JP7364447B2 - Component posture determination device and component mounting machine - Google Patents

Description

The present invention relates to a component posture determining device that determines the posture of a component suctioned and held on a suction surface of a suction nozzle, and a component mounting machine equipped with the same.

A component mounting machine for mounting electronic components (hereinafter simply referred to as "components") on a substrate such as a printed wiring board is equipped with a head unit that has a suction nozzle that suctions and holds the components. The head unit moves to a predetermined component mounting position while holding the component by suction with the suction nozzle, and mounts the component on the board at the component mounting position.

When mounting a component on a board using a head unit, the posture of the component suctioned and held by the suction nozzle may pose a problem. In other words, when the posture of the component suctioned and held by the suction nozzle is in an abnormal posture, a mounting failure of the component on the board may occur. A technique for solving such problems is disclosed in Patent Document 1. In the technology disclosed in Patent Document 1, a component held by suction nozzle is imaged from below, a tilt angle of the component is calculated based on the lower image, and the posture of the component is determined using the tilt angle.

Japanese Patent Application Publication No. 2008-294065

However, determining the position of a component using only a downward image cannot be said to be accurate. In some cases, the orientation of a component that results in a mounting defect may be determined to be a normal orientation. In this case, there is a risk that parts may be undesirably discarded or that the number of parts mounted incorrectly on the board increases.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a component posture determination device that can accurately determine the posture of a component suction-held by a suction nozzle, and a component posture determination device using the same. The purpose of the present invention is to provide a component mounting machine with the following features.

A component posture determining device according to one aspect of the present invention is a device that determines the posture of a component held by suction on a suction surface of a suction nozzle provided in a head unit that mounts the component on a board. This component attitude determination device includes a side imaging unit that images the component held by the suction nozzle from the side to obtain a side image, and a side imaging unit that images the component held by the suction nozzle from below. a lower imaging section that acquires a lower image; and a component posture index value regarding the posture of the component calculated based on the side image and the lower image, and a posture of the component sucked and held by the suction nozzle based on the component posture index value. is either a mountable attitude or an unmountable attitude that indicates whether or not it can be mounted on the board, or an undeterminable attitude in which it is impossible to distinguish between the mountable attitude and the unmountable attitude. a determination unit that determines whether the The determination unit determines the reference part area based on a reference part area made up of a pixel group corresponding to the reference part of the suction nozzle and a side part area made up of a pixel group corresponding to the part in the side image. A first expressed by the length along the direction perpendicular to the suction surface from the lower end or the upper end of the side component area to the lower end of the side component area, or the inclination angle of the lower surface of the component with respect to the suction surface. a first determination process of calculating an index value as the component orientation index value and determining the orientation of the component based on the first index value; and predetermined lower component area consisting of a pixel group corresponding to the component in the lower image. A degree of distortion with respect to a reference component area is calculated, a second index value including an tilt angle and a tilt direction of the component with respect to the suction surface is calculated as the component posture index value based on the degree of distortion, and based on the second index value a second determination process that determines the orientation of the component; A re-imaging command for instructing the acquisition of a second lateral image by imaging from a direction different from the imaging direction is output to the lateral imaging unit, and pixels corresponding to the parts in the second lateral image are output. A third index value expressed by the inclination angle of the lower surface of the component with respect to the suction surface is calculated based on the second side component region consisting of the group, and a posture of the component is determined based on the third index value. 3 determination processing is executed. In the third determination process, the determination unit determines that the determination result in the first determination process is the mountable attitude or the undeterminable attitude, and the determination result in the second determination process is the undeterminable attitude. In some cases, the part is viewed from a direction that is on the same horizontal plane as the imaging direction for the part when the side image used in the first determination process was taken and perpendicular to the tilt direction included in the second index value. A command to take an image is output as the re-imaging command.

According to this component attitude determination device, the side imaging section captures an image from the side of the component held by the suction nozzle to obtain a side image, and the lower imaging section captures an image from below to obtain a downward image. get. Based on these side images and lower images, the determination unit determines the attitude of the component held by the suction nozzle.

Specifically, the determination unit determines the suction surface from the lower end of the reference region or the upper end of the side component region to the lower end of the side component region based on the reference region and the side component region in the side image. A first determination process that calculates a first index value expressed by the length along the direction orthogonal to or the inclination angle of the lower surface of the component with respect to the suction surface, and determines the posture of the component based on the first index value. Execute. For example, assume that a component is suctioned and held in an inclined position with respect to the suction surface of a suction nozzle. In this case, the first index value calculated based on the side image becomes larger than when the component is suction-held in a normal posture parallel to the suction surface. In the first determination process, the determination unit can determine the orientation of the component using the first index value based on the side image that changes depending on the orientation of the component.

Further, the determination unit calculates a second index value including the tilt angle and tilt direction of the component with respect to the suction surface based on the degree of distortion of the lower component region in the lower image with respect to a predetermined reference component region, and A second determination process is executed to determine the orientation of the component based on the position of the component. For example, assume that a component is suctioned and held in an inclined position with respect to the suction surface of the suction nozzle. In this case, distortion occurs in the lower component area in the lower image with respect to the reference component area, and the tilt angle of the component with respect to the suction surface of the suction nozzle increases. In the second determination process, the determination unit can determine the orientation of the component using a second index value that includes a tilt angle based on the downward image that changes depending on the orientation of the component.

As described above, the determination unit performs a determination process that is a combination of the first determination process using the first index value based on the side image and the second determination process using the second index value based on the lower image. Determine the posture of. Thereby, the determination unit can accurately determine the posture of the component suction-held by the suction nozzle.

Depending on the orientation of the component held by the suction nozzle, it may be difficult to determine whether the component orientation belongs to a mountable orientation or an unmountable orientation in each of the first determination process and the second determination process. may occur. In such a case, the determination unit determines that the component orientation is an undeterminable orientation, without forcibly determining whether the component orientation belongs to a mountable orientation or an unmountable orientation. Thereby, the determination unit can accurately determine the posture of the component suction-held by the suction nozzle.
Further, the determination unit determines a third index based on a second side image having a different imaging direction from the side image used in the first determination process, depending on the determination results in the first determination process and the second determination process. A third determination process is executed in which the orientation of the component is determined using the value. As a result, when it is difficult to determine whether the component orientation belongs to a mountable orientation or an unmountable orientation in at least one of the first determination process and the second determination process, the third determination process The orientation of the component can be determined in the determination process. That is, the determination unit performs a first determination process using a first index value based on a side image, a second determination process using a second index value based on a lower image, and a second determination process using a second index value based on a lower side image. The posture of the part is determined by a combination of determination processing with a third determination processing using three index values. Thereby, the determination unit can determine the posture of the component suction-held by the suction nozzle with higher accuracy.
The determination unit performs a second determination in the third determination process when the determination result in the first determination process is a mountable attitude or an undeterminable attitude, and the determination result in the second determination process is an undeterminable attitude. The posture of the part is determined using a third index value based on a second side image taken from a direction orthogonal to the tilt direction included in the second index value used in the process. As a result, when it is difficult to determine in the second determination process whether the component orientation belongs to a mountable orientation or an unmountable orientation, the component orientation can be determined more accurately in the third determination process. I can do it.

In the above-mentioned component posture determination device, the determination unit is configured to execute the second determination process after the first determination process. Then, in any case where the determination result in the first determination process is the mountable attitude, the unloadable attitude, or the undeterminable attitude, the determination unit performs the second determination process after the first determination process. Execute.

In this aspect, the determination unit executes the second determination process regardless of the determination result in the first determination process, and determines the orientation of the component by a combination of the first determination process and the second determination process. Thereby, the determination unit can more accurately determine the posture of the component suction-held by the suction nozzle.

In the above-mentioned component posture determination device, the determination unit is configured to execute the second determination process after the first determination process, depending on the determination result in the first determination process. If the determination result in the first determination process is either the mountable orientation or the unloadable orientation, the determination unit omits execution of the second determination process and performs the first determination process. If the determination result is the undeterminable posture, the second determination process is executed after the first determination process.

In this aspect, the determination unit executes the second determination process according to the determination result in the first determination process. If the determination result in the first determination process is either a mountable orientation or an unmountable orientation, the determination unit executes a second determination process using a second index value including the tilt angle and tilt direction of the component. omitted. Thereby, it is possible to improve the efficiency of the determination process by the determination unit. On the other hand, if the determination result in the first determination process is an undeterminable posture, the determination unit performs a second determination process using a second index value including the tilt angle and tilt direction of the part after the first determination process. Execute. This makes it possible to determine the orientation of the component in the second determination process when it is difficult to determine whether the component orientation belongs to a mountable orientation or an unmountable orientation in the first determination process. .

In the above-mentioned component attitude determination device, the determination unit, in the third determination process, determines that the determination result in the first determination process is the undeterminable attitude, and that the determination result in the second determination process is the undetermined orientation. If the posture is possible, a command to image the part from a direction perpendicular to the same horizontal plane as the imaging direction of the part when the side image used in the first determination process was taken is output as the re-imaging command.

In this aspect, when the determination result in the first determination process is an undeterminable attitude and the determination result in the second determination process is a mountable attitude, the determination unit performs the first determination in the third determination process. The posture of the component is determined using a third index value based on a second lateral image taken from a direction orthogonal to the imaging direction of the component in the lateral image used in the process. As a result, although it is possible to determine that the component orientation is a mountable orientation in the second determination process, it is difficult to determine whether the component orientation belongs to a mountable orientation or an unloadable orientation in the first determination process. In some cases, the part orientation can be determined more accurately in the third determination process.

In the above-mentioned component attitude determination device, when the determination results in the first determination process and the second determination process are both the mountable orientation, the determination unit transmits mounting permission information that permits mounting of the component on the board. output, or execute the third determination process.

In this aspect, if the determination results in the first determination process and the second determination process are both in a position where loading is possible, the determination unit outputs the loading permission information or outputs the re-imaging command and performs the third determination. Execute judgment processing. When the posture of the component suction-held by the suction nozzle is determined to be a mountable posture in both the first determination process and the second determination process, the determination unit outputs mounting permission information. By performing the operation of mounting components onto the board by the head unit based on this mounting permission information, it is possible to reduce the occurrence of defective mounting of components onto the board. On the other hand, when it is determined that the component orientation is the mountable orientation in both the first determination process and the second determination process, the determination unit executes the third determination process to change the component orientation to the mountable orientation. It is possible to more accurately determine whether the

In the above-mentioned component attitude determination device, the determination unit disables mounting of the component on the board when the determination result in at least one of the first determination process and the second determination process is the unmountable orientation. Outputs information on whether or not the installation is permitted.

In this aspect, when the attitude of the component suction-held by the suction nozzle is determined to be an unmountable posture in at least one of the first determination process and the second determination process, the determination unit disallows loading. Information is output. By operating the head unit based on this mounting non-permission information, it is possible to discard a component that has taken a position where there is a concern that a mounting defect may occur.

A component mounting machine according to another aspect of the present invention includes a suction nozzle having a suction surface that suction-holds a component, a head unit that mounts the component suction-held on the suction surface on a board, and a head unit that mounts the component suction-held on the substrate; The above-mentioned component posture determining device that determines the posture of the component held by suction; and a control device that controls the mounting operation of the component on the board by the head unit based on the determination result by the determining section of the component posture determining device. and.

This component mounter is equipped with a component posture determination device that can accurately determine the posture of a component sucked and held by the suction nozzle of the head unit. Based on the determination result by the determination unit of the component orientation determination device, the operation of mounting the component onto the board by the head unit is controlled. Thereby, it is possible to reduce the waste of undesired components and to reduce the occurrence of defective mounting of components onto the board.

As described above, according to the present invention, it is possible to provide a component posture determination device that can accurately determine the posture of a component sucked and held by a suction nozzle, and a component mounter equipped with the same.

1 is a plan view schematically showing the configuration of a component mounting machine to which a component attitude determination device according to an embodiment of the present invention is applied. FIG. 2 is a diagram schematically showing a component supply device provided in a component mounting machine. It is a side view of the head unit with which a component mounting machine is equipped. FIG. 3 is a plan view of the head unit. FIG. 2 is a block diagram showing the configuration of a control system of a component mounting machine and a component attitude determination device. FIG. 3 is a diagram for explaining the posture of a component held by suction by a suction nozzle of a head unit. FIG. 3 is a diagram for explaining determination condition information stored in a first storage unit of the component posture determination device. FIG. 3 is a diagram for explaining a first determination process executed by a determination unit of the component posture determination device. FIG. 7 is a diagram for explaining a second determination process executed by a determination unit. FIG. 7 is a diagram for explaining a second determination process executed by a determination unit. FIG. 6 is a diagram for explaining a pattern of determination results in a first determination process and a second determination process by a determination unit. It is a figure for explaining the 3rd judgment processing which a judgment part performs. 7 is a flowchart showing a first example of the flow of component posture determination processing by a determination unit. It is a flowchart which shows the 2nd example of the flow of a component attitude determination process by a determination part. It is a flowchart which shows the 2nd example of the flow of a component attitude determination process by a determination part.

DESCRIPTION OF THE PREFERRED EMBODIMENTS A component attitude determination device and a component mounting machine equipped with the device according to an embodiment of the present invention will be described below with reference to the drawings. In addition, below, the directional relationship will be explained using XYZ orthogonal coordinate axes. The X-axis direction is a direction parallel to the horizontal plane, the Y-axis direction is a direction perpendicular to the X-axis direction on the horizontal plane, and the Z-axis direction is an up-down direction perpendicular to both the X and Y directions. Further, one direction side in the X-axis direction is referred to as the "+X side", and the other direction side opposite to the one direction side in the X-axis direction is referred to as the "-X side". Further, one direction side in the Y-axis direction is referred to as the "+Y side", and the other direction side opposite to the one direction side in the Y-axis direction is referred to as the "-Y side". Further, one direction side (upper side) in the Z-axis direction is referred to as the "+Z side", and the other direction side (lower side) opposite to the one direction side in the Z-axis direction is referred to as the "-Z side".

[Overall configuration of component mounter]
FIG. 1 is a plan view schematically showing the configuration of a component mounter 1 to which a component posture determination device 9 according to an embodiment of the present invention is applied. The component mounting machine 1 is a device that mounts (mounts) components on a board P to produce an electronic circuit board. The component mounting machine 1 includes an apparatus main body 1a, a moving frame 2, a conveyor 3, a component supply unit 4 to which a component supply device 5 is attached, a head unit 6, a first drive mechanism 7, and a second drive mechanism. 8 and a component orientation determination device 9.

The apparatus main body 1a is a structure in which each part constituting the component mounting machine 1 is arranged, and is formed into a substantially rectangular shape when viewed from above in the Z-axis direction. The conveyor 3 extends in the X-axis direction and is arranged in the apparatus main body 1a. The conveyor 3 conveys the substrate P in the X-axis direction. The board P is conveyed on the conveyor 3 and positioned at a predetermined component mounting position (a position where components are mounted on the board P).

The component supply units 4 are arranged at a total of four locations in the X-axis direction, two in each region on the +Y side and the -Y side in the Y-axis direction of the apparatus main body 1a. The component supply unit 4 is an area in the main body 1a where a plurality of component supply devices 5 are installed in parallel, and each component to be picked up by a suction nozzle 63 provided in the head unit 6, which will be described later, is The set position of each component supply device 5 is divided.

The component supply device 5 is detachably attached to the component supply unit 4 of the device main body 1a. The component supply system 5 is not particularly limited in its component supply method as long as it is configured to be able to supply electronic components (hereinafter simply referred to as components). Examples of the component supply device 5 include a tape feeder that supplies components using tape as a carrier, a tray feeder that supplies components by moving a pallet containing a tray on which components are placed, and a cylinder. A stick feeder or the like that feeds components stored in a shaped stick while extruding them from the stick can be employed. In this embodiment, the component supply device 5 is a tape feeder. This component supply device 5 will be explained with reference to FIG. 2. FIG. 2 is a diagram schematically showing the component supply device 5 provided in the component mounter 1. As shown in FIG.

The component supply device 5 is attached to a mounting portion 31 provided on the component supply unit 4. The mounting portion 31 is provided with a plurality of slots 32 arranged at regular intervals in the X-axis direction and extending parallel to each other in the Y-axis direction, and a fixing base 33 extending in the X-axis direction at a position in front of these slots 32. ing. A component supply device 5 is set in each slot 32, and each component supply device 5 is fixed to a fixing base 33. As a result, a plurality of component supply devices 5 are arranged in the component supply unit 4 in a row in the X-axis direction.

The component supply device 5 includes a main body portion 41 that is elongated in the Y-axis direction. The component supply device 5 is fixed to a fixing base 33 with the main body 41 inserted (set) in the slot 32.

The component supply device 5 further includes a first tape feeding section 42 provided at the front end of the main body 41 , a second tape feeding section 43 provided at the rear end of the main body 41 , and a second tape feeding section 43 provided at the rear end of the main body 41 . A tape passage 44 and a tape guide 45 are provided.

The tape passage 44 is a passage for guiding the parts storage tape 100 containing a plurality of parts. The tape passage 44 extends obliquely upward from the rear end of the main body 41 toward the upper front side. The component storage tape 100 is introduced into the interior of the main body 41 from the rear end thereof, and is guided to the front portion of the upper surface of the main body 41 through the tape passage 44 .

In the component supply device 5, the tape guide 45 is provided on the front upper surface of the main body portion 41. The tape guide 45 covers the component storage tape 100 that has passed through the tape passage 44 and guides the component storage tape 100 substantially horizontally along the upper surface of the main body portion 41 to the component supply position P1. The component supply position P1 is a position where the head unit 6 takes out components, and is set close to the front end of the upper surface of the main body portion 41. The components supplied to the component supply position P1 in the component supply device 5 are sucked and held by the suction nozzle 63 of the head unit 6 and taken out.

The first tape feeding section 42 includes a first sprocket 51 disposed below the tape guide 45, a first motor 52, and a plurality of transmission gears that transmit the driving force of the first motor 52 to the first sprocket 51. A first gear group 53 is provided. The first sprocket 51 has teeth that fit into the component storage tape 100 guided along the tape guide 45. That is, the first tape sending unit 42 sends out the component storage tape 100 toward the component supply position P1 by rotationally driving the first sprocket 51 with the first motor 52.

The second tape feeding unit 43 includes a second sprocket 54 disposed at the rear end of the main body 41 , a second motor 55 , and a plurality of tapes that transmit the driving force of the second motor 55 to the second sprocket 54 . A second gear group 56 consisting of transmission gears is provided. The second sprocket 54 faces into the tape passage 44 from above and has teeth that fit into the component storage tape 100 guided along the tape passage 44. That is, the second tape sending unit 43 sends out the component storage tape 100 toward the component supply position P1 by rotationally driving the second sprocket 54 by the second motor 55.

The component storage tape 100 is intermittently sent out toward the component supply position P1 by each of the delivery units 42 and 43, and the component E is taken out through the tape guide 45 at the component supply position P1.

Next, referring to FIG. 2, a moving frame 2 provided in the component mounting machine 1 extends in the X-axis direction, and is supported by the apparatus main body 1a so as to be movable in a predetermined moving direction (Y-axis direction). A head unit 6 is mounted on this moving frame 2. The head unit 6 is mounted on the moving frame 2 so as to be movable in the X-axis direction. That is, the head unit 6 is movable in the Y-axis direction as the movable frame 2 moves, and is also movable in the X-axis direction along the movable frame 2. The head unit 6 is movable between a component supply position P1 of the component supply device 5 attached to the component supply unit 4 and a predetermined component mounting position of the board P transported by the conveyor 3, and is A component is taken out from the component supply device 5, and the taken out component is mounted (mounted) on the board P at a component mounting position. Details of the head unit 6 will be described later.

The first drive mechanism 7 is disposed at the +X side and −X side ends of the device main body 1a. The first drive mechanism 7 is a mechanism that moves the moving frame 2 in the Y-axis direction. The first drive mechanism 7 includes, for example, a drive motor, a ball screw shaft extending in the Y-axis direction and connected to the drive motor, and a ball nut disposed on the moving frame 2 and screwed into the ball screw shaft. It consists of: The first drive mechanism 7 having such a configuration moves the movable frame 2 in the Y-axis direction by moving the ball nut back and forth along the ball screw shaft as the drive motor rotates the ball screw shaft.

The second drive mechanism 8 is arranged on the moving frame 2. The second drive mechanism 8 is a mechanism that moves the head unit 6 in the X-axis direction along the moving frame 2. Like the first drive mechanism 7, the second drive mechanism 8 includes, for example, a drive motor, a ball screw shaft extending in the X-axis direction and connected to the drive motor, and a ball screw shaft disposed in the head unit 6. and a ball nut that is screwed into the ball nut. The second drive mechanism 8 having such a configuration moves the head unit 6 in the X-axis direction by moving the ball nut back and forth along the ball screw shaft as the drive motor rotates the ball screw shaft.

In this example, the first drive mechanism 7 and the second drive mechanism 8 are configured to move the movable frame 2 and the head unit 6 via a ball screw shaft by a drive motor. However, for example, a configuration may be adopted in which the moving frame 2 and the head unit 6 are directly driven using a linear motor as a drive source.

The head unit 6 will be explained with reference to FIGS. 3 and 4 in addition to FIG. 1. 3 is a side view of the head unit 6, and FIG. 4 is a plan view of the head unit 6 viewed from below. The head unit 6 includes a head main body 61, a rotating body 62, and a suction nozzle 63. The head body 61 constitutes the main body portion of the head unit 6. The rotating body 62 is formed in a cylindrical shape and is provided in the head main body 61 so as to be rotatable about a vertical axis (an axis extending in the Z-axis direction) by a rotating body driving mechanism 66 (see FIG. 5 described later).

A plurality of suction nozzles 63 are arranged at predetermined intervals in the circumferential direction at the outer peripheral edge of the rotating body 62 . The suction nozzle 63 is a holder that can suction and hold the component supplied to the component supply position P1 by the component supply device 5. The suction nozzle 63 extends along the Z-axis direction, and has a suction surface 631S at its tip 631 that suctions and holds a component. The suction surface 631S is a surface parallel to a horizontal plane formed by the X axis and the Y axis. The suction nozzle 63 can communicate with any one of a negative pressure generator, a positive pressure generator, and the atmosphere via an electric switching valve. In other words, by supplying negative pressure to the suction nozzle 63, it becomes possible for the suction nozzle 63 to suction and hold the component (take out the component), and then, by supplying positive pressure, the suction and holding of the component is released. Ru.

The suction nozzle 63 is provided on the rotating body 62 so that it can be moved up and down in the Z-axis direction by a nozzle drive mechanism 67 (see FIG. 5 described later) and can be rotated around a nozzle axis extending in the Z-axis direction. The suction nozzle 63 moves in the Z-axis direction between a suction holding position where the parts supplied to the component supply position P1 by the parts supplying device 5 can be suctioned and held, and a retracted position located above the suction holding position. It is possible to go up and down along the line. That is, when suctioning and holding a component supplied to the component supply position P1, the suction nozzle 63 is lowered from the retracted position to the suction holding position by the nozzle drive mechanism 67, and suctioning and holding the component at the suction holding position. On the other hand, the suction nozzle 63 after suctioning and holding the component is raised by the nozzle drive mechanism 67 from the suction and holding position toward the retracted position.

As shown in FIGS. 3 and 4, a board recognition camera 65 is mounted on the -Z side surface of the head main body 61 of the head unit 6 via a mounting member 64 on the outside (-X side) of the rotating body 62. is fixed. The board recognition camera 65 moves together with the head unit 6 and images various marks marked on the top surface of the board P from above in order to identify the type of board P and position it.

Further, the component mounting machine 1 according to the present embodiment includes a component attitude determination device 9 and a control device 10, as shown in the block diagram of FIG. The component orientation determination device 9 is configured by, for example, a microcomputer. The component posture determining device 9 is a device that determines the posture of a component held by the suction nozzle 63. Based on the determination result of the component attitude determination device 9, the operation of mounting the component onto the board P by the head unit 6 is controlled. Details of the component orientation determination device 9 will be described later.

The control device 10 includes a CPU (Central Processing Unit), a ROM (Read Only Memory) that stores a control program, a RAM (Random Access Memory) that is used as a work area for the CPU, and the like. The control device 10 comprehensively controls the operation of the component mounting machine 1 by having the CPU execute a control program stored in the ROM. Note that the control device 10 and the component attitude determination device 9 are connected to enable mutual data communication. Further, the component orientation determination device 9 may be incorporated into the control device 10.

The control device 10 includes a component supply control section 10A and a head drive control section 10B. The component supply control unit 10A controls the operation of the component supply device 5 to supply components to the component supply position P1. The head drive control section 10B controls the movement of the head unit 6 on the horizontal plane in the X-axis direction and the Y-axis direction by the first drive mechanism 7 and the second drive mechanism 8. Further, the head drive control unit 10B controls the vertical movement of the suction nozzle 63 and the rotational movement around the nozzle axis by the nozzle drive mechanism 67. Further, the head drive control section 10B controls the rotational operation of the rotary body 62 by the rotary body drive mechanism 66. The head drive control section 10B controls the movement of the head unit 6, the rotational operation of the suction nozzle 63, etc. based on various information output from the component orientation determination device 9.

[Detailed configuration of component orientation determination device]
The component posture determining device 9 determines the posture of the component suction-held by the suction nozzle 63 before it is mounted on the substrate P. FIG. 6 is a diagram for explaining the posture of the component E held by the suction nozzle 63. As shown in FIG. 6, the posture of the component E held by the suction nozzle 63 can be expressed by rotation angles around the X-axis, Y-axis, and Z-axis, which are orthogonal to each other. The rotation angle of the component E around the X axis with respect to the suction surface 631S of the suction nozzle 63 is expressed as a roll angle θX. Similarly, the rotation angle of the component E around the Y axis with respect to the suction surface 631S of the suction nozzle 63 is expressed as a pitch angle θY, and the rotation angle around the Z axis is expressed as a yaw angle θZ.

The roll angle θX, pitch angle θY, and yaw angle θZ when the component E suction-held by the suction nozzle 63 assumes a normal posture parallel to the suction surface 631S are set as reference angles (for example, 0 degrees). When the component E held by the suction nozzle 63 is rotated around the X-axis, the pitch angle θY and the yaw angle θZ remain at the reference angle, but the roll angle θX changes with respect to the reference angle. do. When the component E held by the suction nozzle 63 assumes a posture rotated around the Y-axis, the roll angle θX and yaw angle θZ remain at the reference angle, but the pitch angle θY changes with respect to the reference angle. do. When the component E held by the suction nozzle 63 assumes a posture rotated around the Z-axis, the roll angle θX and pitch angle θY remain at the reference angle, but the yaw angle θZ changes with respect to the reference angle. do. When the component E held by the suction nozzle 63 is rotated around the X and Y axes, the yaw angle θZ remains at the reference angle, but the roll angle θX and pitch angle θY change to the reference angle. change against. When the component E held by the suction nozzle 63 takes a position rotated around the X, Y, and Z axes, the roll angle θX, pitch angle θY, and yaw angle θZ all change with respect to the reference angle. do.

The component attitude determining device 9 determines the attitude of the component E held by the suction nozzle 63 as described above. As shown in FIG. 5, the component attitude determination device 9 includes a side imaging section 91, a lower imaging section 92, a determination section 93, a first storage section 94, and a second storage section 95.

As shown in FIGS. 3 and 4, the side imaging section 91 is fixed to a mounting member 64 protruding from the -Z side surface of the head main body 61 of the head unit 6, and is made of, for example, CMOS (complementary metal-oxide). This is an imaging camera equipped with an imaging element such as a semiconductor (semiconductor) or a charged-coupled device (CCD). The side imaging unit 91 images the component E held by the suction nozzle 63 from the side along the X-axis direction to obtain a side image G1 (see FIG. 8, etc. described later).

As shown in FIG. 1, the lower imaging section 92 is disposed at a position between each component supply unit 4 and the conveyor 3 on the apparatus main body 1a, and is an imaging camera equipped with an imaging device such as CMOS or CCD. It is. The lower imaging section 92 is sucked and held by the suction nozzle 63 while the head unit 6 is moving from the component supply position P1 of the component supply device 5 toward the component mounting position of the board P transported by the conveyor 3. The part E is imaged from below along the Z-axis direction to obtain a lower image G2 (see FIGS. 9 and 10 described later).

The first storage unit 94 is a storage unit that stores determination condition information J1 shown in FIG. 7, which is referred to when a determination unit 93 (described later) executes a component orientation determination process. The judgment condition information J1 includes component type information J11, component thickness design value information J12, first thickness threshold information J13, second thickness threshold information J14, first inclination threshold information J15, and second inclination threshold information J16. This is information in which the first tilt threshold information J17, the second tilt threshold information J18, and the rotation threshold information J19 are associated. The component type information J11 is information indicating the type of component E supplied by the component supply device 5 and held by the suction nozzle 63.

The component thickness design value information J12 is information indicating a component thickness design value that is a design value regarding the thickness of the component E, and is registered for each component type indicated by the component type information J11. The component thickness design value is set, for example, to a value obtained by adding the thickness of the component E to the length from the lower end of the reference portion 631A of the suction nozzle 63 to the suction surface 631S. Note that the reference portion 631A of the suction nozzle 63 is, for example, a stepped portion that defines the upper end of the tip portion 631. The first thickness threshold information J13 and the second thickness threshold information J14 are information indicating thresholds related to the thickness of the component E that are referred to when the determination section 93 (described later) determines the orientation of the component E in the first determination process. It is registered for each part type indicated by the product type information J11. Comparing the first thickness threshold indicated by the first thickness threshold information J13 and the second thickness threshold indicated by the second thickness threshold information J14, it is found that the second thickness threshold is set to a larger value than the first thickness threshold. There is. For example, the first thickness threshold is set to a value of 10% of the component thickness design value indicated by the component thickness design value information J12, and the second thickness threshold is set to a value of 50% of the component thickness design value.

The first inclination threshold information J15 and the second inclination threshold information J16 are the lower surface of the component E relative to the suction surface 631S of the suction nozzle 63, which the determination unit 93 (described later) refers to when determining the posture of the component E in the third determination process. This is information indicating a threshold value regarding the inclination angle of , and is registered for each component type indicated by component type information J11. Comparing the first slope threshold shown in the first slope threshold information J15 and the second slope threshold shown in the second slope threshold information J16, it is found that the second slope threshold is set to a larger value than the first slope threshold. There is.

The first tilt threshold information J17 and the second tilt threshold information J18 refer to the tilt angle of the component E relative to the suction surface 631S of the suction nozzle 63, which is referred to when the determination unit 93 (described later) determines the posture of the component E in the second determination process. This is information indicating a threshold value regarding an angle, and is registered for each component type indicated by component type information J11. Comparing the first tilt threshold indicated by the first tilt threshold information J17 and the second tilt threshold indicated by the second tilt threshold information J18, it is found that the second tilt threshold is set to a larger value than the first tilt threshold. There is.

The rotation threshold information J19 is the rotation angle (yaw angle θZ This is information indicating the threshold value for (equivalent to).

The second storage unit 95 is a storage unit that stores the determination result of the component orientation by the determination unit 93, which will be described later. The second storage unit 95 stores the determination results of the first determination process and the second determination process by the determination unit 93.

The determination unit 93 calculates a component posture index value regarding the posture of the component E sucked and held by the suction nozzle 63 based on the images acquired by each of the side imaging unit 91 and the lower imaging unit 92. Based on the component orientation index value, the determination unit 93 determines whether the orientation of the component E is a mountable orientation, an unmountable orientation that indicates whether or not it can be mounted on the board P, or an undeterminable orientation. Determine. The mountable posture indicates a component posture in which the component can be normally mounted on the board P without causing a mounting defect. The unmountable posture indicates a component posture in which a mounting defect may occur and the mounting on the board P should be stopped. The undeterminable posture indicates a component posture in which it is impossible to determine whether the posture is a mountable posture or a non-mountable posture.

FIG. 8 is a diagram for explaining the first determination process executed by the determination unit 93, and FIGS. 9 and 10 are diagrams for explaining the second determination process executed by the determination unit 93. The determination unit 93 performs a first determination process of determining the attitude of the component E based on the side image G1 acquired by the side image capturing unit 91, and a first determination process of determining the attitude of the component E based on the lower image G2 acquired by the lower image capturing unit 92. and a second determination process for determining.

Here, the side image G1 and the lower image G2 used when the determination unit 93 determines the posture of the component E in the first determination process and the second determination process will be described with reference to FIGS. 8 to 10.

The side image G1 is an image acquired by the imaging operation of the side imaging unit 91 when the suction nozzle 63 suction-holds the component E at the component supply position P1 of the component supply device 5. As shown in FIG. 8, the side image G1 is composed of a side component region G11 consisting of a pixel group corresponding to the component E suction-held by the suction nozzle 63, and a pixel group corresponding to the tip 631 of the suction nozzle 63. a nozzle tip region G12, and a background region G13 made up of a pixel group corresponding to the background. The nozzle tip region G12 includes a reference portion region G12A consisting of a pixel group corresponding to the reference portion 631A of the suction nozzle 63. In the side image G1, the nozzle tip region G12 including the side component region G11 and the reference part region G12A is a dark region darker than the background region G13.

On the other hand, the lower image G2 is an image captured by the lower imaging unit 92 while the head unit 6 is moving from the component supply position P1 of the component supply device 5 toward the component mounting position of the board P transported by the conveyor 3. This is an image obtained by motion. As shown in FIGS. 9 and 10, the lower image G2 includes a lower component area G21 consisting of a pixel group corresponding to the component E held by the suction nozzle 63, and a background area G22 consisting of a pixel group corresponding to the background. including. In the lower image G2, the lower component area G21 is a bright area that is brighter than the background area G22. Note that a predetermined reference component area G21S is set in the lower image G2. The reference component region G21S is a virtual region corresponding to the component E in the normal posture, assuming that the component E assumes a normal posture parallel to the suction surface 631S of the suction nozzle 63 in the lower image G2.

First, with reference to FIG. 8, the first determination process executed by the determination unit 93 will be described. In FIG. 8(A), the roll angle θX, the pitch angle θY, and the yaw angle θZ are all the reference angles, and the component E held by the suction nozzle 63 is placed against the suction surface 631S. A parallel normal posture is shown. In FIG. 8(B), the pitch angle θY and the yaw angle θZ remain at the reference angle, but the roll angle θX changes with respect to the reference angle, and the part is suction-held by the suction nozzle 63. A state in which E is rotated around the X axis and has taken an inclined posture with respect to the suction surface 631S is shown. In FIG. 8(C), the roll angle θX and the yaw angle θZ remain at the reference angle, but the pitch angle θY changes with respect to the reference angle, and the part is suction-held by the suction nozzle 63. A state in which E is rotated around the Y axis and has taken an inclined attitude with respect to the suction surface 631S is shown.

In the first determination process, the determination unit 93 determines the suction surface 631S from the lower end of the reference region G12A to the lower end of the side component region G11 based on the reference region G12A and the side component region G11 in the side image G1. A first index value I1 expressed as a length along a direction orthogonal to is calculated as the component orientation index value, and the orientation of the component E is determined based on the first index value I1. For example, as shown in FIGS. 8(B) and 8(C), a case is assumed in which the component E is suction-held in an inclined posture inclined with respect to the suction surface 631S of the suction nozzle 63. In this case, compared to the case where the component E is suctioned and held in a normal posture parallel to the suction surface 631S of the suction nozzle 63 (the case of FIG. 8(A)), the calculation is made based on the side image G1. The first index value I1 increases. In the first determination process, the determination unit 93 can determine the orientation of the component E using the first index value I1 based on the side image G1 that changes depending on the orientation of the component E.

Specifically, the determination unit 93 calculates the component thickness design value information J12, the first thickness threshold information J13, and the second thickness threshold information J14 included in the determination condition information J1 stored in the first storage unit 94. The attitude of the component E is determined based on the first index value I1. The determination unit 93 determines that the difference between the component thickness design value indicated by the component thickness design value information J12 and the first index value I1 based on the side image G1 is less than the first thickness threshold indicated by the first thickness threshold information J13. If so, it is determined that the attitude of the component E is the mountable attitude. Further, when the difference between the component thickness design value and the first index value I1 is equal to or greater than the second thickness threshold indicated by the second thickness threshold information J14, the determination unit 93 determines that the orientation of the component E is the unmountable orientation. It is determined that Further, the determining unit 93 determines that the posture of the component E is the undeterminable posture when the difference between the component thickness design value and the first index value I1 is greater than or equal to the first thickness threshold and less than the second thickness threshold. It is determined that In addition, in the first determination process, the determination unit 93 calculates the length from the upper end to the lower end of the side component region G11 in the side image G1 in the direction orthogonal to the suction surface 631S as the first index value I1. However, the posture of the component E may be determined based on the first index value I1. Further, in the first determination process, the determination unit 93 calculates the inclination angle of the lower surface of the component E with respect to the suction surface 631S of the suction nozzle 63 as a first index value I1 based on the side image G1, and The configuration may be such that the attitude of the component E is determined based on the value I1.

Next, the second determination process executed by the determination unit 93 will be described with reference to FIGS. 9 and 10. 9(A) and FIG. 10(A), the roll angle θX, the pitch angle θY, and the yaw angle θZ are all the reference angles, and the component E held by the suction nozzle 63 is A normal posture parallel to the suction surface 631S is shown. In FIG. 9(B), the pitch angle θY and the yaw angle θZ remain at the reference angle, but the roll angle θX changes with respect to the reference angle, and the part is suction-held by the suction nozzle 63. A state in which E is rotated around the X axis and has taken an inclined posture with respect to the suction surface 631S is shown. In FIG. 9(C), the roll angle θX and the yaw angle θZ remain at the reference angle, but the pitch angle θY changes with respect to the reference angle, and the part is suction-held by the suction nozzle 63. A state in which E is rotated around the Y axis and has taken an inclined attitude with respect to the suction surface 631S is shown. In FIG. 10(B), the roll angle θX and the pitch angle θY remain at the reference angle, but the yaw angle θZ changes with respect to the reference angle, and the part is suction-held by the suction nozzle 63. E is shown in a rotated position rotated around the Z-axis.

In the second determination process, the determination unit 93 calculates the degree of distortion and the rotation angle around the Z axis of the lower component region G21 in the lower image G2 with respect to the reference component region G21S. Then, the determination unit 93 calculates the tilt angle AA and tilt direction DA of the component E with respect to the suction surface 631S of the suction nozzle 63 based on the degree of distortion, and calculates the tilt angle AA and tilt direction DA of the component E with respect to the suction surface 631S of the suction nozzle 63, 2 index value I2 is set as the component orientation index value. The determination unit 93 determines the orientation of the component E based on the second index value I2 in the second determination process. The tilt angle AA of the component E with respect to the suction surface 631S of the suction nozzle 63 is the angle formed between the surface of the component E in contact with the suction surface 631S and the suction surface 631S, and is equal to the roll angle θX and the pitch angle θY. corresponds to Further, the tilt direction DA of the component E with respect to the suction surface 631S of the suction nozzle 63 corresponds to the tilt direction of the component E with respect to the suction surface 631S.

For example, as shown in FIG. 9(b), when the part E held by the suction nozzle 63 is rotated around the The tilt angle AA corresponds to the roll angle θX, and the tilt direction DA of the component E is a direction inclined in the Z-axis direction with respect to the suction surface 631S. Further, as shown in FIG. 9C, when the component E held by the suction nozzle 63 is rotated around the Y axis and assumes an inclined posture with respect to the suction surface 631S, the component E is The tilt angle AA corresponds to the pitch angle θY, and the tilt direction DA of the component E is a direction inclined in the Z-axis direction with respect to the suction surface 631S.

As shown in FIGS. 9(B) and 9(C), a case is assumed in which the component E is held by suction in an inclined posture inclined with respect to the suction surface 631S of the suction nozzle 63. In this case, in the lower image G2, distortion occurs in the lower component region G21 with respect to the reference component region G21S, and the tilt angle AA of the component E with respect to the suction surface 631S of the suction nozzle 63 increases. For example, in the case where the component E is a chip component having a rectangular shape in plan view, if the chip component is sucked and held by the suction nozzle 63 in an inclined posture, each side constituting the lower component area G21 in the lower image G2 Adjacent sides are no longer perpendicular to each other. Therefore, the degree of orthogonality between adjacent sides in the lower component region G21 of the lower image G2 appears as distortion with respect to the reference component region G21S. Further, in the case where the component E is a lead component provided with a plurality of leads protruding outward from the component body, if the lead component is suction-held by the suction nozzle 63 in an inclined position, In the lower image G2, the arrangement pitch of the plurality of lead portions forming the lower component area G21 changes. Therefore, a change in the arrangement pitch of the plurality of lead portions in the lower component region G21 of the lower image G2 appears as distortion with respect to the reference component region G21S. In the second determination process, the determination unit 93 can determine the orientation of the component E using a second index value I2 that includes the tilt angle AA based on the lower image G2 that changes depending on the orientation of the component E.

Specifically, the determination unit 93 uses the first tilt threshold information J17 and the second tilt threshold information J18 included in the determination condition information J1 stored in the first storage unit 94, and the tilt included in the second index value I2. The attitude of the component E is determined based on the angle AA. If the tilt angle AA included in the second index value I2 based on the lower image G2 is less than the first tilt threshold indicated by the first tilt threshold information J17, the determination unit 93 determines that the orientation of the component E is set to the above-mentioned mountable orientation. It is determined that In addition, when the tilt angle AA included in the second index value I2 is equal to or greater than the second tilt threshold indicated by the second tilt threshold information J18, the determination unit 93 determines that the posture of the component E is the unmountable posture. judge. Furthermore, when the tilt angle AA included in the second index value I2 is greater than or equal to the first tilt threshold and less than the second tilt threshold, the determination unit 93 determines that the posture of the component E is the undiscernible posture. .

Next, as shown in FIG. 10(B), a case is assumed in which the component E is suctioned and held in a rotational posture rotated around the Z-axis with respect to the suction surface 631S of the suction nozzle 63. In this case, in the lower image G2, the lower component region G21 is rotated around the Z-axis with respect to the reference component region G21S. In the second determination process, the determination unit 93 uses the rotation angle included in the second index value I2 based on the lower image G2, which changes depending on the amount of rotation of the component E about the Z axis with respect to the suction surface 631S, to determine whether the component The rotational posture of E around the Z axis can be determined.

Specifically, the determination unit 93 uses the rotation threshold information J19 included in the determination condition information J1 stored in the first storage unit 94 and the rotation angle around the Z axis included in the second index value I2. , determine the attitude of part E. If the rotation angle included in the second index value I2 based on the lower image G2 is less than the rotation threshold indicated by the rotation threshold information J19, the determination unit 93 determines that the orientation of the component E is the mountable orientation. . Furthermore, when the rotation angle included in the second index value I2 based on the lower image G2 is equal to or greater than the rotation threshold, the determination unit 93 determines that the orientation of the component E is the unmountable orientation.

As explained above, the determination unit 93 performs the first determination process using the first index value I1 based on the side image G1 and the second determination process using the second index value I2 based on the lower image G2. The attitude of the part E is determined by the combination determination process. Thereby, the determining unit 93 can accurately determine the posture of the component E held by the suction nozzle 63.

Also, depending on the posture of the component E held by suction nozzle 63, in each of the first determination process and the second determination process, it is determined whether the component posture belongs to the mountable posture or the non-mountable posture. Situations may arise where it is difficult to determine the In such a case, as described above, the determining unit 93 determines that the component orientation is in the undeterminable orientation without forcibly determining whether the component orientation belongs to the mountable orientation or the unmountable orientation. It is determined that there is. Thereby, the determining unit 93 can accurately determine the posture of the component E held by the suction nozzle 63.

Furthermore, the determination unit 93 is configured to execute the second determination process after the first determination process. Then, the determination unit 93 executes the second determination process after the first determination process, regardless of whether the determination result in the first determination process is the mountable orientation, the unloadable orientation, or the undeterminable orientation. do. That is, the determination unit 93 executes the second determination process regardless of the determination result in the first determination process, and determines the orientation of the component E through a combination of the first determination process and the second determination process. Thereby, the determination unit 93 can determine the posture of the component E suction-held by the suction nozzle 63 with higher accuracy.

In the present embodiment, the determination unit 93 is configured to execute the second determination process regardless of the determination result in the first determination process as described above, but is not limited to such a configuration. do not have. The determination unit 93 may be configured to perform a second determination process after the first determination process, depending on the determination result in the first determination process. In this aspect, the determination unit 93 omits execution of the second determination process when the determination result in the first determination process is either the mountable orientation or the unmountable orientation. Thereby, it is possible to improve the efficiency of the determination process by the determination unit 93. On the other hand, if the determination result in the first determination process is the undeterminable posture, the determination unit 93 calculates a second index value I2 including the tilt angle AA and tilt direction DA of the part E after the first determination process. The second determination process used is executed. As a result, in a situation where it is difficult to determine in the first determination process whether the component orientation belongs to the mountable orientation or the non-mountable orientation, the orientation of the component E is determined in the second determination process. be able to.

The pattern of the determination results in the first determination process and the second determination process by the determination unit 93 can be represented by the determination pattern PJ in FIG. 11. As shown in FIG. 11, the determination unit 93 divides the patterns of determination results in the first determination process and the second determination process into a first determination pattern PJ1, a second determination pattern PJ2, and a third determination pattern PJ3. Classify into three patterns. The determining unit 93 determines whether the head unit 6 passes through the lower imaging unit 92 and reaches the component mounting position of the board P transported by the conveyor 3 in a state where the component E is sucked and held by the suction nozzle 63. Patterns of determination results in the first determination process and the second determination process are classified into three patterns. The first determination pattern PJ1 is a pattern when the determination results in the first determination process and the second determination process are both the mountable posture MPP. The second determination pattern PJ2 is a pattern when the determination result in at least one of the first determination process and the second determination process is the unmountable posture MIP. The third determination pattern PJ3 is a pattern when the determination result in at least one of the first determination process and the second determination process is the undetermined posture DIP excluding the unloadable posture MIP.

If the pattern of the determination results in the first determination process and the second determination process is the first determination pattern PJ1, the determination unit 93 outputs mounting permission information that permits the mounting of the component E onto the board P, or An imaging command is output and a third determination process is executed. The component orientation determination device 9 according to this embodiment is configured to be able to switch between a normal mode and a detailed determination mode. When set to the normal mode, the determination unit 93 outputs the mounting permission information when the pattern of determination results in the first determination process and the second determination process is the first determination pattern PJ1. On the other hand, when the detailed determination mode is set, the determination unit 93 outputs the re-imaging command when the pattern of determination results in the first determination process and the second determination process is the first determination pattern PJ1. Then, the third determination process is executed.

When the mounting permission information is output from the determination unit 93, the mounting permission information is input to the control device 10. When the mounting permission information is input to the control device 10, the head drive control section 10B controls the component mounting operation of the head unit 6 so that the component E sucked and held by the suction nozzle 63 is mounted on the substrate P. Control. As a result, when the determination results in the first determination process and the second determination process by the determination unit 93 are both the above-mentioned mountable posture MPP, the component E is mounted on the board P. The occurrence of mounting defects can be reduced. On the other hand, when the detailed determination mode is set and the reimaging command is output from the determination unit 93, the determination unit 93 executes a third determination process that is different from the first determination process and the second determination process described above. do. Details of this third determination process will be described later.

When the pattern of the determination results in the first determination process and the second determination process is the second determination pattern PJ2, the determining unit 93 outputs mounting disallowance information that disallows mounting of the component E onto the board P. When the determination unit 93 outputs the mounting non-permission information, the mounting non-permission information is input to the control device 10. When the mounting disallowance information is input to the control device 10, the head drive control section 10B controls the component discarding operation of the head unit 6 so that the component E sucked and held by the suction nozzle 63 is discarded. As a result, the determination result in at least one of the first determination process and the second determination process by the determination unit 93 is the unmountable posture MIP, and the component is in a position where there is a concern that a mounting defect may occur. E can be discarded.

When the judgment result pattern in the first judgment process and the second judgment process is the third judgment pattern PJ3, the judgment unit 93 performs re-imaging as in the case of the first judgment pattern PJ1 when setting the detailed judgment mode described above. A command is output and the third determination process is executed. The third determination process executed by the determination unit 93 after outputting the reimaging command will be described with reference to FIG. 12.

When the determination unit 93 outputs the re-imaging command, the re-imaging command is input to the control device 10 and the side imaging unit 91. The re-imaging command instructs the lateral imaging unit to obtain a second lateral image G3 by imaging from a direction different from the imaging direction D1 of the component E when the lateral image G1 used in the first determination process was captured. This is command information for commanding 91.

Assume that the re-imaging command is input to the control device 10 and the side imaging unit 91. In this case, when the head unit 6 passes through the lower imaging section 92 and reaches the component mounting position of the board P transported by the conveyor 3 with the component E being sucked and held by the suction nozzle 63, the head drive control is performed. The unit 10B rotates the suction nozzle 63 so that the imaging direction of the component E by the side imaging unit 91 is different from the imaging direction D1 during the first determination process. When the rotation of the suction nozzle 63 is completed, the side imaging section 91 images the component E held by the suction nozzle 63 to obtain a second side image G3.

When the second side image G3 is acquired by the side imaging unit 91, the determination unit 93 executes a third determination process of determining the attitude of the component E based on the second side image G3. In the third determination process, the determination unit 93 determines which parts are to be attached to the suction surface 631S of the suction nozzle 63 based on the second side part area G31 consisting of a pixel group corresponding to the part E in the second side image G3. A third index value I3 expressed by the inclination angle of the lower surface of E is calculated, and the attitude of the component E is determined based on the third index value I3. Specifically, the determination unit 93 uses the first slope threshold information J15 and the second slope threshold information J16 included in the determination condition information J1 stored in the first storage unit 94, and the calculated third index value I3. Based on this, the attitude of the part E is determined. When the third index value I3 is less than the first inclination threshold indicated by the first inclination threshold information J15, the determination unit 93 determines that the attitude of the component E is the mountable attitude MPP. Furthermore, when the third index value I3 is equal to or greater than the second inclination threshold indicated by the second inclination threshold information J16, the determination unit 93 determines that the orientation of the component E is the unmountable orientation MIP. Furthermore, when the third index value I3 is greater than or equal to the first inclination threshold and less than the second inclination threshold, the determination unit 93 determines that the attitude of the component E is the indiscernible attitude DIP. As a result, in a situation where it is difficult to determine to which posture of the mountable posture MPP or the non-mountable posture MIP the component posture belongs in at least one of the first determination process and the second determination process. Furthermore, the orientation of the component E can be determined in the third determination process. That is, the determination unit 93 performs a first determination process using the first index value I1 based on the side image G1, a second determination process using the second index value I2 based on the lower image G2, and a second determination process using the second index value I2 based on the lower image G2. The orientation of the component E is determined by a combination of determination processing with a third determination process using the third index value I3 based on the square image G3. Thereby, the determination unit 93 can determine the posture of the component E suction-held by the suction nozzle 63 with higher accuracy.

Specifically, the pattern of the determination results in the first determination process and the second determination process is the third determination pattern PJ3, the determination result in the first determination process is the undeterminable posture DIP, and Assume that the determination result in the second determination process is the mountable posture MPP. In this case, as shown in FIG. 12(A), the determination unit 93 moves the component from a direction D11 on the same horizontal plane and orthogonal to the imaging direction D1 for the component E when the side image G1 used in the first determination process was captured. A command to image E is output as the re-imaging command. When the determination unit 93 outputs the re-imaging command, the head drive control unit 10B determines that the imaging direction of the component E by the side imaging unit 91 is a direction D11 orthogonal to the imaging direction D1 during the first determination process. The suction nozzle 63 is rotated 90 degrees so that. When the rotation of the suction nozzle 63 is completed, the side imaging section 91 images the component E held by the suction nozzle 63 to obtain a second side image G3. When the second side image G3 is acquired by the side imaging unit 91, the determination unit 93 executes a third determination process of determining the attitude of the component E based on the second side image G3. As a result, although it is possible to determine that the component orientation is the mountable orientation MPP in the second determination process, it is not determined to which of the mountable orientation MPP or the unmountable orientation MIP the component orientation belongs in the first determination process. When the situation is difficult to determine, the component orientation can be determined with higher accuracy in the third determination process.

Further, the pattern of the determination results in the first determination process and the second determination process is the third determination pattern PJ3, and the determination result in the first determination process is the mountable attitude MPP or the undeterminable attitude DIP. Assume that there is a position DIP, and the determination result in the second determination process is the undeterminable posture DIP. In this case, as shown in FIG. 12(B), the determination unit 93 determines that the side image G1 used in the first determination process is on the same horizontal plane as the imaging direction D1 for the component E at the time of imaging, and that the second A command to image the part E from a direction D12 perpendicular to the tilt direction DA included in the index value I2 is output as the re-imaging command. When the determination unit 93 outputs the re-imaging command, the head drive control unit 10B determines whether the imaging direction of the component E by the side imaging unit 91 is on the same horizontal plane as the imaging direction D1 during the first determination process. , the suction nozzle 63 is rotated in a direction D12 perpendicular to the tilt direction DA. When the rotation of the suction nozzle 63 is completed, the side imaging section 91 images the component E held by the suction nozzle 63 to obtain a second side image G3. When the second side image G3 is acquired by the side imaging unit 91, the determination unit 93 executes a third determination process of determining the attitude of the component E based on the second side image G3. As a result, in a situation where it is difficult to determine in the second determination process whether the component orientation belongs to the mountable orientation MPP or the unmountable orientation MIP, the component orientation can be determined more accurately in the third determination process. Can be judged well.

When the determination result in the third determination process using the third index value I3 based on the second lateral image G3 is the mounting possible posture MPP, the determination unit 93 determines that the mounting position of the component E on the board P is permitted. Output loading permission information. When the determination unit 93 outputs the mounting permission information, the head drive control unit 10B controls the component mounting operation of the head unit 6 so that the component E sucked and held by the suction nozzle 63 is mounted on the substrate P. Control. In addition, when the determination result in the third determination process is either the above-mentioned mounting impossible posture MIP or the above-mentioned undeterminable posture DIP, the determining section 93 determines that the mounting disallowance information disallows the mounting of the component E onto the board P. Output. When the determination unit 93 outputs the mounting disallowance information, the head drive control unit 10B controls the component discarding operation of the head unit 6 so that the component E sucked and held by the suction nozzle 63 is discarded.

Note that if the pattern of the determination results in the first determination process and the second determination process is the first determination pattern PJ1 when the detailed determination mode is set, the determination unit 93 A command to image the part E from a direction D11 perpendicular to the imaging direction D1 of the part E on the same horizontal plane as the image G1 is output as the re-imaging command. When the determination unit 93 outputs the re-imaging command, the head drive control unit 10B determines that the imaging direction of the component E by the side imaging unit 91 is a direction D11 orthogonal to the imaging direction D1 during the first determination process. The suction nozzle 63 is rotated 90 degrees so that. When the rotation of the suction nozzle 63 is completed, the side imaging section 91 images the component E held by the suction nozzle 63 to obtain a second side image G3. When the second side image G3 is acquired by the side imaging unit 91, the determination unit 93 executes a third determination process of determining the attitude of the component E based on the second side image G3. In this way, when it is determined that the component orientation is the mountable orientation MPP in both the first determination process and the second determination process, the third determination process is executed by the determination unit 93, so that the part It is possible to more accurately determine whether the attitude is the mountable attitude MPP.

Next, more detailed contents of the component orientation determination process by the component orientation determination device 9 according to this embodiment will be described with reference to the flowcharts of FIG. 13 and FIGS. 14A and 14B.

<First example of flow of component orientation determination process>
FIG. 13 is a flowchart showing a first example of the flow of component orientation determination processing by the determination unit 93.

When the suction nozzle 63 suction-holds the component E at the component supply position P1 of the component supply device 5, the side imaging unit 91 acquires a side image G1 (step a1). When the side image G1 is acquired by the side imaging unit 91, the determination unit 93 calculates a first index value I1 based on the side image G1, and determines the attitude of the component E using the first index value I1. A first determination process is executed (step a2). The determination result of the first determination process by the determination unit 93 is stored in the second storage unit 95 (step a3).

When the head unit 6 is moved from the component supply position P1 of the component supply device 5 toward the component mounting position of the board P conveyed by the conveyor 3 under the control of the head drive control section 10B, the lower imaging section is moved during the movement. 92 acquires the lower image G2 (step a4). When the lower image G2 is acquired by the lower image capturing unit 92, the determining unit 93 calculates a second index value I2 based on the lower image G2, and determines the posture of the component E using the second index value I2. 2 determination processing is executed (step a5). The determination result of the second determination process by the determination unit 93 is stored in the second storage unit 95 (step a6).

Next, the determination unit 93 determines whether the head unit 6 passes through the lower imaging unit 92 and reaches the component mounting position of the board P conveyed by the conveyor 3 while the component E is being sucked and held by the suction nozzle 63. The patterns of the judgment results in the first judgment process and the second judgment process stored in the second storage unit 95 are divided into three patterns: a first judgment pattern PJ1, a second judgment pattern PJ2, and a third judgment pattern PJ3. The images are classified into two patterns (step a7).

When the pattern of the determination results in the first determination process and the second determination process is the first determination pattern PJ1 (step a8), the determination unit 93 detects that the component E is suctioned and held by the suction nozzle 63 by taking a side image. Confirmation is made based on the captured image by the unit 91 (step a81). Then, the determination unit 93 outputs the mounting permission information that permits mounting of the component E onto the board P (step a82). When the determination unit 93 outputs the mounting permission information, the head drive control unit 10B controls the component mounting operation of the head unit 6 so that the component E sucked and held by the suction nozzle 63 is mounted on the substrate P. Control. As a result, when the determination results in the first determination process and the second determination process by the determination unit 93 are both the above-mentioned mountable posture MPP, the component E is mounted on the board P. The occurrence of mounting defects can be reduced.

When the pattern of the determination results in the first determination process and the second determination process is the second determination pattern PJ2 (step a9), the determination unit 93 transmits mounting disallowance information that disallows the mounting of the component E onto the board P. Output (step a91). When the determination unit 93 outputs the mounting disallowance information, the head drive control unit 10B controls the component discarding operation of the head unit 6 so that the component E sucked and held by the suction nozzle 63 is discarded. As a result, the determination result in at least one of the first determination process and the second determination process by the determination unit 93 is the unmountable posture MIP, and the component is in a position where there is a concern that a mounting defect may occur. E can be discarded.

When the pattern of the determination results in the first determination process and the second determination process is the third determination pattern PJ3 (step a10), the determination unit 93 outputs the reimaging command (step a101). When the determination unit 93 outputs the re-imaging command, when the head unit 6 passes the lower imaging unit 92 and reaches the component mounting position of the board P transported by the conveyor 3, the head drive control unit 10B , the suction nozzle 63 is rotated so that the imaging direction of the component E by the side imaging section 91 is different from the imaging direction D1 during the first determination process. When the rotation of the suction nozzle 63 is completed, the side imaging unit 91 images the component E held by the suction nozzle 63 to obtain a second side image G3 (step a102). When the second side image G3 is acquired by the side imaging unit 91, the determination unit 93 calculates a third index value I3 based on the second side image G3, and uses the third index value I3. A third determination process for determining the orientation of the component E is executed (step a103).

If the determination result in the third determination process is the mountable posture MPP (step a20), the determination unit 93 outputs the mount permission information that permits the mounting of the component E onto the board P (step a201). When the determination unit 93 outputs the mounting permission information, the head drive control unit 10B controls the component mounting operation of the head unit 6 so that the component E sucked and held by the suction nozzle 63 is mounted on the substrate P. Control.

If the determination result in the third determination process is the undeterminable posture DIP (step a21), the determination unit 93 outputs the loading disallowance information that disallows the mounting of the component E on the board P (step a221). . When the determination unit 93 outputs the mounting disallowance information, the head drive control unit 10B controls the component discarding operation of the head unit 6 so that the component E sucked and held by the suction nozzle 63 is discarded.

If the determination result in the third determination process is the unmountable posture MIP (step a22), the determining unit 93 outputs the mounting disallowance information that disallows mounting of the component E on the board P (step a221). . When the determination unit 93 outputs the mounting disallowance information, the head drive control unit 10B controls the component discarding operation of the head unit 6 so that the component E sucked and held by the suction nozzle 63 is discarded.

<Second example of flow of component orientation determination process>
14A and 14B are flowcharts showing a second example of the flow of component orientation determination processing by the determination unit 93.

When the suction nozzle 63 suction-holds the component E at the component supply position P1 of the component supply device 5, the side imaging unit 91 acquires a side image G1 (step b1). When the side image G1 is acquired by the side imaging unit 91, the determination unit 93 calculates a first index value I1 based on the side image G1, and determines the attitude of the component E using the first index value I1. A first determination process is executed (step b2). The determination result of the first determination process by the determination unit 93 is stored in the second storage unit 95 (step b3).

When the head unit 6 is moved from the component supply position P1 of the component supply device 5 toward the component mounting position of the board P conveyed by the conveyor 3 under the control of the head drive control section 10B, the lower imaging section is moved during the movement. 92 acquires the lower image G2 (step b4). When the lower image G2 is acquired by the lower image capturing unit 92, the determining unit 93 calculates a second index value I2 based on the lower image G2, and determines the posture of the component E using the second index value I2. 2 determination processing is executed (step b5). The determination result in the second determination process by the determination unit 93 is stored in the second storage unit 95 (step b6).

Next, the determination unit 93 determines whether the head unit 6 passes through the lower imaging unit 92 and reaches the component mounting position of the board P conveyed by the conveyor 3 while the component E is being sucked and held by the suction nozzle 63. The patterns of the judgment results in the first judgment process and the second judgment process stored in the second storage unit 95 are divided into three patterns: a first judgment pattern PJ1, a second judgment pattern PJ2, and a third judgment pattern PJ3. The images are classified into two patterns (step b7).

When the pattern of the determination results in the first determination process and the second determination process is the first determination pattern PJ1 (step b8), the determination unit 93 determines whether or not the normal mode is set (step b81). If the normal mode is set (YES in step b81), the determination unit 93 confirms that the component E is suctioned and held by the suction nozzle 63 based on the image captured by the side imaging unit 91 (step b82). Then, the determination unit 93 outputs the mounting permission information that permits mounting of the component E onto the board P (step b83). When the determination unit 93 outputs the mounting permission information, the head drive control unit 10B controls the component mounting operation of the head unit 6 so that the component E sucked and held by the suction nozzle 63 is mounted on the substrate P. Control. As a result, when the determination results in the first determination process and the second determination process by the determination unit 93 are both the above-mentioned mountable posture MPP, the component E is mounted on the board P. The occurrence of mounting defects can be reduced.

If the normal mode is not set and the detailed determination mode is set (NO in step b81), the determining unit 93 shifts the process to step b100, which will be described later.

If the pattern of the determination results in the first determination process and the second determination process is the second determination pattern PJ2 (step b9), the determination unit 93 transmits mounting disallowance information that disallows mounting of the component E on the board P. Output (step b91). When the determination unit 93 outputs the mounting disallowance information, the head drive control unit 10B controls the component discarding operation of the head unit 6 so that the component E sucked and held by the suction nozzle 63 is discarded. As a result, the determination result in at least one of the first determination process and the second determination process by the determination unit 93 is the unmountable posture MIP, and the component is in a position where there is a concern that a mounting defect may occur. E can be discarded.

When the pattern of the determination results in the first determination process and the second determination process is the third determination pattern PJ3 (step b10), the determination unit 93 moves the process to step b100.

In step b100, the determination unit 93 outputs the reimaging command. When the determination unit 93 outputs the re-imaging command, when the head unit 6 passes the lower imaging unit 92 and reaches the component mounting position of the board P transported by the conveyor 3, the head drive control unit 10B , the suction nozzle 63 is rotated so that the imaging direction of the component E by the side imaging section 91 is different from the imaging direction D1 during the first determination process. When the rotation of the suction nozzle 63 is completed, the side imaging unit 91 images the component E held by suction nozzle 63 to obtain a second side image G3 (step b101). When the second side image G3 is acquired by the side imaging unit 91, the determination unit 93 calculates a third index value I3 based on the second side image G3, and uses the third index value I3. A third determination process for determining the orientation of the component E is executed (step b102).

If the determination result in the third determination process is the mountable posture MPP (step b200), the determination unit 93 outputs the mount permission information that permits the mounting of the component E onto the board P (step b2001). When the determination unit 93 outputs the mounting permission information, the head drive control unit 10B controls the component mounting operation of the head unit 6 so that the component E sucked and held by the suction nozzle 63 is mounted on the substrate P. Control.

If the determination result in the third determination process is the undeterminable posture DIP (step b201), the determination unit 93 outputs the loading disallowance information that disallows the mounting of the component E on the board P (step b2021). . When the determination unit 93 outputs the mounting disallowance information, the head drive control unit 10B controls the component discarding operation of the head unit 6 so that the component E sucked and held by the suction nozzle 63 is discarded.

If the determination result in the third determination process is the unmountable posture MIP (step b202), the determining unit 93 outputs the loading disallowance information that disallows mounting of the component E on the board P (step b2021). . When the determination unit 93 outputs the mounting disallowance information, the head drive control unit 10B controls the component discarding operation of the head unit 6 so that the component E sucked and held by the suction nozzle 63 is discarded.

As described above, the component mounter 1 according to the present embodiment includes the component posture determination device 9 that can accurately determine the posture of the component E sucked and held by the suction nozzle 63 of the head unit 6. There is. Based on the determination result by the determining section 93 of the component attitude determining device 9, the component mounting operation of the component E onto the board P by the head unit 6 is controlled. Thereby, it is possible to reduce the waste of undesired parts E and also to reduce the occurrence of mounting defects of parts E on the board P.

1 Component mounter 6 Head unit 63 Suction nozzle 631S Suction surface 9 Component posture determination device 91 Side imaging section 92 Lower imaging section 93 Judgment section 10 Control device AA Tilt angle DA Tilt direction DIP Unidentifiable posture E Component G1 Side image G11 Side component area G12A Reference part area G2 Lower image G21 Lower part area G21S Reference part area G3 Second lateral image I1 First index value I2 Second index value I3 Third index value MIP Unmountable posture MPP Mountable posture P substrate

Claims (7)

A component posture determination device that determines the posture of a component held by suction on a suction surface of a suction nozzle provided in a head unit that mounts the component on a board,
a side imaging unit that captures a side image of the component held by the suction nozzle from the side;
a lower imaging unit that captures an image of the component held by the suction nozzle from below to obtain a lower image;
A component orientation index value regarding the orientation of the component is calculated based on the side image and the lower image, and the orientation of the component suctioned and held by the suction nozzle indicates whether or not it can be mounted on the board based on the component orientation index value. A determination unit that determines which of the possible and unloadable postures the vehicle is in, and an undeterminable posture in which it is impossible to determine which of the loadable and unloadable postures the vehicle is in. ,
The determination unit includes:
Based on a reference part area consisting of a pixel group corresponding to the reference part of the suction nozzle and a side component area consisting of a pixel group corresponding to the part in the side image, the lower end of the reference part area or the side part The first index value expressed by the length from the upper end of the component area to the lower end of the side component area along the direction perpendicular to the suction surface or the inclination angle of the lower surface of the component with respect to the suction surface is a first determination process that calculates an orientation index value and determines the orientation of the component based on the first index value;
A degree of distortion of a lower part region consisting of a pixel group corresponding to a component in the lower image with respect to a predetermined reference component region is calculated, and a second index including a tilt angle and a tilt direction of the component with respect to the suction surface based on the degree of distortion. a second determination process of calculating a value as the component orientation index value and determining the orientation of the component based on the second index value;
In accordance with the determination results in the first determination process and the second determination process, a second determination process is performed by imaging from a direction different from the imaging direction of the part when the side image used in the first determination process was taken. outputting a re-imaging command to the side imaging unit to obtain a side image of the second side image based on a second side part area consisting of a pixel group corresponding to the part in the second side image; , performing a third determination process of calculating a third index value represented by an inclination angle of the lower surface of the component with respect to the suction surface, and determining the posture of the component based on the third index value ;
In the third determination process, if the determination result in the first determination process is the mountable attitude or the undeterminable attitude, and the determination result in the second determination process is the undeterminable attitude, 1. A command to image the part from a direction that is on the same horizontal plane as the imaging direction for the part at the time of imaging the side image used in the first determination process and perpendicular to the tilt direction included in the second index value, A component orientation determination device that outputs the reimaging command . The determination unit includes:
configured to execute the second determination process after the first determination process,
1 . The second determination process is executed after the first determination process regardless of whether the determination result in the first determination process is the mountable orientation, the unloadable orientation, or the undeterminable orientation. The component attitude determination device described in . The determination unit includes:
configured to execute the second determination process after the first determination process, depending on the determination result in the first determination process;
If the determination result in the first determination process is either the mountable orientation or the unmountable orientation, omit execution of the second determination process;
The component orientation determination device according to claim 1, wherein when the determination result in the first determination process is the undeterminable orientation, the second determination process is executed after the first determination process. In the third determination process, when the determination result in the first determination process is the undeterminable attitude and the determination result in the second determination process is the mountable attitude, the determination unit 2. The part posture according to claim 1, wherein a command to image the part from a direction perpendicular to the same horizontal plane as the imaging direction for the part at the time of imaging the side image used in the first determination process is output as the re-imaging command . Judgment device. If the determination results in the first determination process and the second determination process are both the mountable posture, the determination unit outputs mount permission information that permits mounting of the component on the board, or 2. The component orientation determination device according to claim 1 , wherein the component orientation determination device executes the 3 determination process. If the determination result in at least one of the first determination process and the second determination process is the non-mountable attitude, the determination unit may provide mounting disallowance information that disallows mounting of the component on the board. The component orientation determination device according to claim 1 , which outputs a component orientation determination device. a head unit comprising a suction nozzle having a suction surface for suctioning and holding a component, and mounting the component suction-held by the suction surface on a substrate;
The component posture determination device according to any one of claims 1 to 6 , which determines the posture of a component suction-held by the suction nozzle;
A component mounting machine, comprising: a control device that controls a component mounting operation on a board by the head unit based on a determination result by the determination section of the component orientation determination device.

Images