WO2022208689A1 - 部品実装機およびノズル撮像方法 - Google Patents

部品実装機およびノズル撮像方法 Download PDF

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Publication number
WO2022208689A1
WO2022208689A1 PCT/JP2021/013670 JP2021013670W WO2022208689A1 WO 2022208689 A1 WO2022208689 A1 WO 2022208689A1 JP 2021013670 W JP2021013670 W JP 2021013670W WO 2022208689 A1 WO2022208689 A1 WO 2022208689A1
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WIPO (PCT)
Prior art keywords
light
light emitting
imaging
intensity
background member
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PCT/JP2021/013670
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English (en)
French (fr)
Japanese (ja)
Inventor
悠節 小林
Original Assignee
ヤマハ発動機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by ヤマハ発動機株式会社 filed Critical ヤマハ発動機株式会社
Priority to JP2023509989A priority Critical patent/JP7400146B2/ja
Priority to DE112021006781.8T priority patent/DE112021006781T5/de
Priority to PCT/JP2021/013670 priority patent/WO2022208689A1/ja
Priority to CN202180082003.2A priority patent/CN116602069A/zh
Publication of WO2022208689A1 publication Critical patent/WO2022208689A1/ja

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    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
    • H05K13/0408—Incorporating a pick-up tool
    • H05K13/041—Incorporating a pick-up tool having multiple pick-up tools
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/08—Monitoring manufacture of assemblages
    • H05K13/081—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines
    • H05K13/0812—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines the monitoring devices being integrated in the mounting machine, e.g. for monitoring components, leads, component placement

Definitions

  • the present invention relates to a technique for imaging nozzles used to pick up components mounted on a board.
  • Japanese Patent Application Laid-Open No. 2002-200002 proposes a technique for imaging the nozzles of a so-called rotary head.
  • the rotary head has a plurality of nozzles circumferentially arranged around a predetermined rotation axis, and the plurality of nozzles rotate around the rotation axis.
  • a cylindrical background member centered on the rotation axis is arranged inside the plurality of nozzles, and an illumination member is arranged outside the plurality of nozzles, and the background member fluoresces by ultraviolet rays emitted from the illumination member. .
  • a silhouette image of the nozzle is obtained by capturing an image of the nozzle with the fluorescent background member as the background.
  • the background member that serves as the background of the nozzle has uniform brightness. Therefore, it is possible to employ a configuration in which a plurality of light emitting units arranged in a circle around the rotation axis are opposed to the background member, and light is emitted from the light emitting units to the background member. This makes it possible to give the background member brightness corresponding to the light emitted from the light emitting units arranged along the shape of the background member. However, even if such a configuration is adopted, the brightness of the background member may be uneven.
  • the distance through which light traveling from both ends of the background member toward the imaging unit passes through the interior of the background member is longer than the distance through which light traveling from the center of the background member toward the imaging unit passes through the interior of the background member. , such unevenness can occur. Therefore, in the field of view from the imaging unit, unevenness may occur such that the brightness is reduced at both ends of the background member.
  • the present invention has been made in view of the above problems, and an object of the present invention is to make it possible to image a nozzle against a background member having uniform brightness.
  • a component mounter includes a plurality of nozzles arranged in a circle around a rotation axis that is a predetermined imaginary straight line, and a cylindrical nozzle centered on the rotation axis that is arranged inside the plurality of nozzles , a plurality of light-emitting units arranged in a circle around the rotation axis and facing the background member, a plurality of nozzles, the background member, and the plurality of light-emitting units integrated around the rotation axis an imaging unit that faces the side surface of the background member from the outside of the plurality of nozzles and captures an image of a predetermined imaging range; and a control unit that performs an imaging process of capturing an image of nozzles positioned within an imaging range among the plurality of nozzles by imaging the nozzles, and acquiring an image of the nozzles with the background member as the background, wherein the plurality of light emitting units are , a plurality of different target regions of the background member are irradiated
  • the nozzle imaging method according to the present invention comprises a plurality of nozzles arranged in a circle around a rotation axis, which is a predetermined imaginary straight line, and a cylinder arranged inside the plurality of nozzles and centered on the rotation axis.
  • the plurality of light emitting units irradiate a plurality of different target regions of the background member with light, and the background member emits light from the target region via the side surface in response to the irradiation of the light to the target region.
  • it has brightness according to the intensity of the light emitted from the light emitting units, and in the imaging process, the intensity of the light emitted by the light emitting units is controlled according to the rotational positions of the plurality of light emitting units.
  • the plurality of light emitting units irradiate a plurality of mutually different target regions of the background member, and the background member emits light to the target region.
  • the target region has brightness according to the intensity of the light irradiated from the light emitting unit.
  • the intensity of light emitted by the light emitting units is controlled according to the rotational positions of the plurality of light emitting units. This makes it possible to image the nozzle against a background member having uniform brightness.
  • control unit controls the intensity of the light applied to the target regions positioned at both ends of the imaging range, among the plurality of target regions, to be different from the intensity of the light applied to the target regions.
  • the component mounter may be configured to control the intensity of the light emitted by the light emitting unit so as to increase the intensity.
  • the control The unit controls the intensity of the light emitted by the light emitting unit such that the intensity of the light applied to one end target region is greater than the intensity of the light applied to the other end target region.
  • the control unit has a table showing the correspondence relationship between the rotational position and the value of the current applied to each of the plurality of light emitting units
  • the component mounter may be configured to control the intensity of the light emitted by the light emitting unit according to the rotational position by applying a current value indicated by the table to the light emitting unit.
  • control unit executes test imaging in which an image of a background member irradiated with light from the light emitting unit by applying a current to the light emitting unit is imaged by the imaging unit to obtain an image of the background member while changing the rotational position.
  • the component mounter may be configured to create a table based on the result of the measurement. By creating a table in this way, a current of an appropriate value is applied to the light emitting unit, light of appropriate intensity is emitted from the light emitting unit to the background member, and uniform brightness is given to the background member. be able to.
  • the component mounter may be configured such that the background member is a light diffusion member that diffuses the light applied to the target area and emits the light from the target area through the side surface.
  • the nozzle can be imaged against a background with uniform brightness.
  • FIG. 1 is a plan view schematically showing the configuration of an example of a component mounter according to the present invention
  • FIG. FIG. 2 is a block diagram showing an electrical configuration of the mounter of FIG. 1
  • FIG. 4 is a bottom view schematically showing the configuration of the mounting head and the lighting section
  • FIG. 2 is a partial cross-sectional view schematically showing configurations of a mounting head, an illumination section, and an imaging section
  • FIG. 4 is a bottom view schematically showing the operation performed in the first example of imaging processing
  • FIG. 4 is a bottom view schematically showing the operation performed in the first example of imaging processing
  • FIG. 4 is a bottom view schematically showing the operation performed in the first example of imaging processing
  • FIG. 4 is a bottom view schematically showing the operation performed in the first example of imaging processing
  • FIG. 4 is a bottom view schematically showing the operation performed in the first example of imaging processing
  • FIG. 11 is a bottom view schematically showing the operation performed in the second example of imaging processing;
  • FIG. 11 is a bottom view schematically showing the operation performed in the second example of imaging processing;
  • FIG. 11 is a bottom view schematically showing the operation performed in the second example of imaging processing;
  • FIG. 1 is a plan view schematically showing the configuration of one example of a component mounter according to the present invention.
  • FIG. 2 is a block diagram showing an electrical configuration of the mounter of FIG. 1. As shown in FIG. 1 and the following figures, the X direction, which is the horizontal direction, the Y direction, which is the horizontal direction orthogonal to the X direction, and the Z direction, which is the vertical direction, are shown as appropriate.
  • the component mounter 1 includes a controller 100 that controls the entire device.
  • the controller 100 has an arithmetic processing unit 110, which is a processor composed of a CPU (Central Processing Unit) and a RAM (Random Access Memory), and a storage unit 120 composed of an HDD (Hard Disk Drive). Further, the controller 100 has a drive control section 130 that controls the drive system of the mounter 1, and an imaging control section 140 that controls imaging of the nozzle N (FIGS. 3 and 4), which will be described in detail later.
  • the arithmetic processing unit 110 controls the drive control unit 130 according to the program stored in the storage unit 120, thereby performing component mounting according to the procedure defined by the program. At this time, the arithmetic processing unit 110 controls component mounting based on the image captured by the imaging control unit 140 using the imaging unit 6 and the illumination unit 7 . Further, the mounter 1 is provided with a display/operation unit 150, and the arithmetic processing unit 110 displays the operation status of the mounter 1 on the display/operation unit 150, and For example, it receives input instructions from the operator.
  • the component mounter 1 includes a transport section 12 that transports the board B in the X direction (board transport direction).
  • the transport unit 12 has a pair of conveyors 121 arranged in parallel in the X direction on the base 11, and transports the substrate B in the X direction by the conveyors 121.
  • the interval between these conveyors 121 can be changed in the Y direction (width direction) orthogonal to the X direction, and the transport unit 12 adjusts the interval between the conveyors 121 according to the width of the substrate B to be transported.
  • the conveying unit 12 carries the substrate B on which the component E is mounted from the working position 123 from the upstream side in the X direction, which is the substrate conveying direction, to the downstream side in the X direction from the working position 123. Carry out.
  • Two component supply units 21 are arranged in the X direction on each side of the transport unit 12 in the Y direction, and in each component supply unit 21, a plurality of tape feeders 22 are arranged in the X direction.
  • the component supply unit 21 is provided with a plurality of component supply locations 23 arranged in the X direction. is detachably attached. That is, each tape feeder 22 is provided with a component supply reel around which a carrier tape containing small pieces of components E such as integrated circuits, transistors, capacitors, etc., are wound at predetermined intervals.
  • a reference numeral 22 intermittently feeds the carrier tape pulled out from the component supply reel, thereby supplying the component E to the component supply point 23 at the leading end of the carrier tape.
  • the mounter 1 is provided with a pair of Y-axis rails 31 extending in the Y direction, a Y-axis ball screw 32 extending in the Y direction, and a Y-axis motor My for rotationally driving the Y-axis ball screw 32.
  • 34 is fixed to the nut of the Y-axis ball screw 32 while being supported by the pair of Y-axis rails 31 so as to be movable in the Y direction.
  • An X-axis ball screw 35 extending in the X-direction and an X-axis motor Mx that rotationally drives the X-axis ball screw 35 are attached to the X-axis rail 34, so that the head unit 40 can move in the X-direction along the X-axis rail 34. is fixed to the nut of the X-axis ball screw 35 while being supported by Therefore, the drive control unit 130 rotates the Y-axis ball screw 32 with the Y-axis motor My to move the head unit 40 in the Y direction, or rotates the X-axis ball screw 35 with the X-axis motor Mx to move the head unit 40 in the X direction. can be moved in any direction.
  • the component mounter 1 also has a Z-axis motor Mz that moves the nozzle N up and down in the Z direction, and an R-axis motor Mr that rotates the nozzle N. Then, the drive control unit 130 adjusts the height of the nozzle N with the X-axis motor Mx, and adjusts the rotation angle of the nozzle N with the R-axis motor Mr.
  • the head unit 40 has a plurality (three) of mounting heads 4 arranged linearly in the X direction.
  • the mounting head 4 is a rotary head that has a plurality of nozzles N arranged on a circumference. An image of the nozzle N of the mounting head 4 is acquired using the imaging unit 6 and the illumination unit 7 as described above. Next, this point will be explained.
  • FIG. 3 is a bottom view schematically showing the configuration of the mounting head and illumination section
  • FIG. 4 is a partial sectional view schematically showing the configuration of the mounting head, illumination section and imaging section.
  • the mounting head 4 has a rotating body 41 at its lower end.
  • the rotating body 41 has a cylindrical shape centered on a rotation axis Az, which is a virtual straight line parallel to the Z direction, and is connected to the R-axis motor Mr described above. Therefore, when the R-axis motor Mr drives the rotor 41, the rotor 41 rotates about the rotation axis Az.
  • On the bottom surface of the rotating body 41 a plurality of (18 in this example) nozzles N are circumferentially arranged at equal pitches (20°) around the rotation axis Az. As the rotor 41 rotates, the nozzles N rotate about the rotation axis Az.
  • the lighting unit 7 is attached to the bottom of the rotating body 41, and the lighting unit 7 rotates around the rotation axis Az as the rotating body 41 rotates.
  • the lighting unit 7 includes a frame 71 extending along the rotation axis Az, a lighting board 72 attached to the frame 71, a light emitting element L mounted on the lighting board 72, and a light diffuser mounted on the frame 71. a member 74;
  • a plurality of (eight in this example) light-emitting elements L are arranged at equal pitches (45°) around the rotation axis Az.
  • the light emitting element L is an LED (Light Emitting Diode) that emits light with an intensity corresponding to the applied current.
  • the illumination board 72 applies a current having a value corresponding to the command from the imaging control unit 140 to the light emitting element L, thereby causing the light emitting element L to emit light having an intensity corresponding to the value of the current.
  • the light diffusion member 74 has a light diffuser 741 arranged below the plurality of light emitting elements L, and each of the plurality of light emitting elements L faces the light diffuser 741 from above to diffuse the light. Light is emitted toward the inside of the body 741 .
  • the light diffuser 741 has a cylindrical shape centered on the rotation axis Az, and diffuses the light emitted from the light emitting element L. As shown in FIG. Materials that diffuse light include translucent acrylic resin, glass, and the like.
  • a region of the light diffuser 741 facing the light emitting element L (in other words, a region immediately below the light emitting element L) serves as a light irradiation region Rl where the light from the light emitting element L is irradiated.
  • the light diffuser 741 is provided with a plurality of light irradiation regions Rl corresponding to the plurality of light emitting elements L, and each light irradiation region Rl diffuses the light emitted from the corresponding light emitting element L.
  • the light thus diffused by the light irradiation region Rl is emitted from the side surface 742 (cylindrical peripheral surface) of the light diffuser 741 .
  • an imaging position Pi for imaging the nozzle N is provided for the mounting head 4 .
  • two imaging positions Pi are arranged at an interval of 180° around the rotation axis Az, and two imaging units 6 are provided corresponding to the two imaging positions Pi. . Since these imaging units 6 have a common configuration, one imaging unit 6 will be described.
  • the imaging unit 6 has a prism 61 and a camera 63.
  • the prism 61 faces the side surface 742 of the light diffuser 741 through the imaging position Pi in the Y direction (horizontal direction), and reflects the light incident from the imaging position Pi toward the camera 63 .
  • the camera 63 outputs an image acquired by capturing the light incident from the prism 61 with the solid-state imaging element to the imaging control section 140 . That is, the imaging unit 6 faces the side surface 742 of the light diffuser 741 via the imaging position Pi, and images the imaging position Pi with the side surface 742 of the light diffuser 741 as a background.
  • the imaging unit 6 is attached to the mounting head 4 and moves integrally with the mounting head 4 .
  • a plurality of nozzles N are arranged in a circle around the rotation axis Az. Further, inside the plurality of nozzles N, the plurality of light emitting elements L are arranged in a circle around the rotation axis Az. The number of light emitting elements L is smaller than the number of nozzles N.
  • a light diffuser 741 having a circular shape centered on the rotation axis Az is arranged so as to overlap the plurality of light emitting elements L. As shown in FIG. When the rotating body 41 rotates around the rotation axis Az, the plurality of nozzles N, the plurality of light emitting elements L, and the light diffuser 741 rotate together around the rotation axis Az.
  • the controller 100 rotates the plurality of nozzles N to sequentially position each nozzle N at the imaging position Pi, and captures an image of the nozzle N at the imaging position Pi with the imaging unit 6. Acquire (imaging processing).
  • the controller 100 emits light from the light emitting element L to the light irradiation region Rl, thereby emitting light from the side surface 742 of the light diffuser 741 toward the imaging position Pi.
  • a silhouette image of the nozzle N positioned at the imaging position Pi can be obtained with the light diffuser 741 having brightness corresponding to the intensity of the light emitted from the light emitting element L as the background.
  • the controller 100 adjusts the intensity of the light emitted from the light emitting element L so that the brightness of the light diffuser 741 serving as the background is uniform.
  • FIGS. 5A, 5B, and 5C are bottom views schematically showing operations performed in the first example of imaging processing. Since the imaging process is similarly executed at each of the two imaging positions Pi, the imaging process for the one imaging position Pi on the right side in these figures will be described. Also, each light emitting element L located on the opposite side of the imaging position Pi with respect to the virtual straight line Ax (the light emitting element L on the left side of the virtual straight line Ax) is treated as not contributing to the imaging process for the imaging position Pi.
  • the virtual straight line Ax is a virtual straight line that intersects the rotation axis Az and is parallel to the X direction, and the position of the light emitting element L is obtained as the position of the peak of the illuminance distribution of the light emitted by the light emitting element L when viewed from the bottom. be able to.
  • the imaging unit 6 images an imaging range Ri having a predetermined width around the imaging position Pi in the X direction (horizontal direction), thereby capturing an image of the nozzle N included in the imaging range Ri. .
  • the five light irradiation regions Rl facing the five light emitting elements L contributing to the imaging process are the imaging range. They are aligned in the X direction at Ri.
  • the rotation angle ⁇ is an angle about the rotation axis Az with respect to an imaginary straight line extending from the rotation axis Az to the right in the Y direction, and the counterclockwise direction is the positive direction of the rotation angle ⁇ .
  • the imaging control unit 140 of the controller 100 adjusts the intensity of the light irradiated to the light irradiation regions Rl_r, Rl_l at both ends of the five light irradiation regions Rl to the light irradiation region Rl between them.
  • the current applied to the light-emitting element L is adjusted so that the intensity of the light emitted from the light-emitting element L is greater than that of the light emitted from the light-emitting element L.
  • the controller 100 applies a current of normal current value In to the light emitting element L facing the light irradiation region Rl between the light irradiation regions Rl_r and Rl_l, and emits light facing the light irradiation regions Rl_r and Rl_l.
  • an increased current value Ia larger than the normal current value In is applied.
  • the four light irradiation regions Rl facing the four light emitting elements L contributing to the imaging process are arranged in the X direction in the imaging range Ri.
  • the imaging control unit 140 of the controller 100 adjusts the intensity of the light irradiated to the light irradiation regions Rl_r, Rl_l at both ends of the four light irradiation regions Rl to the light irradiation region Rl between them.
  • the current applied to the light-emitting element L is adjusted so that the intensity of the light emitted from the light-emitting element L is greater than that of the light emitted from the light-emitting element L.
  • the controller 100 switches the light emitting element L to which the increased current value Ia is applied. That is, the current value of the current applied to the light emitting element L is switched between the normal current value In and the increased current value Ia according to the rotation angle ⁇ of the rotor 41 .
  • the controller 100 changes the intensity of the light emitted from the light emitting element L according to the rotation angle ⁇ .
  • the plurality of light emitting elements L (light emitting units) emit light to a plurality of different light irradiation regions Rl (target regions) of the light diffusion member 74 (background member).
  • the light diffusing member 74 emits light from the light irradiation region Rl through the side surface 742 in accordance with the irradiation of the light to the light irradiation region Rl, thereby providing brightness corresponding to the intensity of the light irradiated from the light emitting element L.
  • the intensity of the light emitted by the light emitting elements L is controlled according to the rotation angles ⁇ (rotational positions) of the plurality of light emitting elements L. FIG. This makes it possible to image the nozzle N against the background of the light diffusing member 74 having uniform brightness.
  • the controller 100 controls the intensity of the light irradiated to the light irradiation regions Rl_r and Rl_l (edge target regions) located at both ends of the imaging range Ri among the plurality of light irradiation regions Rl.
  • the intensity of the light emitted by the light-emitting element L is controlled so as to be higher than the intensity of the light emitted to the light irradiation region Rl between the irradiation regions Rl_r and Rl_l.
  • a light diffusion member 74 that emits light from the light irradiation region Rl through the side surface 742 by diffusing the light irradiated to the light irradiation region Rl is used as a background.
  • a light diffusing member 74 By using such a light diffusing member 74, the image of the nozzle N can be imaged against a background with uniform brightness.
  • 6A, 6B, and 6C are bottom views schematically showing the operations performed in the second example of the imaging process.
  • the difference between the second example of the imaging process and the first example of the imaging process is the control mode of the intensity of the light irradiated to the light irradiation regions Rl_r and Rl_l.
  • the differences from the first example will be mainly described, and the parts common to the first example will be denoted by corresponding reference numerals, and the description thereof will be omitted as appropriate.
  • the imaging control unit 140 of the controller 100 adjusts the intensity of the light irradiated to the light irradiation regions Rl_r, Rl_l at both ends of the five light irradiation regions Rl to the light irradiation region Rl between them.
  • the current applied to the light-emitting element L is adjusted so that the intensity of the light emitted from the light-emitting element L is greater than that of the light emitted from the light-emitting element L.
  • the distance Dr between the light irradiation region Rl_r and the rotation axis Az in the X direction is equal to the distance Dl between the light irradiation region Rl_l and the rotation axis Az in the X direction.
  • the position of the light irradiation region Rl can be obtained as the position of the light emitting element L facing it.
  • the imaging control unit 140 of the controller 100 controls the light emitting element facing the light irradiation region Rl_r so that the intensity of the light irradiated to the light irradiation region Rl_r is equal to the intensity of the light irradiated to the light irradiation region Rl_r.
  • the value of the current applied to L and the value of the current applied to the light emitting element L facing the light irradiation region Rl_l are adjusted.
  • the imaging control unit 140 of the controller 100 adjusts the intensity of the light irradiated to the light irradiation regions Rl_r, Rl_l at both ends of the four light irradiation regions Rl to the light irradiation region Rl between them.
  • the current applied to the light-emitting element L is adjusted so that the intensity of the light emitted from the light-emitting element L is greater than that of the light emitted from the light-emitting element L.
  • the distance Dl between the light irradiation region Rl_l and the rotation axis Az in the X direction is longer than the distance Dr between the light irradiation region Rl_r and the rotation axis Az in the X direction. Therefore, the imaging control unit 140 of the controller 100 controls the light emitting element facing the light irradiation region Rl_r so that the intensity of the light irradiated to the light irradiation region Rl_l is higher than the intensity of the light irradiated to the light irradiation region Rl_r. The value of the current applied to L and the value of the current applied to the light emitting element L facing the light irradiation region Rl_l are adjusted.
  • the distance Dl is longer than the distance Dr
  • the distance that the light traveling from the light irradiation region Rl_l to the imaging unit 6 passes through the light diffuser 741 is Longer than the distance to pass 741. Therefore, the light emitted from the light irradiation region Rl_l is greatly attenuated compared to the light emitted from the light irradiation region Rl_r. In order to correct such uneven attenuation, the intensity of the light emitted from the light emitting element L to each of the light irradiation regions Rl_l and Rl_r is adjusted as described above.
  • the imaging control unit 140 of the controller 100 adjusts the intensity of the light irradiated to the light irradiation regions Rl_r, Rl_l at both ends of the four light irradiation regions Rl to the light irradiation region Rl between them.
  • the current applied to the light-emitting element L is adjusted so that the intensity of the light emitted from the light-emitting element L is greater than that of the light emitted from the light-emitting element L.
  • the distance Dr between the light irradiation region Rl_r and the rotation axis Az in the X direction is longer than the distance Dl between the light irradiation region Rl_l and the rotation axis Az in the X direction. Therefore, the imaging control unit 140 of the controller 100 controls the light emitting element facing the light irradiation region Rl_r so that the intensity of the light irradiated to the light irradiation region Rl_r is greater than the intensity of the light irradiated to the light irradiation region Rl_l. The value of the current applied to L and the value of the current applied to the light emitting element L facing the light irradiation region Rl_l are adjusted.
  • the controller 100 changes the current applied to the light emitting element L to change the intensity of the light emitted from the light emitting element L facing the light irradiation regions Rl_r and Rl_l and the intensity of the light emitted from the other light emitting element L. greater than the intensity of the light emitted.
  • the intensity of the light emitted from the light emitting elements L facing the light irradiation regions Rl_r and Rl_l is adjusted according to the distance in the X direction between the light irradiation regions Rl_r and Rl_l and the rotation axis Az.
  • the controller 100 causes the light emitting element L to irradiate so that the intensity of the light irradiated to one light irradiation region Rl is greater than the intensity of the light irradiated to the other light irradiation region Rl. Control the intensity of the light.
  • the distance that the light traveling from one light irradiation region Rl to the imaging unit 6 passes through the light diffusion member 74 and the light traveling from the other light irradiation region Rl to the imaging unit 6 are It is possible to suppress the influence of the difference from the distance passing through the light diffusing member 74 and to give uniform brightness to the light diffusing member 74 .
  • the brightness of the light diffuser 741 in the imaging range Ri is controlled by controlling the value of the current applied to the light emitting element L according to the rotation angle ⁇ . uniform.
  • Such current control can be executed based on, for example, a current value table shown in FIG.
  • FIG. 7 is a diagram showing an example of a current value table showing the correspondence between the rotation angle and the value of the current applied to the light emitting element.
  • symbols L1 to L8 are used to identify the eight light emitting elements L.
  • This current value table Ti shows values of currents to be supplied to each of the light emitting elements L1 to L8 for each of the rotation angles ⁇ 1 to ⁇ 9.
  • This current value table Ti is stored in advance in the storage unit 120 of the controller 100 . Then, in the imaging process, the controller 100 determines the value of the current to be applied to each light emitting element L based on the current value table Ti. As a result, a current having a value shown for each light emitting element L according to the rotation angle ⁇ in the current value table Ti is applied to each light emitting element L.
  • the controller 100 has a current value table Ti showing the correspondence between the rotation angle ⁇ and the value of the current applied to each of the plurality of light emitting elements L. Then, the controller 100 applies a current having a value indicated by the current value table Ti to the light emitting element L, thereby controlling the intensity of light emitted by the light emitting element L according to the rotation angle ⁇ . With such a configuration, uneven brightness of the light diffusion member 74 can be appropriately suppressed by simple control using the current value table Ti, and uniform brightness can be given to the light diffusion member 74 .
  • FIG. 8 is a flowchart showing a method of creating a current value table. Such a flowchart is executed simultaneously for two imaging units 6 provided at an angular interval of 180°. However, since the contents to be executed are common to the two imaging units 6, one imaging unit 6 will be described.
  • step S101 the rotation angle ⁇ of the rotor 41 is set to zero.
  • step S102 a current of a reference value is applied to each of the plurality of (eight) light emitting elements L.
  • the light diffusion member 74 which becomes the background in the imaging process by the imaging unit 6, has brightness corresponding to the intensity of the irradiated light.
  • step S ⁇ b>103 the imaging control unit 140 of the controller 100 captures an image of the side surface 742 of the light diffuser 741 of the light diffusion member 74 using the imaging unit 6 to obtain image data of the light diffuser 741 .
  • This image data indicates the luminance value of each pixel output by the solid-state imaging device of the camera 63 .
  • step S104 the arithmetic processing unit 110 of the controller 100 searches for dark areas in the image data. Specifically, a range composed of a predetermined number or more of pixels having a luminance value lower than a predetermined threshold value is searched as a dark portion from the image data.
  • step S105 the arithmetic processing unit 110 determines whether a dark portion exists. If a dark portion is detected in the search in step S104 ("NO" in step S105), the process proceeds to step S106.
  • step S106 the imaging control unit 140 increases the value of the current applied to the light emitting element L corresponding to the searched dark area by one step.
  • the light-emitting element L corresponding to the dark part is the light-irradiated area Rl closest to the dark part in the X direction, out of the light-irradiated areas Rl facing the light-emitting element L that contributes to the imaging of the imaging unit 6 that has acquired the image data. is a light-emitting element L facing the .
  • the light emitting element L that contributes to imaging by the imaging unit 6 can be defined in the same manner as the light emitting element L that contributes to the imaging process described above.
  • the controller 100 controls that the light-emitting elements L located on the opposite side of the imaginary straight line Ax with respect to the imaging unit 6 do not contribute to the imaging by the imaging unit 6, and the light-emitting elements L other than these are caused by the imaging unit 6 Treated as contributing to imaging.
  • step S106 Upon completion of step S106, returning to step S103, the imaging control unit 140 captures an image of the side surface 742 of the light diffuser 741 of the light diffusion member 74 using the imaging unit 6 to acquire image data of the light diffuser 741. Then, the arithmetic processing unit 110 searches the image data for a dark portion (step S104), and determines whether or not the dark portion is detected in the search (step S105). In this way, steps S103 to S106 are repeated until there is no dark part in the image data indicating the brightness of the light diffuser 741.
  • step S105 the arithmetic processing unit 110 converts the value of the current applied to each light emitting element L to the value of the current applied to each light emitting element L in the imaging process. Determined as Thus, the current value for each light emitting element L is obtained in association with the rotation angle ⁇ .
  • the controller 100 causes the imaging unit 6 to image the light diffusing member 74 irradiated with light from the light emitting element L by applying current to the light emitting element L, and the light diffusing member 74 images (steps S102 to S106) while changing the rotation angle ⁇ (steps S108 and S109), a current value table Ti is created (step S107).
  • a current value table Ti By creating the current value table Ti in this way, a current of an appropriate value is applied to the light emitting element L, light of appropriate intensity is irradiated from the light emitting element L to the light diffusion member 74, and the light diffusion member 74 can be given uniform brightness.
  • the component mounter 1 corresponds to an example of the "component mounter” of the present invention
  • the controller 100 corresponds to an example of the "control section” of the present invention
  • the imaging section 6 corresponds to an example of the "control section” of the present invention.
  • the light diffusion member 74 corresponds to an example of the "background member” and the "light diffusion member” of the present invention
  • the side surface 742 corresponds to an example of the "side surface” of the present invention
  • the rotation axis Az corresponds to an example of the "rotation axis” of the present invention
  • the light emitting element L corresponds to an example of the “light emitting section” of the present invention
  • the Z-axis motor Mz corresponds to an example of the "rotation drive section” of the present invention.
  • the nozzle N corresponds to an example of the "nozzle” of the present invention
  • the imaging range Ri corresponds to an example of the “imaging range” of the present invention
  • the light irradiation region Rl corresponds to an example of the "target region” of the present invention.
  • the light irradiation regions Rl_r and Rl_l correspond to an example of the "edge target region” of the present invention
  • the current value table Ti corresponds to an example of the "table” of the present invention
  • the rotation angle ⁇ corresponds to the " It corresponds to an example of "rotational position”.
  • the background used for the imaging process may be a member that fluoresces when irradiated with ultraviolet light instead of the light diffusion member 74 .
  • the number of nozzles N, the pitch at which the nozzles N are arranged, etc. may be changed as appropriate.
  • the number of light emitting elements L, the pitch at which the light emitting elements L are arranged, etc. may be changed as appropriate.
  • the configuration of the imaging unit 6 can be changed as appropriate. Specifically, the camera 63 may face the side surface 742 of the light diffusion member 74 without providing the prism 61 .
  • the number of imaging positions Pi is not limited to two as described above, and may be one or three or more.

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Operations Research (AREA)
  • Supply And Installment Of Electrical Components (AREA)
  • Studio Devices (AREA)
PCT/JP2021/013670 2021-03-30 2021-03-30 部品実装機およびノズル撮像方法 WO2022208689A1 (ja)

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JP2023509989A JP7400146B2 (ja) 2021-03-30 2021-03-30 部品実装機およびノズル撮像方法
DE112021006781.8T DE112021006781T5 (de) 2021-03-30 2021-03-30 Bestückungsautomat und Düsenbildaufnahmeverfahren
PCT/JP2021/013670 WO2022208689A1 (ja) 2021-03-30 2021-03-30 部品実装機およびノズル撮像方法
CN202180082003.2A CN116602069A (zh) 2021-03-30 2021-03-30 元件安装机及吸嘴拍摄方法

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014220269A (ja) * 2013-05-01 2014-11-20 株式会社日立ハイテクインスツルメンツ 電子部品装着装置
WO2017056239A1 (ja) * 2015-09-30 2017-04-06 ヤマハ発動機株式会社 部品実装機、部品保持部材撮像方法
WO2017094167A1 (ja) * 2015-12-03 2017-06-08 ヤマハ発動機株式会社 部品実装装置

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013149171A (ja) 2012-01-20 2013-08-01 Panasonic Corp プログラム実行方法およびその装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014220269A (ja) * 2013-05-01 2014-11-20 株式会社日立ハイテクインスツルメンツ 電子部品装着装置
WO2017056239A1 (ja) * 2015-09-30 2017-04-06 ヤマハ発動機株式会社 部品実装機、部品保持部材撮像方法
WO2017094167A1 (ja) * 2015-12-03 2017-06-08 ヤマハ発動機株式会社 部品実装装置

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