31 includes a first linear motor that drives the head section 2 in the X-axis direction and a second linear motor that drives the head section 2 in the Y-axis direction. In addition, the driving section 3 further includes an X-axis driving section 33 and a Y-axis driving section 34, as shown in FIGS. The X-axis driving section 33 includes a first linear motor, and moves the head section 2 in the X-axis direction by driving force generated by the first linear motor. The Y-axis driving section 34 includes a second linear motor, and moves the head section 2 in the Y-axis direction by driving force generated by the second linear motor. In FIG. 1 , the head section 2 is moved by the drive section 3 between above the component supply port 61 of the component supply device 6 and above the substrate 200 positioned in the mounting space of the transfer device 7 .

The second motor 32 drives the catching part 21 along the Z-axis direction, which is the normal direction of the XY plane, and drives the catching part 21 in the θ direction centered on the axis along the Z-axis direction. is the motor. More specifically, the second motor 32 includes a linear motor that linearly moves the catching portion 21 in the Z-axis direction and a rotary motor that rotationally moves the catching portion 21 in the θ direction. The linear motor moves the catching part 21 in the Z-axis direction by moving the actuator 24 described above in the Z-axis direction. The rotary motor rotates the catching part 21 in the .theta. direction by rotating the actuator 24 in the .theta. direction.

(2.2.3) Motor Driver The motor driver 4 controls the motor 30 . More specifically, the motor driver 4 controls the motor 30 to drive the catching portion 21 toward the catching position P1 or the mounting position P4. The motor driver 4 includes a first motor driver 41 and a second motor driver 42, as shown in FIG. The first motor driver 41 controls the first motor 31 described above. A second motor driver 42 controls the second motor 32 described above. The first motor driver 41 is held by a frame 9 fixed to the structure 300, as shown in FIG. Structure 300 is here the floor of a factory.

The first motor driver 41 acquires from the head unit 2 the correction information created by the processing unit 23 of the head unit 2, and corrects the control of the first motor 31 based on the acquired correction information. In this embodiment, the first motor driver 41 corrects the control of the first motor 31 based on the correction information acquired during the driving period described above. Here, the correction information acquired by the first motor driver 41 includes position information in the X-axis direction and position information in the Y-axis direction. That is, the first motor driver 41 corrects the control of the first linear motor based on the X-axis direction position information included in the correction information, and the second linear motor driver 41 based on the Y-axis direction position information included in the correction information. Correct motor control. As a result, it becomes possible to correct the catching position P1 or the mounting position P4 in the X-axis direction and the Y-axis direction.

Also, the second motor driver 42 is attached to the head section 2 . That is, unlike the first motor driver 41, the second motor driver 42 is attached to the head section 2 configured to be movable in the X-axis direction and the Y-axis direction. Therefore, the length of the communication line connecting the head unit 2 and the second motor driver 42 can be shortened. The second motor driver 42 acquires from the head unit 2 the correction information created by the processing unit 23 of the head unit 2, and corrects the control of the second motor 32 based on the acquired correction information. In this embodiment, the second motor driver 42 corrects the control of the second motor 32 based on the correction information acquired during the driving period described above. Here, the correction information acquired by the second motor driver 42 includes position information in the Z-axis direction and position information in the θ direction. That is, the second motor driver 42 corrects the control of the linear motor based on the position information in the Z-axis direction included in the correction information, and controls the rotary motor based on the position information in the θ direction included in the correction information. to correct. As a result, it becomes possible to correct the catching position P1 or the mounting position P4 in the Z-axis direction and the θ direction.

(2.2.4) Control Device The control device 5 controls each part of the mounting system 1 . The control device 5 is, for example, an FA (Factory Automation) personal computer. The control device 5 can be implemented by, for example, a computer system having one or more processors and one or more memories. That is, it functions as the control device 5 by one or more processors executing programs recorded in one or more memories of the computer system. Although the program is pre-recorded in the memory of the control device 5 here, it may be provided through an electric communication line such as the Internet, or may be provided by being recorded in a non-temporary recording medium such as a memory card. The control device 5 is held on a pedestal 9 as shown in FIG.

The control device 5 is electrically connected to each of the first motor driver 41 of the motor driver 4, the component supply device 6, the conveying device 7, and the fixed camera 8, for example. Also, the control device 5 is electrically connected to each of the first motors 31 of the head section 2 and the driving section 3 via the first motor driver 41 .

The control device 5 outputs a first control signal to the first motor driver 41 and the second motor driver 42 attached to the head unit 2 so that the capturing unit 21 captures the first object 100 . , controls the first motor driver 41 and the second motor driver 42 . Further, the control device 5 outputs a second control signal to the first motor driver 41 and the second motor driver 42, and attaches the first target 100 captured by the capturing unit 21 to the second target 200. Thus, the first motor driver 41 and the second motor driver 42 are controlled.

In addition, the control device 5 outputs a third control signal to the fixed camera 8 to control the fixed camera 8 and acquire the captured image of the fixed camera 8 from the fixed camera 8 . Further, the control device 5 outputs a fourth control signal to the component supply device 6 and controls the component supply device 6 so that the first object 100 is positioned at the component supply port 61 . Further, the control device 5 outputs a fifth control signal to the carrier device 7 and controls the carrier device 7 so that the second object 200 is positioned in the mounting space.

Here, the head section 2 is connected to the control device 5 via the first motor driver 41 as described above. Therefore, the correction information request to the imaging section 22 of the head section 2 is transmitted from the first motor driver 41 to the head section 2 . That is, when the head unit 2 receives the control signal from the first motor driver 41 including the correction information request for the imaging unit 22, the imaging unit 22 performs the imaging process ST12 (see FIG. 7) according to the correction information request included in this control signal. ).

It should be noted that the control device 5 may be electrically connected directly to the head section 2 to transmit the imaging command to the imaging section 22 of the head section 2 . In this case, when receiving an imaging command from the control device 5, the head unit 2 causes the imaging unit 22 to execute the imaging command.

(2.2.5) Component Supplying Device The component supplying device 6 supplies the component 100 captured by the capturing section 21 of the head section 2 . The component supply device 6 has, for example, a tape feeder that supplies the components 100 housed in the pocket 122 (see FIG. 2) of the carrier tape 121 . As shown in FIG. 2, the carrier tape 121 is formed in a strip shape elongated in the Y-axis direction, and a plurality of pockets 122 are provided at regular intervals along the longitudinal direction. One component 100 is accommodated in each of the plurality of pockets 122 . The component supply device 6 moves the component 100 to the component supply port 61 by sending out the carrier tape 121 in the Y-axis direction using the tape feeder. Note that the component supply device 6 may have a tray on which a plurality of components 100 are placed instead of the tape feeder or together with the tape feeder. Also, the component feeder 6 may have a bulk feeder instead of or in addition to the tape feeder.

(2.2.6) Transport Device The transport device 7 is a device that transports the substrate 200 . The transport device 7 has, for example, a pair of conveyor mechanisms 71 as shown in FIG. The conveying device 7 conveys the substrate 200 in the X-axis direction (the direction perpendicular to the paper surface of FIG. 1) by a pair of conveyer mechanisms 71 . The transport device 7 transports the substrate 200 to at least a mounting space below the head section 2, that is, a mounting space facing the capturing section 21 in the Z-axis direction. Then, the transport device 7 stops the substrate 200 in the mounting space until the mounting of the component 100 on the substrate 200 by the head unit 2 is completed.

(2.2.7) Fixed Camera The fixed camera (component recognition camera) 8 moves between above the component supply port 61 of the component supply device 6 and above the board 200 positioned in the mounting space. An image of the head unit 2 is captured from below. Therefore, the image captured by the fixed camera 8 includes the first object 100 captured by the capture unit 21 . That is, the image captured by the fixed camera 8 contains information on the mutual positional relationship between the capture unit 21 and the first object 100 , in other words, information on the displacement of the first object 100 with respect to the capture unit 21 .

It should be noted that the fixed camera 8 preferably captures an image of the head section 2 moving from the component supply port 61 to the substrate 200 from below. In this case, the fixed camera 8 does not always take an image, but takes an image when the capture unit 21 capturing the component 100 passes above the fixed camera 8 .

Also, the fixed camera 8 may be installed below the component supply port 61 . Moreover, the mounting system 1 may further include an illumination device that illuminates the imaging area of the fixed camera 8 .

(2.2.8) Others The mounting system 1 may include, for example, a lighting device and a communication unit in addition to the above configuration.

The lighting device illuminates the imaging region R1 of the imaging unit 22. The lighting device may be turned on at least at the timing when the image capturing unit 22 captures an image, and for example, emits light in accordance with the image capturing timing of the image capturing unit 22 . In the present embodiment, the image captured by the imaging unit 22 is a full-color or monochrome moving image, so the illumination device outputs light in the wavelength range of visible light, such as red or blue. In this embodiment, as an example, the illumination device has a plurality of light sources such as LEDs (Light Emitting Diodes). The illumination device illuminates the imaging region R1 of the imaging unit 22 by causing these light sources to emit light. The illumination device is realized by an appropriate illumination method such as a diffusion type or an oblique light type, for example. The lighting device is fixed to the head section 2 together with the imaging section 22, for example.

The communication unit is configured to communicate with the control device 5 directly or indirectly via a network, repeater, or the like. This allows the mounting system 1 to exchange data with the control device 5 .

(3) Operation of Mounting System Next, the operation of the mounting system 1 according to this embodiment will be described with reference to FIG. Here, a case will be described as an example in which the capturing position P1 of the first target object 100 or the mounting position P4 of the first target object 100 on the second target object 200 is corrected in the X-axis direction and the Y-axis direction. The same applies to the case of correction in the .theta. direction.

The first motor driver 41 transmits a control signal including a correction information request to the imaging section 22 to the head section 2 (first transmission process ST11). When receiving the control signal from the first motor driver 41, the head unit 2 causes the imaging unit 22 to image the imaging region R1 according to the correction information request included in this control signal (imaging process ST12). In addition, the head unit 2 causes the processing unit 23 to create correction information in parallel with the imaging processing ST12 by the imaging unit 22 (creation processing ST13). The head unit 2 transmits the control signal including the correction information created by the processing unit 23 to the first motor driver 41 (second transmission process ST14).

Upon receiving the control signal from the head unit 2, the first motor driver 41 outputs an operation command (drive current) to the first motor 31 based on the correction information included in this control signal (output process ST15). The first motor 31 operates according to an operation command from the first motor driver 41 (operation processing ST16). As a result, it becomes possible to correct the catching position P1 or the mounting position P4 in the X-axis direction and the Y-axis direction.

Here, the communication time between the first motor driver 41 and the head unit 2 and the communication time between the first motor driver 41 and the first motor 31 are each assumed to be 0.1 ms. Also, the time required for the imaging process ST12 by the imaging section 22 and the time required for the creation process ST13 by the processing section 23 are each 1.0 ms. In this case, for example, if the processing unit 23 starts the creation process ST13 after 0.1 ms from the start of the imaging process ST12 by the imaging unit 22, the time required for the imaging process ST12 and the creation process ST13 is 1.1 ms.

In the mounting system 1 according to the present embodiment, the first processing time required from when the first motor driver 41 outputs the correction information request to when the first motor driver 41 acquires the correction information is the first time and the first time. It is the sum of two hours and the third hour. The first time is the time required for the first transmission process ST11, and is 0.1 ms here. The second time is the time required for the imaging process ST12 and the creation process ST13, and is 1.1 ms here. The third time is the time required for the second transmission process ST14, and is 0.1 ms here. That is, the first processing time is 1.3 ms, for example.

On the other hand, in the conventional mounting system, the head unit 2 is directly connected to the control device 5, and the correction information request to the imaging unit 22 is output from the control device 5. In this case, the second processing time required from when the control device 5 outputs the correction information request to when the first motor driver 41 acquires the correction information is the fourth time, the fifth time, the sixth time, It is the sum of the 7th time and the 8th time. The fourth time is the time required for transmitting the control signal including the correction information request for the imaging unit 22 from the control device 5 to the head unit 2, and is 0.5 ms, for example. The fifth time is the time required for imaging the imaging region R1 (see FIG. 5) by the imaging unit 22, and is, for example, 1.0 ms. The sixth time is the time required for transmitting the image data, which is the imaging result of the imaging unit 22, from the head unit 2 to the control device 5, and is 1.0 ms, for example. The seventh time is the time required for the control device 5 to create the correction information, and is, for example, 1.0 ms. The eighth time is the time required for transmitting the correction information created by the control device 5 from the control device 5 to the first motor driver 41, and is 0.5 ms, for example. That is, the second processing time is 4.0 ms.

As described above, in the mounting system 1 according to the present embodiment, the processing unit 23 is provided in the head unit 2 , and the correction information created by the processing unit 23 can be directly output (transmitted) to the first motor driver 41 . It becomes possible. Therefore, the communication time can be shortened compared to the case where the correction information is created by another device (for example, the control device 5) different from the head unit 2. As a result, the first operation and the second operation can be performed in real time. It becomes possible to perform the operation, and it is possible to improve productivity.

(4) Mounting Method Next, a mounting method according to this embodiment will be described with reference to FIG.

The mounting method according to this embodiment is the mounting method used in the mounting system 1 described above. The mounting system 1 includes a head section 2 , a driving section 3 and a motor driver 4 . The head portion 2 has a catching portion 21 . The drive section 3 has a motor 30 that drives the head section 2 . A motor driver 4 controls a motor 30 . The mounting system 1 attaches the first target 100 captured by the capturing unit 21 to the second target 200 . The mounting method includes an imaging step ST21, a creating step ST22, an acquiring step ST23, and a correcting step ST24. In the imaging step ST21, the first target object 100 before being captured by the capturing unit 21 or the mounting portion 202 of the second target object 200 before the first target object 100 is mounted is imaged. In the creation step ST22, based on the imaging result of the imaging step ST21, the capturing position P1 of the first target object 100 by the capturing unit 21 or the mounting position P4 of the first target object 100 on the second target object 200 is corrected. Create correction information. At acquisition step ST23, the correction information created at creation step ST22 is acquired. In correction step ST24, the control of motor 30 is corrected based on the correction information acquired in acquisition step ST23. The imaging step ST21 and the creating step ST22 are executed by the head section 2 . Acquisition step ST23 and correction step ST24 are executed by motor driver 4 .

That is, the mounting method according to this embodiment is a mounting method used in the mounting system 1 according to this embodiment. In this mounting method, it is possible to directly output (transmit) the correction information created by the head unit 2 to the motor driver 4 from the head unit 2 . Therefore, the communication time can be shortened compared to the case where the correction information is created by another device (for example, the control device 5) different from the head unit 2, and as a result, the productivity can be improved. It becomes possible.

FIG. 8 is a flow chart showing the mounting method executed by the mounting system 1 according to this embodiment. The mounting method includes steps ST21 to ST24 shown in FIG.

First, the head unit 2 takes an image of the imaging area (angle of view) R1 (see FIG. 5) with the imaging unit 22 in accordance with the correction information request from the first motor driver 41 (imaging step ST21).

Next, the head unit 2 creates correction information in the processing unit 23 based on the imaging result of the imaging unit 22 (creation step ST22). At this time, the head unit 2 concurrently executes the imaging process by the imaging unit 22 and the correction information creation process by the processing unit 23 . In other words, the head unit 2 starts the creation processing by the processing unit 23 before the imaging processing by the imaging unit 22 is completed. As an example, the head unit 2 starts the creation process by the processing unit 23 after 0.1 ms from the start of the imaging process by the imaging unit 22 . As a result, it takes 2 ms if the processing unit 23 executes the creation processing after the imaging processing by the imaging unit 22, but it can be shortened to 1.1 ms.

Next, the motor driver 4 acquires the correction information created by the processing section 23 of the head section 2 from the head section 2 (acquisition step ST23). The correction information is the position information of the first object 100 or the position information of the mounting portion 202 on the mounting surface 201 of the second object 200, as described above. Therefore, the motor driver 4 can directly acquire the correction information from the head section 2 .

Then, the motor driver 4 corrects the control of the motor 30 based on the correction information acquired from the head unit 2 (correction step ST24). Specifically, in the first operation (capturing operation), the motor driver 4 adjusts the capturing position P1 (see FIG. 1) of the first object 100 by the capturing unit 21 and the position of the first object 100 included in the correction information. The motor 30 is controlled so that it coincides with the center position P11 (see FIG. 5). In addition, in the second operation (mounting operation), the motor driver 4 changes the mounting position P4 (see FIG. 1) of the first object 100 on the second object 200 to the mounting position P4 on the second object 200 included in the correction information. The motor 30 is controlled so that the center position P41 (see FIG. 6) of the portion 202 matches.

(5) Effect In the mounting system 1 according to the embodiment, the processing unit 23 is provided in the head unit 2, and the correction information created by the processing unit 23 can be directly output (transmitted) from the head unit 2 to the motor driver 4. becomes possible. Therefore, the communication time can be shortened compared to the case where the correction information is created by another device (for example, the control device 5) different from the head unit 2, and as a result, the productivity can be improved. It becomes possible.

Further, in the mounting system 1 according to the embodiment, correction information is created during the drive period during which the catching section 21 is driven toward the catching position P1 or the mounting position P4. Therefore, the processing time can be shortened compared to the case where the correction information is created after the driving period has passed, and as a result, the productivity can be further improved.

Further, the mounting system 1 according to the embodiment includes a first motor 31 that drives the head unit 2 along one plane (for example, the XY plane), and a second motor 32 that drives the catching portion 21 along and in a rotational direction (for example, the θ direction) around an axis along the normal direction. Therefore, it is possible to drive the catching portion 21 in the X-axis direction, the Y-axis direction, the Z-axis direction, and the θ direction.

Also, in the mounting system 1 according to the embodiment, the first motor driver 41 is held by the pedestal 9 . Therefore, compared with the case where the first motor driver 41 is attached to the head portion 2, the weight of the head portion 2 can be reduced.

Also, in the mounting system 1 according to the embodiment, the second motor driver 42 is attached to the head section 2 . Therefore, the length of the communication line connecting the head unit 2 and the second motor driver 42 can be shortened.

Also, in the mounting system 1 according to the embodiment, the correction information includes the position information of the first target object 100 or the position information of the mounting section 202 . Therefore, it is possible to directly output (transmit) the correction information created by the head unit 2 to the motor driver 4 .

Further, in the mounting system 1 according to the embodiment, the imaging process ST12 by the imaging unit 22 and the creation process ST13 by the processing unit 23 are executed in parallel. Therefore, the processing time can be shortened compared to the case where the processing unit 23 executes the creation processing ST13 after the imaging processing ST12 is executed by the imaging unit 22. As a result, productivity is further improved. becomes possible.

(6) Modifications The above-described embodiment is just one of various embodiments of the present disclosure. The above-described embodiments can be modified in various ways according to design and the like as long as the object of the present disclosure can be achieved. In addition, functions similar to the implementation method according to the above-described embodiments may be embodied in the implementation system 1, (computer) program, non-temporary recording medium recording the program, or the like.

Modifications of the above-described embodiment are listed below. Modifications described below can be applied in combination as appropriate.

(6.1) Modification 1
In the above-described embodiment, the correction information in the first operation (capturing operation) of the mounting system 1 is position information of the first target object 100 . On the other hand, the correction information in the first operation of the mounting system 1 may be difference information between the center position P11 of the first target object 100 and the tip position P21 of the capturing section 21, as shown in FIG. . That is, in the mounting system 1 according to Modification 1, the first position information, which is the position information of the first target object 100, includes the position of the first target object 100 (center position P11) and the position of the capturing section 21 (tip position P21). ) is information based on the difference.

In the mounting system 1 according to Modification 1, as shown in FIG. 9, the imaging unit 22 is in a state in which the orientation is adjusted so that the imaging optical axis of the imaging unit 22 is tilted with respect to the vertical direction (Z-axis direction). is attached to the head body 25 by Therefore, as shown in FIG. 10, it is possible to include the capture section 21 in the imaging region R1 of the imaging section 22 .

In this case, as shown in FIG. 10, the imaging unit 22 simultaneously images the first object 100 and the capturing unit 21 before being captured by the capturing unit 21 (in a state accommodated in the pocket 122 of the carrier tape 121). Then, the motor driver 4 corrects the control of the motor 30 so that the difference information included in the correction information is zero, that is, the center position P11 of the first target object 100 and the tip position P21 of the capturing section 21 match. As a result, it becomes possible to correct the capturing position P1 (see FIG. 1) of the first target object 100 by the capturing unit 21 .

(6.2) Modification 2
In Modified Example 1 described above, the correction information in the first operation (capturing operation) of the mounting system 1 is difference information between the center position P11 of the first target object 100 and the tip position P21 of the capturing section 21 . On the other hand, the correction information in the first operation of the mounting system 1 is, as shown in FIG. It may be information. That is, in the mounting system 1 according to the modified example 2, the first position information, which is the position information of the first target object 100, is the position of the first target object 100 (the center position P11) and the This information is based on the difference from the arbitrary point position P31. The position P31 of the arbitrary point is the predetermined tip position P22 of the catching portion 21 . More specifically, the position P31 of the arbitrary point is the tip position P22 of the capturing section 21 within the imaging region R1 preset by teaching.

In this case, since the position P31 of the arbitrary point is determined in advance, the imaging unit 22 images the first object 100 before it is captured by the capturing unit 21 (state accommodated in the pocket 122 of the carrier tape 121). . Then, the motor driver 4 corrects the control of the motor 30 so that the difference information included in the correction information is zero, that is, the center position P11 of the first object 100 and the position P31 of the arbitrary point match. As a result, it becomes possible to correct the capturing position P1 (see FIG. 1) of the first target object 100 by the capturing unit 21 .

By the way, the configuration according to Modification 1 and the configuration according to Modification 2 may be combined. That is, as shown in FIG. 11, when the capture unit 21 does not exist within the imaging region R1 of the imaging unit 22, the difference between the center position P11 of the first object 100 and the position P31 of an arbitrary point within the imaging region R1 is is the first position information. Further, as shown in FIG. 10 , when the capture unit 21 exists within the imaging region R1 of the image capture unit 22, information based on the difference between the center position P11 of the first target object 100 and the tip position P21 of the capture unit 21 is the first position information. In this case, the imaging unit 22 images at least the first target object 100 before being captured by the capturing unit 21 . This makes it possible to correct the capturing position P1 of the first object 100 by the capturing unit 21 regardless of whether the capturing unit 21 exists within the imaging region R1 of the imaging unit 22 .

(6.3) Modification 3
In the embodiment described above, the correction information in the second operation (mounting operation) of the mounting system 1 is the position information of the mounting unit 202 . On the other hand, the correction information in the second operation of the mounting system 1 may be difference information between the center position P41 of the mounting section 202 and the center position P51 of the first target object 100, as shown in FIG. . That is, in the mounting system 1 according to Modification 3, the second position information, which is the position information of the mounting section 202, is information based on the difference between the center position P51 of the first target object 100 and the center position P41 of the mounting section 202. be.

In the mounting system 1 according to Modification 3, as shown in FIG. 12, the imaging unit 22 is in a state in which the orientation is adjusted such that the imaging optical axis of the imaging unit 22 is tilted with respect to the vertical direction (Z-axis direction). is attached to the head body 25 by Therefore, as shown in FIG. 13, it is possible to include the capturing section 21 in the imaging region R1 of the imaging section 22 .

In this case, the imaging unit 22 simultaneously images the first object 100 captured by the capturing unit 21 and the mounting unit 202 before the first object 100 is mounted, as shown in FIG. Then, the motor driver 4 corrects the control of the motor 30 so that the difference information included in the correction information is zero, that is, the center position P51 of the first target object 100 and the center position P41 of the mounting portion 202 match. As a result, it is possible to correct the mounting position P4 (see FIG. 1) of the first object 100 on the second object 200. FIG.

(6.4) Modification 4
In Modified Example 3 described above, the correction information in the second operation (mounting operation) of the mounting system 1 is difference information between the center position P41 of the mounting section 202 and the center position P51 of the first target object 100 . On the other hand, the correction information in the second operation of the mounting system 1 is, as shown in FIG. There may be. That is, in the mounting system 1 according to Modification 4, the second position information, which is the position information of the mounting section 202, is the distance between the position P61 of an arbitrary point within the imaging region R1 of the imaging section 22 and the center position P41 of the mounting section 202. This is information based on differences. The position P61 of the arbitrary point is the predetermined central position P52 of the first target object 100 . More specifically, the position P61 of the arbitrary point is the center position P52 of the first object 100 within the imaging region R1 preset by teaching.

In this case, since the position P61 of the arbitrary point is predetermined, the imaging unit 22 images the mounting unit 202 before the first object 100 is mounted. Then, the motor driver 4 corrects the control of the motor 30 so that the difference information included in the correction information is zero, that is, the position P61 of the arbitrary point and the central position P41 of the mounting portion 202 match. As a result, it is possible to correct the mounting position P4 (see FIG. 1) of the first object 100 on the second object 200. FIG.

By the way, the configuration according to Modification 3 and the configuration according to Modification 4 may be combined. That is, as shown in FIG. 14, when the first object 100 does not exist within the imaging region R1 of the imaging unit 22, the difference between the center position P41 of the mounting unit 202 and the position P61 of an arbitrary point within the imaging region R1 is is the second position information. Further, as shown in FIG. 13, when the first object 100 exists within the imaging region R1 of the imaging unit 22, the difference between the center position P41 of the mounting unit 202 and the center position P51 of the first object 100 is The information based thereon is defined as second location information. In this case, the imaging unit 22 images at least the mounting unit 202 before the first target object 100 is mounted. Accordingly, the mounting position P4 (see FIG. 1) of the first object 100 on the second object 200 is corrected regardless of whether or not the first object 100 exists within the imaging region R1 of the imaging unit 22. becomes possible.

(6.5) Other Modifications Other modifications are listed below.

The implementation system 1 in the present disclosure includes a computer system in, for example, the control device 5 and the like. A computer system is mainly composed of a processor and a memory as hardware. A processor executes a program recorded in the memory of the computer system, thereby realizing the function of the implementation system 1 in the present disclosure. The program may be recorded in advance in the memory of the computer system, may be provided through an electric communication line, or may be recorded in a non-temporary recording medium such as a computer system-readable memory card, optical disk, or hard disk drive. may be provided. A processor in a computer system consists of one or more electronic circuits, including semiconductor integrated circuits (ICs) or large scale integrated circuits (LSIs). Integrated circuits such as ICs or LSIs are called differently depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). In addition, FPGAs (Field-Programmable Gate Arrays), which are programmed after the LSI is manufactured, or logic devices capable of reconfiguring the connection relationships inside the LSI or reconfiguring the circuit partitions inside the LSI, shall also be adopted as processors. can be done. A plurality of electronic circuits may be integrated into one chip, or may be distributed over a plurality of chips. A plurality of chips may be integrated in one device, or may be distributed in a plurality of devices. A computer system, as used herein, includes a microcontroller having one or more processors and one or more memories. Accordingly, the microcontroller also consists of one or more electronic circuits including semiconductor integrated circuits or large scale integrated circuits.

In addition, it is not an essential configuration of the mounting system 1 that the multiple functions of the mounting system 1 are integrated in one housing. The components of the mounting system 1 may be distributed over a plurality of housings. Furthermore, at least part of the functions of the mounting system 1 may be realized by a cloud (cloud computing) or the like.

Conversely, in the above-described embodiments, at least some of the functions of the mounting system 1 distributed among multiple devices may be integrated into one housing. For example, some functions distributed between the head unit 2 and the control device 5 may be integrated into the head unit 2 .

The use of mounting system 1 is not limited to the manufacture of electronic devices in factories. For example, when the mounting system 1 is used to mount a mechanical component on a glass plate, the mounting system 1 mounts (mounts) the mechanical component, which is the first object, on the glass plate, which is the second object. do the work.

The shape of the mounting part 202 is an example, and can take any shape according to the shape of the first object 100 to be mounted on the second object 200, the shape of the pad, or the like.

The communication time described in the above embodiment is an example, and may take values other than those described above.

The number of imaging units 22 is not limited to one, and may be multiple (for example, two).

(mode)
The following aspects are disclosed in this specification.

A mounting system (1) according to the first aspect is a mounting system (1) that attaches a first object (100) captured by a capturing unit (21) to a second object (200). A mounting system (1) comprises a head section (2), a drive section (3) and a motor driver (4). The head (2) has a catch (21). The drive section (3) has a motor (30) that drives the head section (2). A motor driver (4) controls a motor (30). The head section (2) further has an imaging section (22) and a processing section (23). The imaging unit (22) measures the first object (100) before being captured by the capturing unit (21) or the mounting unit (202) of the second object (200) before wearing the first object (100). ) is imaged. A processing unit (23) determines a capturing position (P1) of a first object (100) by a capturing unit (21) or a first object (200) in a second object (200), based on the imaging result of the imaging unit (22). Correction information for correcting the mounting position (P4) of the object (100) is created. A motor driver (4) controls a motor (30) to drive a catching part (21) toward a catching position (P1) or a mounting position (P4). A motor driver (4) acquires correction information from the head unit (2) and corrects control of the motor (30) based on the correction information.

According to this aspect, it is possible to directly output the correction information created by the head section (2) to the motor driver (4). Therefore, the communication time can be shortened compared to the case where the correction information is created by another device (for example, the control device 5) different from the head unit (2), and as a result, the productivity is improved. becomes possible.

In the mounting system (1) according to the second aspect, in the first aspect, the imaging unit ( 22) images the first object (100) or the mounting unit (202), and the processing unit (23) creates correction information based on the imaging result of the imaging unit (22). A motor driver (4) corrects the control of the motor (30) based on the correction information acquired during the drive period.

According to this aspect, the correction information can be created while driving the catching part (21) toward the catching position (P1) or the mounting position (P4), and after driving the catching part (21) Processing time can be shortened compared to the case of creating correction information. As a result, it is possible to further improve productivity.

In the mounting system (1) according to the third aspect, in the first or second aspect, the motor (30) includes a first motor (31) and a second motor (32). A first motor (31) drives the head section (2) along one plane (eg, the XY plane). The second motor (32) drives the catch (21) along the normal direction of one plane (e.g., Z-axis direction) and rotates around the axis along the normal direction of the one plane. (for example, the θ direction) to drive the trapping section (21). The motor driver (4) includes a first motor driver (41) and a second motor driver (42). A first motor driver (41) controls a first motor (31). A second motor driver (42) controls a second motor (32).

According to this aspect, it is possible to drive the head part (2) along one plane, and furthermore, the catching part ( 21) can be driven.

The mounting system (1) according to the fourth aspect further comprises a base (9) in the third aspect. A base (9) holds a first motor driver (41).

According to this aspect, it is possible to reduce the weight of the head portion (2) as compared with the case where the first motor driver (41) is attached to the head portion (2).

In the mounting system (1) according to the fifth aspect, in the third or fourth aspect, the second motor driver (42) is attached to the head section (2). A second motor driver (42) acquires correction information from the head section (2) and corrects control of the second motor (32) based on the correction information.

According to this aspect, it is possible to shorten the length of the communication line connecting the head section (2) and the second motor driver (42).

In the mounting system (1) according to the sixth aspect, in any one of the first to fifth aspects, the correction information includes the first position information or the second position information. The first location information is location information of the first object (100). The second location information is location information of the mounting unit (202).

According to this aspect, it is possible to directly output the correction information created by the head unit (2) to the motor driver (4).

In the mounting system (1) according to the seventh aspect, in the sixth aspect, the imaging unit (22) captures the first object (100) and the capturing unit (21) before being captured by the capturing unit (21). Take an image at the same time. The first position information is information based on the difference between the position (P11) of the first object (100) within the imaging region (R1) of the imaging unit (22) and the position (P21) of the capturing unit (21). .

According to this aspect, the capture unit (21) detects the first object ( 100) can be corrected.

In the mounting system (1) according to the eighth aspect, in the sixth aspect, the imaging section (22) images the first object (100) before being captured by the capturing section (21). The first position information is information based on the difference between the position (P11) of the first object (100) within the imaging region (R1) of the imaging unit (22) and the position (P31) of the arbitrary point.

According to this aspect, based on information based on the difference between the position (P11) of the first object (100) and the position (P31) of the arbitrary point, the capture unit (21) detects the first object (100). It becomes possible to correct the capture position (P1).

In the mounting system (1) according to the ninth aspect, in the sixth aspect, the imaging section (22) images at least the first object (100) before being captured by the capturing section (21). The first position information is the position (P11) of the first object (100) within the imaging region (R1) when the capture unit (21) does not exist within the imaging region (R1) of the imaging unit (22). This is information based on the difference from the arbitrary point position (P31). The first position information is the position (P11) of the first object (100) within the imaging region (R1) and the capturing unit (21) when the capturing unit (21) exists within the imaging region (R1). This information is based on the difference from the position (P21).

According to this aspect, the capturing position of the first object (100) by the capturing unit (21) is determined regardless of whether or not the capturing unit (21) exists within the imaging region (R1) of the imaging unit (22). (P1) can be corrected.

In the mounting system (1) according to the tenth aspect, in the eighth or ninth aspect, the position (P31) of the arbitrary point is a predetermined image pickup point position (P22) corresponding to the tip position (P22) of the capturing section (21). It is the position within the region (R1).

According to this aspect, even if the capturing section (21) does not exist within the imaging region (R1) of the imaging section (22), the capturing position ( P1) can be corrected.

In the mounting system (1) according to the eleventh aspect, in the sixth aspect, the imaging unit (22) includes the first object (100) captured by the capturing unit (21) and the first object (100) ) is taken at the same time. The second position information is information based on the difference between the position (P51) of the first object (100) within the imaging region (R1) of the imaging unit (22) and the position (P41) of the mounting unit (202). .

According to this aspect, based on the information based on the difference between the position (P51) of the first object (100) and the position (P41) of the mounting part (202), the first object in the second object (200) It becomes possible to correct the mounting position (P4) of the object (100).

In the mounting system (1) according to the twelfth aspect, in the sixth aspect, the imaging unit (22) images the mounting unit (202) before mounting the first object (100). The second position information is information based on the difference between the position (P61) of an arbitrary point within the imaging region (R1) of the imaging unit (22) and the position (P41) of the mounting unit (202).

According to this aspect, the position of the first object (100) in the second object (200) is determined based on the information based on the difference between the position (P41) of the mounting part (202) and the position (P61) of the arbitrary point. It becomes possible to correct the mounting position (P4).

In the mounting system (1) according to the thirteenth aspect, in the sixth aspect, the imaging unit (22) images at least the mounting unit (202) before mounting the first object (100). The second position information is the position (P61) of an arbitrary point in the imaging region (R1) and the mounting unit ( 202) based on the difference from the position (P41). When the first object (100) exists within the imaging region (R1), the second position information is the position (P51) of the first object (100) within the imaging region (R1) and the mounting unit (202). ) from the position (P41).

According to this aspect, regardless of whether the first object (100) exists in the imaging region (R1) of the imaging unit (22), the first object (100) in the second object (200) ) can be corrected.

In the mounting system (1) according to the fourteenth aspect, in the twelfth or thirteenth aspect, the position of the arbitrary point (P61) is the position of the first object (100) captured by the capturing section (21). It is a position within a predetermined imaging region (R1) corresponding to the center position (P52).

According to this aspect, even if the first object (100) does not exist in the imaging region (R1) of the imaging unit (22), the first object (100) in the second object (200) It becomes possible to correct the mounting position (P4).

In the mounting system (1) according to the fifteenth aspect, in any one of the first to fourteenth aspects, imaging processing (ST12) by the imaging unit (22) and correction information creation processing by the processing unit (23) (ST13) are executed in parallel.

According to this aspect, the processing time can be shortened compared to the case where the processing section (23) performs the creation processing (ST13) after the imaging processing (ST12) is performed by the imaging section (22), As a result, it is possible to further improve productivity.

The mounting method according to the sixteenth aspect is the mounting method used in the mounting system (1). A mounting system (1) comprises a head section (2), a drive section (3) and a motor driver (4). The head (2) has a catch (21). The drive section (3) has a motor (30) that drives the head section (2). A motor driver (4) controls a motor (30). A mounting system (1) attaches a first object (100) captured by a capturing unit (21) to a second object (200). The mounting method includes an imaging step (ST21), a creating step (ST22), an acquiring step (ST23), and a correcting step (ST24). In the imaging step (ST21), the first object (100) before being captured by the capturing unit (21) or the mounting part (202) of the second object (200) before wearing the first object (100) ) is imaged. In the creating step (ST22), the capture position (P1) of the first object (100) by the capture unit (21) or the first object (200) in the second object (200) is determined based on the imaging result of the imaging step (ST21). Correction information for correcting the mounting position (P4) of the object (100) is created. In the acquisition step (ST23), the correction information created in the creation step (ST22) is acquired. In the correction step (ST24), the control of the motor (30) is corrected based on the correction information acquired in the acquisition step (ST23). The imaging step (ST21) and the creating step (ST22) are executed by the head section (2). The acquisition step (ST23) and correction step (ST24) are executed by the motor driver (4).

According to this aspect, it is possible to directly output the correction information created by the head unit (2) to the motor driver (4). Therefore, the communication time can be shortened compared to the case where the correction information is created by another device (for example, the control device 5) different from the head unit (2), and as a result, the productivity is improved. becomes possible.

The configurations according to the second to fifteenth aspects are not essential configurations for the mounting system (1), and can be omitted as appropriate.

1 mounting system 2 head unit 3 driving unit 4 motor driver 9 base 21 capturing unit 22 imaging unit 23 processing unit 30 motor 31 first motor 32 second motor 41 first motor driver 42 second motor driver 100 first object 200 2 Objects 202 Mounting portion 300 Structure P1 Capturing position P4 Mounting positions P11, P51, P52 Center positions P21, P22 (of the first object) Tip positions P31, P61 (Arbitrary point) Position P41 (of the first object) Center position R1 of mounting part Imaging area ST12 Imaging process ST13 Creation process ST21 Imaging step ST22 Creation step ST23 Acquisition step ST24 Correction step

Claims

A mounting system for attaching a first object captured by a capturing unit to a second object,
a head portion having the catching portion;
a drive unit having a motor for driving the head unit;
a motor driver that controls the motor,
The head section
an imaging unit that captures an image of the first object before being captured by the capturing unit or the mounting portion of the second object before the first object is mounted;
A processing unit that creates correction information for correcting a capturing position of the first object by the capturing unit or a mounting position of the first object on the second object based on an imaging result of the imaging unit. and further comprising
The motor driver controls the motor to drive the catching portion toward the catching position or the mounting position,
The motor driver acquires the correction information from the head unit and corrects control of the motor based on the correction information.
implementation system.
During a driving period during which the catching portion is driven toward the catching position or the mounting position,
The imaging unit images the first object or the mounting unit,
The processing unit creates the correction information based on the imaging result of the imaging unit,
The motor driver corrects control of the motor based on the correction information acquired during the drive period.
The mounting system according to claim 1.
The motor is
a first motor that drives the head unit along one plane;
a second motor that drives the catching part along the normal direction of the one plane and drives the catching part in a rotational direction about an axis along the normal direction of the one plane. ,
The motor driver
a first motor driver that controls the first motor;
a second motor driver that controls the second motor;
The mounting system according to claim 1 or 2.
further comprising a base that holds the first motor driver;
The mounting system according to claim 3.
The second motor driver is attached to the head section,
The second motor driver acquires the correction information from the head unit and corrects control of the second motor based on the correction information.
The mounting system according to claim 3.
The correction information includes first position information that is position information of the first object, or second position information that is position information of the mounting part,
The mounting system according to claim 1.
the imaging unit simultaneously images the first object and the capturing unit before being captured by the capturing unit;
The first position information is information based on the difference between the position of the first object in the imaging area of the imaging unit and the position of the capturing unit.
The mounting system according to claim 6.
The imaging unit images the first object before being captured by the capturing unit,
The first position information is information based on the difference between the position of the first object and the position of an arbitrary point within the imaging area of the imaging unit.
The mounting system according to claim 6.
The imaging unit images at least the first object before being captured by the capturing unit,
The first location information is
information based on the difference between the position of the first object and the position of an arbitrary point in the imaging area when the capturing unit does not exist within the imaging area of the imaging unit;
When the capturing unit exists within the imaging region, information based on the difference between the position of the first object in the imaging region and the position of the capturing unit,
The mounting system according to claim 6.
The position of the arbitrary point is a position within the predetermined imaging region corresponding to the tip position of the capturing unit,
The mounting system according to claim 8 or 9.
The imaging unit simultaneously images the first object captured by the capturing unit and the mounting unit before mounting the first object,
The second position information is information based on the difference between the position of the first object in the imaging area of the imaging unit and the position of the mounting unit.
The mounting system according to claim 6.
The imaging unit images the mounting unit before mounting the first object,
The second position information is information based on the difference between the position of an arbitrary point in the imaging area of the imaging unit and the position of the mounting unit.
The mounting system according to claim 6.
The imaging unit captures an image of the mounting unit at least before mounting the first object,
The second location information is
when the first object does not exist within the imaging area of the imaging unit, information based on the difference between the position of an arbitrary point within the imaging area and the position of the mounting unit;
When the first object exists within the imaging region, information based on the difference between the position of the first object within the imaging region and the position of the mounting unit,
The mounting system according to claim 6.
The position of the arbitrary point is a position within the predetermined imaging region corresponding to the center position of the first object captured by the capture unit,
The mounting system according to claim 12 or 13.
The imaging process by the imaging unit and the correction information creation process by the processing unit are executed in parallel;
The mounting system according to claim 1 or 2.
A head section having a catching section, a driving section having a motor for driving the head section, and a motor driver for controlling the motor, wherein the first target captured by the catching section is attached to the second target. A mounting method used in a mounting system that
an imaging step of imaging the first object before being captured by the capturing unit or the mounting portion of the second object before the first object is mounted;
a creation step of creating correction information for correcting the capturing position of the first object by the capturing unit or the mounting position of the first object on the second object based on the imaging result of the imaging step; ,
an acquisition step of acquiring the correction information created in the creation step;
a correction step of correcting the control of the motor based on the correction information acquired in the acquisition step;
The imaging step and the creating step are performed by the head unit,
the acquiring step and the correcting step are performed by the motor driver;
How to implement.