JP6967137B2 - Holding member control device - Google Patents

Description

The present specification discloses a technique relating to a holding member control device.

The component mounting machine described in Patent Document 1 includes a control means for controlling the moving speed while the suction nozzle moving means moves the suction nozzle from the component recognition position to a predetermined position based on the recognition processing time by image processing. There is. The suction nozzle moving means is a rotary head equipped with a plurality of suction nozzles at equal intervals on the circumference. The suction nozzle moving means intermittently rotates and moves the suction nozzles at intervals of arrangement, and moves each suction nozzle from the component supply position to the component mounting position via the component recognition position. The control means controls the moving speed while the suction nozzle moving means intermittently rotates and moves the suction nozzles by the arrangement interval based on the recognition processing time.

In the electric component mounting system described in Patent Document 2, a plurality of mounting heads rotate due to the intermittent rotation of the intermittent rotary disk, receive electronic components from the component supply device at the component receiving position, and electronically display the electronic components on the printed wiring board at the component mounting position. Install the parts. While the intermittent turntable rotates, the parts supply table moving device moves the parts supply table to supply electronic parts, and the X-axis slide, Y-axis slide, and Z-axis slide moving devices position the printed wiring board. .. The electrical component mounting system described in Patent Document 2 determines a device that causes an extension of the mounting cycle time when a plurality of operating devices are simultaneously operated at maximum acceleration or the like, and accelerates when operating devices other than the device. Etc. are selected to be smaller than the maximum acceleration etc. to reduce vibration.

Japanese Unexamined Patent Publication No. 2004-040058 Japanese Unexamined Patent Publication No. 2002-344200

The component mounting machine processes an image of the holding member holding the component into an image to acquire the holding posture of the component with respect to the holding member, and corrects the planned mounting position of the component on the substrate based on the acquired holding posture. Then, the mounting position where the parts are actually mounted is set. In addition, the component mounting machine moves the holding member from the imaging position to the planned mounting position during image processing, and when the mounting position is set, the target position of the holding member is changed from the planned mounting position to the mounting position. ing. As a result, the component mounting machine is trying to improve the mounting accuracy of the component and reduce the time required from holding the component to mounting the component.

However, all of the inventions described in the above patent documents are intended for devices that intermittently rotate and move the suction nozzle, which is a holding member, at intervals of arrangement. That is, the invention described in the above patent document is intended to control the movement of the holding member in accordance with the stop of the holding member, and is not intended to avoid the stop of the holding member at the planned mounting position. In addition, the time required for image processing may vary, and the holding member may reach the planned mounting position before the mounting position is set. Even in such a case, the holding member is temporarily stopped at the planned mounting position, and after the mounting position is set, the holding member moves toward the mounting position. When the holding member is moved from the paused state, the initial velocity of the holding member becomes zero, and the time required to move the holding member from the imaging position to the mounting position may be longer than when the holding member is not paused. There is.

In view of such circumstances, the present specification discloses a holding member control device capable of continuing the movement of the holding member holding the component from the imaging position to the mounting position.

The present specification discloses a holding member control device including an acquisition unit, a correction unit, and a movement control unit. The acquisition unit performs image processing on an image obtained by capturing an image of the holding member holding the component at the imaging position, and acquires the holding posture of the component with respect to the holding member. The correction unit corrects the planned mounting position of the component on the substrate based on the holding posture of the component acquired by the acquisition unit, and sets the mounting position where the component is actually mounted. The movement control unit moves the holding member holding the component from the imaging position toward the planned mounting position, and when the mounting position is set by the correction unit, the target of the holding member. The position is changed from the planned mounting position to the mounting position. In the movement control unit, the holding member has the imaging position so that the second timing at which the holding member reaches the planned mounting position is delayed with respect to the first timing in which the mounting position is expected to be set by the correction unit. By controlling at least one of the speed, acceleration, and path when moving toward the planned mounting position, the holding member is continuously moved from the imaging position to the mounting position.

According to the above-mentioned holding member control device, the movement control unit is a holding member so that the second timing at which the holding member reaches the planned mounting position is delayed with respect to the first timing in which the mounting position is expected to be set by the correction unit. Controls at least one of speed, acceleration and path as it moves from the imaging position to the planned mounting position. As a result, the holding member control device can continue to move the holding member from the imaging position to the mounting position.

It is a block diagram which shows the structural example of the substrate production line 10L. It is a top view which shows the structural example of the component mounting machine 10 and the simulation machine 100. It is a block diagram which shows an example of the control block of a holding member control device 40. It is a top view for demonstrating an example of the mounting state of the component 80 when the mounting position is not corrected. It is a top view for demonstrating an example of the mounting state of the component 80 when the mounting position is corrected by the correction part 42. It is a schematic diagram for demonstrating an example of the relationship between the 1st time T1 and the 2nd time T2. It is a schematic diagram for demonstrating another example of the relationship between the 1st time T1 and the 2nd time T2. It is a schematic diagram for demonstrating the setting example of the detour circuit BY1.

1. 1. Embodiment 1-1. Configuration example of the board production line 10L As shown in FIG. 1, the board production line 10L includes a plurality of (six in this embodiment) component mounting machines 10, a substrate production line management device 10H, and a component database 10DB. I have. The plurality (six) component mounting machines 10 are provided along the transport direction (X-axis direction) of the board 90, and the board 90 is provided from the component mounting machine 10 on the upstream side toward the component mounting machine 10 on the downstream side. Are sequentially conveyed, and a plurality of parts 80 are mounted on the substrate 90. The board production line management device 10H controls a plurality of (six) component mounting machines 10 to manage board production. The component database 10DB stores component information related to a plurality of components 80 mounted on the substrate 90. A plurality (six) component mounting machines 10, a board production line management device 10H, and a component database 10DB are connected to each other so as to be communicable with each other.

As shown in FIG. 2, each of the plurality (six) component mounting machines 10 includes a board transfer device 11, a component supply device 12, a component transfer device 13, a component camera 14, a substrate camera 15, and a control device 16. ing. The substrate transfer device 11 is composed of, for example, a belt conveyor or the like, and conveys the substrate 90 in the transfer direction (X-axis direction). The substrate 90 is a circuit board on which an electronic circuit or an electric circuit is formed. The board transfer device 11 carries the board 90 into the machine of the component mounting machine 10 and positions the board 90 at a predetermined position in the machine. The board transfer device 11 carries out the board 90 to the outside of the component mounting machine 10 after the mounting process of the component 80 by the component mounting machine 10 is completed. A board transfer device similar to the board transfer device 11 is provided between the adjacent component mounting machines 10, and the board 90 is directed from the component mounting machine 10 on the upstream side to the component mounting machine 10 on the downstream side. Are transported in order.

The component supply device 12 supplies the component 80 to be mounted on the substrate 90. The component supply device 12 includes a plurality of feeders 121 provided along the transport direction (X-axis direction) of the substrate 90. Each of the plurality of feeders 121 feeds and moves the carrier tape containing the plurality of parts 80 so that the parts 80 can be collected at the supply position located on the tip end side of the feeder 121. Further, the component supply device 12 may supply an electronic component (for example, a lead component) having a relatively large size as compared with a chip component or the like in a state of being arranged on a tray.

The component transfer device 13 includes a head drive device 131 and a moving table 132. The head drive device 131 is configured to be able to move the moving table 132 in the X-axis direction and the Y-axis direction by a linear motion mechanism. The moving table 132 is provided with a component mounting head 20 detachably (replaceable) by a clamp member (not shown). The component mounting head 20 collects (holds) the component 80 supplied by the component supply device 12 using at least one holding member 30, and mounts the component 80 on the substrate 90 positioned by the substrate transfer device 11. As the holding member 30, for example, a suction nozzle, a chuck, or the like can be used.

As the component camera 14 and the substrate camera 15, for example, a digital image pickup device having an image pickup element can be used. As the image pickup device, for example, an image sensor such as a charge-coupled device (CCD) or a complementary metal oxide semiconductor (CMOS) can be used. The component camera 14 and the board camera 15 perform imaging based on a control signal transmitted from the control device 16. The image data of the image captured by the component camera 14 and the board camera 15 is transmitted to the control device 16.

The component camera 14 is fixed to the base of the component mounting machine 10 so that the optical axis faces upward (vertically upward) in the Z-axis direction. The component camera 14 can take an image of the component 80 held by the holding member 30 from below. The board camera 15 is provided on the moving table 132 of the component transfer device 13 so that the optical axis faces downward (vertically downward) in the Z-axis direction. The board camera 15 can take an image of the board 90 from above.

The control device 16 includes a known central processing unit and a storage device, and constitutes a control circuit (both are not shown). The central processing unit is a CPU (Central Processing Unit) and can perform various arithmetic processes. The storage device includes a first storage device and a second storage device. The first storage device is a volatile storage device (RAM: Random Access Memory), and the second storage device is a non-volatile storage device (ROM: Read Only Memory). Information, image data, and the like output from various sensors provided in the component mounting machine 10 are input to the control device 16. The control device 16 sends a control signal to the component transfer device 13 based on a control program, preset mounting conditions, and the like.

Specifically, the control device 16 causes the holding member 30 to collect (hold) the component 80 supplied by the component supply device 12, and causes the component camera 14 to take an image of the holding member 30 holding the component 80. The position where the holding member 30 is imaged is defined as the image pickup position P1. The control device 16 processes the image captured by the component camera 14 to recognize the holding posture of the component 80 with respect to the holding member 30. The control device 16 can recognize, for example, a portion serving as a reference position for positioning, a portion characteristic of the appearance of the component 80, and the like by image processing, and recognize the holding posture of the component 80.

The control device 16 moves the holding member 30 toward the upper side of the planned mounting position P2 preset by a control program or the like. Further, the control device 16 corrects the planned mounting position P2 based on the holding posture of the component 80, and sets the mounting position P3 in which the component 80 is actually mounted. The planned mounting position P2 and the mounting position P3 include a rotation angle in addition to the position (X-axis coordinate and Y-axis coordinate). The control device 16 corrects the target position (X-axis coordinate and Y-axis coordinate) and rotation angle of the holding member 30 according to the mounting position P3. The control device 16 lowers the holding member 30 whose position (X-axis coordinate and Y-axis coordinate) and rotation angle have been corrected, and mounts the component 80 on the substrate 90. By repeating the above pick-and-place cycle, the control device 16 executes a mounting process for mounting the plurality of components 80 on the substrate 90.

1-2. Holding member control device 40
The holding member control device 40 includes an acquisition unit 41, a correction unit 42, and a movement control unit 43 when regarded as a control block. It is preferable that the holding member control device 40 further includes at least the storage unit 44 of the storage unit 44 and the correction unit 45. As shown in FIG. 3, the holding member control device 40 of the present embodiment includes an acquisition unit 41, a correction unit 42, a movement control unit 43, a storage unit 44, and a correction unit 45. Further, in the present embodiment, the acquisition unit 41, the correction unit 42, the movement control unit 43, the storage unit 44, and the correction unit 45 are provided in the control device 16.

1-2-1. Acquisition unit 41
The acquisition unit 41 performs image processing on the image of the holding member 30 holding the component 80 at the imaging position P1 to acquire the holding posture of the component 80 with respect to the holding member 30. As described above, the image pickup of the holding member 30 holding the component 80 can be performed by, for example, the component camera 14. The acquisition unit 41 can make the component camera 14 take an image of the holding member 30 when the holding member 30 reaches the image pickup position P1 and is stationary at the image pickup position P1. Further, the acquisition unit 41 can make the component camera 14 take an image of the holding member 30 while moving the holding member 30 (so-called on-the-fly imaging).

The acquisition unit 41 performs image processing on the image captured by the component camera 14 to acquire the holding posture of the component 80 with respect to the holding member 30. Image processing can take various methods. The acquisition unit 41 can acquire the holding posture of the component 80 by performing image processing by, for example, binarization of image data, filtering, hue extraction, and the like. Further, the acquisition unit 41 can also change the image processing method according to, for example, the type of the component 80. In this case, the acquisition unit 41 can acquire the holding posture of the component 80 by an appropriate image processing method according to the type of the component 80, and can minimize the time required for image processing.

1-2-2. Correction unit 42
The correction unit 42 corrects the planned mounting position P2 of the component 80 on the substrate 90 based on the holding posture of the component 80 acquired by the acquisition unit 41, and sets the mounting position P3 to actually mount the component 80. For example, the component 80 shown by the broken line in FIG. 4A is held by the holding member 30 without rotating at the center position 81 of the component 80, and is not corrected by the correction unit 42 (the correction amount is zero and is mounted). It is assumed that it is mounted on the substrate 90 (mounted on the planned position P2). The holding posture at this time is defined as the first holding posture, and the mounting state at this time is defined as the first mounting state. Further, the first holding posture is the regular holding posture, and the first mounting state is the regular mounting state.

As shown by the solid line in FIG. 4A, the component 80 was rotated counterclockwise by a deviation ΔX minutes from the center position 81 of the component 80 in the direction opposite to the X-axis direction (negative direction of the X-axis) by an angle θ1 minutes at the moved position. It is assumed that the component 80 is held by the holding member 30 in this state. The holding posture at this time is defined as the second holding posture. If the correction unit 42 does not perform correction when the holding posture is the second holding posture, the component 80 will be mounted on the substrate 90 in the state shown by the solid line in FIG. 4A.

Therefore, as shown in FIG. 4B, the correction unit 42 sets the position moved from the planned mounting position P2 in the direction opposite to the X-axis direction (negative direction of the X-axis) by a deviation ΔX as the mounting position P3. Further, the correction unit 42 sets the correction rotation angle of the holding member 30 to an angle θ1 (clockwise). As a result, the holding member 30 is lowered at the mounting position P3 in a state of being rotated clockwise by an angle θ1 minute. As a result, the component 80 is mounted on the substrate 90 as shown by the solid line in FIG. 4B. The mounting state at this time is the same as the first mounting state shown in FIG. 4A. In this way, the correction unit 42 can set the mounting position P3 based on the holding posture of the component 80 acquired by the acquisition unit 41.

1-2-3. Movement control unit 43
The movement control unit 43 moves the holding member 30 holding the component 80 from the imaging position P1 toward the planned mounting position P2, and when the mounting position P3 is set by the correction unit 42, the target of the holding member 30. The position is changed from the planned mounting position P2 to the mounting position P3. Further, the movement control unit 43 is a holding member 30 so that the second timing TM2 at which the holding member 30 reaches the planned mounting position P2 is delayed with respect to the first timing TM1 in which the mounting position P3 is expected to be set by the correction unit 42. The movement of the holding member 30 is controlled to continue the movement of the holding member 30 from the imaging position P1 to the mounting position P3.

As shown in FIG. 5A, it is assumed that at time T11, the holding member 30 holding the component 80 is imaged and image processing is started. Then, at the time T12 (first timing TM1), it is assumed that the mounting position P3 is set by the correction unit 42. The time required from the start of image processing by the acquisition unit 41 to the first timing TM1 (time from time T11 to time T12) is set as the first time T1. Further, at time T21, the movement control unit 43 shall start the movement of the holding member 30 from the imaging position P1 toward the planned mounting position P2. Then, at time T22 (second timing TM2), it is assumed that the holding member 30 reaches the planned mounting position P2. The required time (time from time T21 to time T22) from the start of movement of the holding member 30 to the second timing TM2 is defined as the second time T2.

By controlling the movement of the holding member 30 so that the second timing TM2 is delayed with respect to the first timing TM1, the correction unit 42 controls the movement of the holding member 30 before the holding member 30 reaches the planned mounting position P2. The mounting position P3 is set. When the mounting position P3 is set by the correction unit 42, the movement control unit 43 changes the target position of the holding member 30 from the planned mounting position P2 to the mounting position P3. Therefore, the movement control unit 43 can continue the movement of the holding member 30 from the imaging position P1 to the mounting position P3 without temporarily stopping the holding member 30 at the planned mounting position P2.

It is preferable that the movement control unit 43 starts the movement of the holding member 30 from the image pickup position P1 to the planned mounting position P2 when the acquisition unit 41 starts image processing. In this case, as shown in FIG. 5B, the time T11 and the time T21 coincide with each other. Therefore, the movement control unit 43 delays the second timing TM2 with respect to the first timing TM1 by controlling the movement of the holding member 30 so that the second time T2 is longer than the first time T1. be able to. In both cases of FIGS. 5A and 5B, the movement control unit 43 gives an operation instruction to the head drive device 131 shown in FIG. 2, and the moving table provided with the component mounting head 20 and the holding member 30 is provided. As the 132 is moved by the head drive device 131, the holding member 30 moves. Therefore, the second timing TM2 is set in consideration of the time required from the operation instruction by the movement control unit 43 to the actual movement control of the holding member 30.

According to the present embodiment, the movement control unit 43 starts the movement of the holding member 30 from the image pickup position P1 to the planned mounting position P2 when the acquisition unit 41 starts image processing. As a result, the movement control unit 43 controls the movement of the holding member 30 so that the second time T2 is longer than the first time T1, so that the second timing TM2 is set with respect to the first timing TM1. Can be delayed. Further, as compared with the case where the holding member 30 starts moving after the acquisition unit 41 starts the image processing (see FIG. 5A), the movement control unit 43 has the same second timing TM2 as the second time T2 (see FIG. 5A). The time during which the holding member 30 is moving) can be secured for a long time (see FIG. 5B). Therefore, the degree of freedom in controlling the movement of the holding member 30 is increased, and the choice of control is expanded.

Further, the movement control unit 43 controls at least one of the speed V1, the acceleration A1 and the path RT1 when the holding member 30 moves from the imaging position P1 toward the planned mounting position P2, and the first timing TM1 It is preferable to delay the second timing TM2. The second time T2 can be calculated by dividing the moving distance when the holding member 30 moves from the imaging position P1 to the planned mounting position P2 by the speed V1. The moving distance is determined by a control program, wearing conditions, and the like. Therefore, the movement control unit 43 may delay the second timing TM2 with respect to the first timing TM1 by controlling the speed V1 so that the second time T2 becomes the predetermined time shown in FIG. 5A or FIG. 5B. can.

Since the acceleration A1 can be calculated by differentiating the velocity V1, the movement control unit 43 similarly controls the acceleration A1 so that the second time T2 becomes the predetermined time shown in FIG. 5A or FIG. 5B. By doing so, the second timing TM2 can be delayed with respect to the first timing TM1. For example, it is assumed that the holding member 30 linearly moves from the imaging position P1 to the planned mounting position P2 at a uniform acceleration, and moves linearly from the planned mounting position P2 to the mounting position P3 at a uniform acceleration. However, it is assumed that the holding member 30 is stationary at the imaging position P1 before the start of movement (initial speed is zero), and starts moving at the same time as the start of image processing. Further, the moving distance from the imaging position P1 to the planned mounting position P2 is 40 mm, and the moving distance from the planned mounting position P2 to the mounting position P3 is 1 mm. Further, the first time T1 is set to 6.4 seconds, and the initial acceleration A1 is set to 2 mm / s ² .

When the acceleration A1 is 2 mm / s ² , the time required for the holding member 30 to move from the imaging position P1 to the planned mounting position P2 is about 6.3 (= √ (2) from the formula of the uniform acceleration linear motion. × 40/2)) Seconds. Since the first time T1 is 6.4 seconds, the holding member 30 is temporarily stopped at the planned mounting position P2. Since the time required for the holding member 30 to move from the planned mounting position P2 to the mounting position P3 is 1 (= √ (2 × 1/2)) seconds, the holding member 30 is assumed to elapse at the same time as the first time T1 elapses. The time required for the holding member 30 to move from the imaging position P1 to the mounting position P3 is 7.4 (= 6.4 + 1) seconds even if the holding member 30 starts moving. As described above, since it takes time from the operation instruction by the movement control unit 43 until the holding member 30 is actually moved and controlled, the actual required time is further longer.

The movement control unit 43 sets the acceleration A1 in the above-mentioned acceleration control to, for example, about 1.9 (= √ (2 × 40 ÷ 6.5 ² )) mm / s ² . However, the second time T2 is assumed to be 6.5 seconds, which is 6.4 seconds, which is the first time T1, plus 0.1 seconds. In this case, the holding member 30 can continue to move from the imaging position P1 to the mounting position P3 without temporarily stopping at the planned mounting position P2. The time required for the holding member 30 to move from the imaging position P1 to the mounting position P3 is about 6.6 (= √ (2 × 41 ÷ 1.9)) seconds, and the holding member 30 is the scheduled mounting position P2. The required time can be shortened compared to the case of pausing at.

It should be noted that the above-mentioned example is assumed for convenience of explanation in order to simplify the explanation. The actual acceleration control is not limited to the linear uniform acceleration control, and various acceleration controls can be taken. Further, the component camera 14 can also perform the above-mentioned on-the-fly imaging (the initial velocity of the holding member 30 is not zero). Further, the movement control unit 43 can perform acceleration control in the same manner in any of the cases of FIGS. 5A and 5B. Further, when the holding member 30 moves from the imaging position P1 to the mounting position P3, it does not necessarily have to go through the planned mounting position P2.

In the speed control or acceleration control described above, the movement control unit 43 makes the movement distance when the holding member 30 moves from the imaging position P1 to the planned mounting position P2 constant, and the second time T2 is set to FIG. 5A or FIG. 5B. The velocity V1 or the acceleration A1 is controlled so that the predetermined time is shown. The movement control unit 43 can also control the path RT1 when the holding member 30 moves from the imaging position P1 to the planned mounting position P2 to delay the second timing TM2 with respect to the first timing TM1. For example, the movement control unit 43 can control the route RT1 (routing control) so that the second time T2 becomes a predetermined time shown in FIG. 5A or FIG. 5B by keeping the speed V1 or the acceleration A1 constant. Specifically, the movement control unit 43 lengthens the path length of the route RT1 as the second time T2 shown in FIG. 5A or FIG. 5B becomes longer, and the path length of the route RT1 becomes shorter as the second time T2 becomes shorter. To shorten.

Further, the movement control unit 43 can control a plurality of the speed V1, the acceleration A1, and the path RT1 to delay the second timing TM2 with respect to the first timing TM1. In this case, the movement control unit 43 controls a plurality of control parameters of the velocity V1, the acceleration A1, and the path RT1 so that the second time T2 becomes the predetermined time shown in FIG. 5A or FIG. 5B. According to the present embodiment, the movement control unit 43 controls at least one of the speed V1, the acceleration A1 and the path RT1 when the holding member 30 moves from the imaging position P1 toward the planned mounting position P2. Therefore, the second timing TM2 can be delayed with respect to the first timing TM1.

When there is a possibility that the mounting position P3 by the correction unit 42 is not set by the second timing TM2, the movement control unit 43 sets the detour BY1 to at least set the path RT1 of the holding member 30. It is preferable to control it. The detour circuit BY1 bypasses the holding member 30 so that the holding member 30 continues to move until the mounting position P3 is set by the correction unit 42. For example, it is assumed that the mounting position P3 is not set by the correction unit 42 even after a predetermined time limit has elapsed after starting the movement of the holding member 30 from the imaging position P1 to the planned mounting position P2. At this time, the movement control unit 43 can determine that there is a possibility that the mounting position P3 is not set by the correction unit 42 by the second timing TM2.

The arrow from the imaging position P1 to the mounting position P3 shown in FIG. 6 shows an example of the path RT1 in which the holding member 30 moves when the detour BY1 is set by the movement control unit 43. Even when the detour BY1 is set by the movement control unit 43, the movement control unit 43 can perform at least one of the speed control and the acceleration control described above in combination. The moving distance of the holding member 30 increases according to the detour BY1. Further, the broken line shown in the figure shows an example of the path RT1 in which the holding member 30 moves when the detour BY1 is not set.

As the elapsed time elapsed from the start of movement of the holding member 30 is shorter, there is more time for the holding member 30 to reach the planned mounting position P2. Therefore, the movement control unit 43 should set the detour BY1 shorter. Can be done. On the contrary, as the elapsed time becomes longer, the holding member 30 approaches the planned mounting position P2, so that the movement control unit 43 needs to set the detour BY1 longer. Therefore, the movement control unit 43 sets a plurality of time limits having different times, and the shorter the time limit (shorter elapsed time), the shorter the detour BY1 is set, and the longer the time limit (longer elapsed time). , The detour BY1 can be set longer. As a result, the movement control unit 43 can control the path RT1 of the holding member 30 by setting the detour BY1 stepwise according to the elapsed time.

According to the present embodiment, the movement control unit 43 sets the detour BY1 at least when there is a possibility that the mounting position P3 is not set by the correction unit 42 by the second timing TM2. The path RT1 of the holding member 30 is controlled. The detour circuit BY1 bypasses the holding member 30 so that the holding member 30 continues to move until the mounting position P3 is set by the correction unit 42. As a result, the movement control unit 43 can surely avoid the temporary stop of the holding member 30 at the planned mounting position P2.

1-2-4. Memory 44
The storage unit 44 stores the predicted value of the first time T1 set in advance before starting the production of the substrate for mounting the component 80 on the substrate 90. It is preferable that the movement control unit 43 predicts the first timing TM1 by using the predicted value of the first time T1 stored in the storage unit 44.

The first time T1, which is the time required from the start of image processing by the acquisition unit 41 to the first timing TM1, generally depends on the time required for image processing. As will be described later, the time required for image processing may vary depending on, for example, the type of the component 80, the holding posture of the component 80, and the like. Therefore, it is preferable that the storage unit 44 stores the predicted value of the first time T1 set in advance before starting the substrate production. The storage unit 44 is preferably a non-volatile storage device (not shown).

The predicted value of the first time T1 can be set, for example, based on the component information (shape of the component 80, image processing method, etc.) relating to the component 80. The movement control unit 43 predicts the first timing TM1 by using the predicted value of the first time T1 stored in the storage unit 44. Specifically, the movement control unit 43 reads the predicted value of the first time T1 from the storage unit 44, and predicts the timing at which the read first time T1 (predicted value) elapses as the first timing TM1 ( 5A and 5B).

According to the present embodiment, the storage unit 44 stores the predicted value of the first time T1 set in advance before starting the production of the substrate for mounting the component 80 on the substrate 90. Further, the movement control unit 43 predicts the first timing TM1 by using the predicted value of the first time T1 stored in the storage unit 44. As a result, the movement control unit 43 can easily acquire the first timing TM1.

For example, when the component 80 is a chip resistor, a chip capacitor, or the like, the appearance shape is simple (rectangular parallelepiped shape, etc.), and the time required for image processing is relatively short. On the contrary, when the component 80 is an electronic component including an integrated circuit, the appearance shape is complicated (a shape including a plurality of electrode terminals, protrusions, etc.), and the time required for image processing is relatively long. As described above, the first time T1 may differ depending on the type of the component 80, and it is preferable that the storage unit 44 stores the predicted value of the first time T1 for each type of the component 80. According to the present embodiment, the storage unit 44 stores the predicted value of the first time T1 for each type of the component 80. As a result, the movement control unit 43 can easily acquire the first timing TM1 according to the type of the component 80.

Further, the storage unit 44 is provided so as to be able to communicate with the plurality (six) component mounting machines 10, and the predicted value of the first time T1 stored in the storage unit 44 is the plurality (six) component mounting machines. It is preferable that it is available in 10. In the present embodiment, the storage unit 44 is provided in each control device 16 of the plurality (six) component mounting machines 10. However, the storage unit 44 can also be provided in the component database 10DB shown in FIG. Further, the storage unit 44 can be provided in a device (for example, a cloud server or the like) connected to a plurality of (six) component mounting machines 10 via a network.

Each of these external devices can communicate with a plurality (six) component mounting machines 10, and the predicted value of the first time T1 stored in the storage unit 44 is a plurality (six) component mounting machines. It can be used in 10. Therefore, each movement control unit 43 of the plurality (six) component mounting machines 10 can predict the first timing TM1 by sharing the predicted value of the first time T1 stored in the external device. ..

1-2-5. Correction part 45
The correction unit 45 measures the first time T1 during the substrate production, and based on the measured value of the measured first time T1, sets the predicted value of the first time T1 stored in the storage unit 44. Correct. Further, it is preferable that the correction unit 45 sets the longest measured value as the predicted value of the first time T1 among the plurality of measured values measured in a plurality of states in which the holding postures of the parts 80 are different for the first time T1. ..

As described above, the predicted value of the first time T1 may be set in advance before starting the substrate production, for example, based on the component information (shape of the component 80, image processing method, etc.) regarding the component 80. can. However, in order to improve the accuracy of the predicted value of the first time T1, before starting the substrate production, the parts mounting machine 10, the parts data generator (not shown), and the like are actually used to actually perform the first time T1. It is good to measure and verify. The component data generation device images the component 80 in the same imaging environment as the component mounting machine 10, and automatically generates component data based on the captured image. Further, the measurement and verification of the first time T1 can also be performed by using the component mounting machine 10 during the substrate production.

According to the present embodiment, the correction unit 45 measures the first time T1 during substrate production, and the storage unit 44 stores the measured value of the measured first time T1. Correct the predicted value of T1 for one hour. As a result, the movement control unit 43 can predict the first timing TM1 using the more accurate prediction value of the first time T1 corrected by the correction unit 45.

Further, if the holding posture of the component 80 held by the holding member 30 is different from the normal holding posture, it may take time to specify the component 80 and acquire the holding posture. Therefore, even if the parts 80 are of the same type, the time required for image processing may vary depending on the holding posture of the parts 80. Therefore, it is preferable that the correction unit 45 sets the longest measured value as the predicted value of the first time T1 among the plurality of measured values measured in a plurality of states in which the holding postures of the parts 80 are different for the first time T1. ..

Specifically, the correction unit 45 measures the first time T1 in a plurality of states in which the holding postures of the same type of parts 80 are different. As described above, the holding posture can be determined by the position and rotation angle of the component 80 with respect to the holding member 30. The correction unit 45 sets the longest measured value among the plurality of measured values as the predicted value of the first time T1.

According to the present embodiment, the correction unit 45 sets the longest measured value as the predicted value of the first time T1 among the plurality of measured values measured in a plurality of states in which the holding postures of the parts 80 are different for the first time T1. And. As a result, the movement control unit 43 can predict the first timing TM1 using the predicted value of the longest assumed first time T1, and reliably suspends the holding member 30 at the planned mounting position P2. It can be avoided.

1-2-6. The deformation mode control device 16 may also include a prediction unit (not shown) that predicts the first timing TM1 after starting the movement of the holding member 30. The prediction unit acquires the progress of image processing by the acquisition unit 41, and predicts the first timing TM1 based on the acquired progress. In this case, the movement control unit 43 is the difference between the first timing TM1 (pre-start timing) set before starting the movement of the holding member 30 and the first timing TM1 (post-start timing) predicted by the prediction unit. However, it is preferable to advance or delay the second timing TM2 when the predetermined tolerance is exceeded. Specifically, when the post-start timing is earlier than the pre-start timing, the movement control unit 43 advances the second timing TM2 in accordance with the post-start timing. On the contrary, when the post-start timing is later than the pre-start timing, the movement control unit 43 delays the second timing TM2 in accordance with the post-start timing.

2. 2. Application example As described above, the holding member control device 40 can be used for the component mounting machine 10. Further, the holding member control device 40 can also be used for the simulation machine 100. The simulation machine 100 has the same configuration as the component mounting machine 10 shown in FIG. 2, and a step of collecting the component 80 by the holding member 30 and mounting the component 80 at the positioned mounting position P3 of the substrate 90 is performed. Can be simulated. Even when the holding member control device 40 is applied to the simulation machine 100, it is possible to obtain the same effect as described above.

3. 3. Control method of the holding member 30 The above-mentioned description of the holding member control device 40 can be regarded as a control method of the holding member 30. Specifically, the control performed by the acquisition unit 41 corresponds to the acquisition process. The control performed by the correction unit 42 corresponds to the correction step. The control performed by the movement control unit 43 corresponds to the movement control process. The control performed by the storage unit 44 corresponds to the storage process. The control performed by the correction unit 45 corresponds to the correction step. Also in the control method of the holding member 30, it is possible to obtain the same action and effect as those described above for the holding member control device 40.

4. An example of the effect of the embodiment According to the holding member control device 40, the movement control unit 43 sets the holding member 30 at the planned mounting position P2 with respect to the first timing TM1 where the mounting position P3 is expected to be set by the correction unit 42. The movement of the holding member 30 is controlled so that the arrival of the second timing TM2 is delayed. As a result, the holding member control device 40 can continue to move the holding member 30 from the imaging position P1 to the mounting position P3.

10: Parts mounting machine, 30: Holding member,
40: Holding member control device,
41: Acquisition unit, 42: Correction unit, 43: Movement control unit,
44: Memory part, 45: Correction part,
80: Parts, 90: Board,
100: Simulation machine,
P1: Imaging position, P2: Scheduled mounting position, P3: Mounting position,
TM1: 1st timing, TM2: 2nd timing,
T1: First hour,
V1: Velocity, A1: Acceleration, RT1: Path,
BY1: Detour.

Claims (10)

An acquisition unit that acquires an image of a holding member holding a component at an imaging position and acquires a holding posture of the component with respect to the holding member.
Based on the holding posture of the component acquired by the acquisition unit, a correction unit that corrects the mounting position of the component on the board and sets the mounting position where the component is actually mounted.
When the holding member holding the component is moved from the imaging position toward the planned mounting position and the mounting position is set by the correction unit, the target position of the holding member is set to the planned mounting position. The movement control unit that changes from to the mounting position,
Equipped with
In the movement control unit, the holding member has the imaging position so that the second timing at which the holding member reaches the planned mounting position is delayed with respect to the first timing in which the mounting position is expected to be set by the correction unit. A holding member control device that controls at least one of a speed, an acceleration, and a path when moving toward the mounting position from the holding member to continue the movement of the holding member from the imaging position to the mounting position. In the movement control unit, when there is a possibility that the mounting position is not set by the correction unit by the second timing, the holding member moves until the mounting position is set by the correction unit. The holding member control device according to claim 1 , wherein at least the path of the holding member is controlled by setting a detour circuit that bypasses the holding member so as to continue. When the time required from the start of the image processing by the acquisition unit to the first timing is set as the first time.
A storage unit for storing the predicted value of the first time set in advance before starting the production of the board for mounting the component on the board is provided.
The holding member control device according to claim 1 or 2 , wherein the movement control unit predicts the first timing by using the predicted value of the first time stored in the storage unit. An acquisition unit that acquires an image of a holding member holding a component at an imaging position and acquires a holding posture of the component with respect to the holding member.
Based on the holding posture of the component acquired by the acquisition unit, a correction unit that corrects the mounting position of the component on the board and sets the mounting position where the component is actually mounted.
When the holding member holding the component is moved from the imaging position toward the planned mounting position and the mounting position is set by the correction unit, the target position of the holding member is set to the planned mounting position. The movement control unit that changes from to the mounting position,
Equipped with
The movement control unit controls the movement of the holding member so that the second timing at which the holding member reaches the planned mounting position is delayed with respect to the first timing in which the mounting position is expected to be set by the correction unit. Then, the movement of the holding member from the imaging position to the mounting position is continued .
When the time required from the start of the image processing by the acquisition unit to the first timing is set as the first time.
A storage unit for storing the predicted value of the first time set in advance before starting the production of the board for mounting the component on the board is provided.
The movement control unit is a holding member control device that predicts the first timing by using the predicted value of the first time stored in the storage unit. The holding member control device according to claim 3 or 4 , wherein the storage unit stores the predicted value of the first time for each type of the component. A correction unit that measures the first time during substrate production and corrects the predicted value of the first time stored in the storage unit based on the measured value of the first time. The holding member control device according to any one of claims 3 to 5. The correction unit according to claim 6 , wherein the longest measured value among a plurality of measured values measured in a plurality of states in which the holding postures of the parts are different for the first time is the predicted value of the first time. The holding member control device according to the description. The storage unit is provided so as to be able to communicate with a plurality of component mounting machines.
The holding member control device according to any one of claims 3 to 7 , wherein the predicted value of the first time stored in the storage unit can be used in the plurality of component mounting machines. The movement control unit according to any one of claims 1 to 8, wherein the movement control unit starts the movement of the holding member from the imaging position to the planned mounting position when the acquisition unit starts the image processing. The holding member control device according to the description. Any one of claims 1 to 5 and 9 used in a simulation machine that simulates a process of collecting the component by the holding member and mounting the component at the mounting position of the positioned substrate. The holding member control device according to the section.

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