JP7626691B2 - Board work equipment and component mounting equipment - Google Patents

Description

This invention relates to a board work device and a component mounting device, and in particular to a board work device and a component mounting device that are equipped with an imaging unit and lighting that emits light when capturing images.

Conventionally, component mounting devices equipped with an imaging unit and lighting that emits light when capturing images are known (see, for example, Patent Document 1).

The above-mentioned Patent Document 1 discloses a component mounting device that includes a mounting head that mounts components on a board, an imaging unit that images the components held by the mounting head from below, and lighting that irradiates the components held by the mounting head with light from above when the imaging unit is imaging them. In the component mounting device of Patent Document 1, the imaging unit images the lighting to obtain brightness information about the lighting before the components are placed between the imaging unit and the lighting.

Publication No. 3-214695

In the component mounting device of the above-mentioned Patent Document 1, the component is irradiated with light from above by the illumination, the component is imaged from below by the imaging unit, and the illumination is imaged by the imaging unit before the component is placed between the imaging unit and the illumination to obtain luminance information of the illumination. For this reason, when the component is imaged by irradiating the component with light from the illumination from the same side (below) as the imaging unit, it is difficult to image the illumination by the imaging unit. In addition, in a conventional device that irradiates the component with light from the illumination from the same side as the imaging unit to image the component, it is known that in order to measure the amount of light of the illumination, the illumination irradiates light from the illumination to a jig placed opposite the illumination, and the jig illuminated with the illumination light is imaged by the imaging unit to measure the amount of light of the illumination. In this case, it is necessary to use a jig for measuring the amount of light of the illumination, so that it is difficult to easily measure the amount of light of the illumination. Therefore, it is desired to easily measure the amount of light of the illumination in a device that irradiates the component (image target) with light from the illumination from the same side as the imaging unit to image the component.

This invention has been made to solve the above problems, and one object of the invention is to provide a circuit board working device and a component mounting device that can easily measure the amount of light emitted by an illumination source in a device that captures an image of an object by irradiating the object with light from the same side as the imaging unit.

The board working device according to a first aspect of the present invention includes a working unit that performs work on a board, a first imaging unit that images a first imaging target from below, a first illumination that irradiates light from below the first imaging target when imaging by the first imaging unit, a second imaging unit that images a second imaging target from above, a second illumination that irradiates light from above the second imaging target when imaging by the second imaging unit, and a control unit that controls imaging by the first imaging unit and the second imaging unit, and the control unit is configured to perform at least one of a first illumination measurement process in which the first illumination is imaged by the second imaging unit while irradiating light from the first illumination with the first illumination and the second imaging unit facing each other in the vertical direction, and the amount of light of the first illumination is measured, and a second illumination measurement process in which the second illumination is imaged by the first imaging unit while irradiating light from the second illumination with the second illumination and the first imaging unit facing each other in the vertical direction, and the amount of light of the second illumination is measured.

In the circuit board working device according to the first aspect of the present invention, as described above, a control unit is provided that performs at least one of a first lighting measurement process in which the first lighting is irradiated with light from the first lighting and the second imaging unit is imaged by the second imaging unit to measure the amount of light of the first lighting, and a second lighting measurement process in which the second lighting is irradiated with light from the second lighting and the first imaging unit is imaged by the first imaging unit to measure the amount of light of the second lighting, while the second lighting and the first imaging unit are opposed to each other in the vertical direction. As a result, when the amount of light of the first lighting that irradiates light from the same downward direction as the first imaging unit on the first imaging target is measured by directly imaging the second imaging unit, the amount of light of the first lighting can be easily measured, unlike when the amount of light is measured by irradiating light from the first lighting to a dedicated member such as a jig and imaging the first imaging unit. In addition, when the amount of light from the second illumination that irradiates the second imaging target from the same downward direction as the second imaging unit is measured by directly imaging the first imaging unit, the amount of light from the second illumination can be easily measured, unlike when a dedicated member such as a jig is irradiated with light from the second illumination and imaged by the second imaging unit to measure the amount of light. Also, in a device that irradiates the imaging target with light from the illumination from the same side as the imaging unit, the amount of light from the illumination can be easily measured. Also, since the worker does not need to visually check the amount of light from the illumination, the workload on the worker can be reduced.

In the board working device according to the first aspect, the control unit is preferably configured to perform at least one of the following: control to adjust the brightness of the first lighting based on the light quantity of the first lighting measured by the first lighting measurement process; and control to adjust the brightness of the second lighting based on the light quantity of the second lighting measured by the second lighting measurement process. With this configuration, the brightness of the lighting can be adjusted based on the light quantity of the lighting measured by capturing an image of the lighting by the imaging unit located opposite the lighting, so that the brightness of the lighting can be easily adjusted without using a dedicated member such as a jig.

In the board working device according to the first aspect, the control unit is preferably configured to perform at least one of the following: control to determine whether the brightness of the first lighting is appropriate based on the light quantity of the first lighting measured by the first lighting measurement process; and control to determine whether the brightness of the second lighting is appropriate based on the light quantity of the second lighting measured by the second lighting measurement process. With this configuration, the appropriateness of the brightness of the lighting can be determined based on the light quantity of the lighting measured by capturing an image using an imaging unit located opposite the lighting, so that the appropriateness of the brightness of the lighting can be easily determined without using a dedicated member such as a jig. In addition, since the worker does not need to visually determine the appropriateness of the brightness of the lighting, an increase in the workload of the worker can be suppressed.

In this case, the control unit is preferably configured to perform at least one of the following: control to determine the deterioration of the first lighting based on whether the brightness of the first lighting is appropriate; and control to determine the deterioration of the second lighting based on whether the brightness of the second lighting is appropriate. With this configuration, the deterioration state of the lighting can be accurately determined from the appropriateness of the brightness of the lighting based on the image captured by the image capture unit positioned opposite the lighting.

In the configuration for performing the process of determining deterioration of the above-mentioned lighting, the control unit is preferably configured to perform at least one of control for determining deterioration of the first lighting based on the light intensity of the first lighting and the cumulative amount of current supplied to the first lighting from the start of use, and control for determining deterioration of the second lighting based on the light intensity of the second lighting and the cumulative amount of current supplied to the second lighting from the start of use. With this configuration, deterioration of the lighting can be confirmed before deterioration due to use of the lighting reaches its limit by determining deterioration based on the cumulative amount of electricity supplied to the lighting.

In the configuration for performing the process of determining deterioration of the above-mentioned lighting, the control unit is preferably configured to perform at least one of control for issuing a notification to encourage replacement of the first lighting based on a determination of deterioration of the first lighting, and control for issuing a notification to encourage replacement of the second lighting based on a determination of deterioration of the second lighting. With this configuration, it is possible to urge replacement of the lighting before deterioration due to use of the lighting reaches its limit, thereby effectively suppressing the occurrence of errors (problems) caused by capturing an image of the subject using degraded lighting.

In the circuit board working device according to the first aspect, the control unit is preferably configured to perform at least one of the following: control to give a notification to encourage replacement of the first lighting based on the cumulative amount of current supplied to the first lighting from the start of use; and control to give a notification to encourage replacement of the second lighting based on the cumulative amount of current supplied to the second lighting from the start of use. With this configuration, deterioration of the lighting can be estimated based on the cumulative amount of current supplied to the lighting, and replacement of the lighting can be encouraged before deterioration due to use of the lighting reaches its limit.

In the board working device according to the first aspect, the control unit is preferably configured to perform at least one of the following when the first lighting is imaged by the second imaging unit: turning on the first lighting and turning off the second lighting or turning on the second lighting with a light intensity lower than that during imaging; and when the second lighting is imaged by the first imaging unit, turning on the second lighting and turning off the first lighting or turning on the first lighting with a light intensity lower than that during imaging. With this configuration, it is possible to prevent ambient light other than the lighting of the target whose light intensity is to be measured from being reflected by the imaging unit, and therefore the light intensity of the target lighting can be measured with high accuracy.

In the board working device according to the first aspect, the control unit is preferably configured to perform at least one of control to perform a first lighting measurement process when the cumulative amount of current supplied to the first lighting from the start of use exceeds a first threshold value, and control to perform a second lighting measurement process when the cumulative amount of current supplied to the second lighting from the start of use exceeds a second threshold value. With this configuration, a process to measure the light intensity of the lighting is performed when the cumulative amount of current supplied to the lighting exceeds the threshold value, so that the measurement of the light intensity of the lighting can be performed at an appropriate timing after a certain amount of time has passed since the start of use.

In the board working device according to the first aspect, the control unit is preferably configured to perform at least one of control to perform a first lighting measurement process based on an instruction to end maintenance including cleaning the first lighting or the second imaging unit, and control to perform a second lighting measurement process based on an instruction to end maintenance including cleaning the second lighting or the first imaging unit. With this configuration, the lighting can be imaged by the imaging unit and the light quantity of the lighting can be measured in a state in which the lighting and imaging unit have been cleaned and free of fogging, dirt, and other contaminants through maintenance, so that the light quantity of the lighting can be measured with high accuracy.

In the board working device according to the first aspect described above, the control unit is preferably configured to perform at least one of control to perform a first lighting measurement process when a recognition error of the first imaging object occurs from the imaging result of the first imaging object by the first imaging unit, and control to perform a second lighting measurement process when a recognition error of the second imaging object occurs from the imaging result of the second imaging object by the second imaging unit. With this configuration, it is possible to determine whether or not the recognition error of the imaging object is caused by a decrease in the amount of light of the illumination, and therefore the cause of the recognition error can be accurately determined.

In the board working device according to the first aspect, the control unit is preferably configured to perform at least one of the following: a control to compare a predicted value of the light quantity due to deterioration of the first lighting with a measured value of the light quantity of the first lighting, and determine that the light quantity of the first lighting has decreased due to a reason other than deterioration when the measured value is smaller than the predicted value and the difference between the predicted value and the measured value is greater than a third threshold value, or when the rate of decrease in the measured value is greater than a fourth threshold value; and a control to compare a predicted value of the light quantity due to deterioration of the second lighting with a measured value of the light quantity of the second lighting, and determine that the light quantity of the second lighting has decreased due to a reason other than deterioration when the measured value is smaller than the predicted value and the difference between the predicted value and the measured value is greater than a fifth threshold value, or when the rate of decrease in the measured value is greater than a sixth threshold value. With this configuration, it is possible to determine based on a threshold value whether the light quantity of the lighting has decreased due to fogging or dirt such as dust on the lighting and imaging unit, or due to lighting deterioration, so that deterioration of the lighting can be easily and accurately determined.

The component mounting device according to a second aspect of the present invention includes a mounting head that mounts components on a board, a first imaging unit that images a first imaging target from below, the first imaging target including the component held by the mounting head and mounted on the board, a first illumination that irradiates light from below the first imaging target when imaging by the first imaging unit, a second imaging unit that images a second imaging target including the board from above, a second illumination that irradiates light from above the second imaging target when imaging by the second imaging unit, and a control unit that controls imaging by the first imaging unit and the second imaging unit, and the control unit is configured to perform at least one of a first illumination measurement process in which the first illumination is imaged by the second imaging unit while irradiating light from the first illumination with the first illumination and the second imaging unit facing each other in the vertical direction, and the amount of light of the first illumination is measured, and a second illumination measurement process in which the second illumination is imaged by the first imaging unit while irradiating light from the second illumination with the second illumination and the first imaging unit facing each other in the vertical direction, and the amount of light of the second illumination is measured.

In the component mounting device according to the second aspect of the present invention, as described above, a control unit is provided that performs at least one of a first lighting measurement process in which the first lighting is irradiated with light from the first lighting and the second imaging unit is imaged by the second imaging unit to measure the amount of light of the first lighting, and a second lighting measurement process in which the second lighting is irradiated with light from the second lighting and the first imaging unit is imaged by the first imaging unit to measure the amount of light of the second lighting, while the second lighting and the first imaging unit are opposed to each other in the vertical direction. As a result, when the amount of light of the first lighting that irradiates light from below the first imaging unit to the first imaging target is measured by direct imaging by the second imaging unit, the amount of light of the first lighting can be easily measured, unlike when the amount of light is measured by irradiating light from the first lighting to a dedicated member such as a jig and imaging it with the first imaging unit. In addition, when the amount of light from the second illumination that irradiates the second imaging target from the same downward direction as the second imaging unit is measured by directly imaging the first imaging unit, the amount of light from the second illumination can be easily measured, unlike when a dedicated component such as a jig is irradiated with light from the second illumination and imaged by the second imaging unit to measure the amount of light. Also, in a device that irradiates the imaging target with light from the illumination from the same side as the imaging unit to image the imaging target, a component mounting device that can easily measure the amount of light from the illumination can be provided.

In the component mounting device according to the second aspect, the control unit is preferably configured to divide the first illumination into a plurality of imaging regions in a plan view when imaging the first illumination with the second imaging unit, and to image the plurality of imaging regions while moving the second imaging unit in a horizontal direction relative to the first illumination. With this configuration, even if the horizontal size of the first illumination is larger than the imaging range of the second imaging unit, the first illumination can be divided into a plurality of imaging regions and imaged, so that the amount of light of the entire first illumination can be reliably measured.

In this case, the control unit is preferably configured to determine the number of divisions into the multiple imaging regions based on the imaging range of the second imaging unit and the size of the first illumination. With this configuration, the imaging region can be divided without excess or deficiency, so that the entire first illumination can be efficiently imaged.

In the component mounting device according to the second aspect, the first lighting preferably includes a side lighting that irradiates the component from the side, a first coaxial lighting that irradiates light in a direction overlapping with the optical axis of the first imaging unit, and a first main lighting arranged around the first imaging unit, and the control unit is configured to individually turn on the side lighting, the first coaxial lighting, and the first main lighting to capture images when the first lighting is imaged by the second imaging unit, and to measure the amount of light of each of the side lighting, the first coaxial lighting, and the first main lighting. With this configuration, the amount of light of each of the side lighting, the first coaxial lighting, and the first main lighting of the first lighting is individually measured, so that the amount of light of each of the side lighting, the first coaxial lighting, and the first main lighting can be measured with high accuracy.

In the component mounting device according to the second aspect, preferably, the second illumination includes a second coaxial illumination that irradiates light in a direction overlapping with the optical axis of the second imaging unit, and a second main illumination arranged around the second imaging unit, and the control unit is configured to, when imaging the second illumination with the first imaging unit, individually turn on the second coaxial illumination and the second main illumination to capture the image, and measure the amount of light of each of the second coaxial illumination and the second main illumination. With this configuration, the amount of light of each of the second coaxial illumination and the second main illumination is measured individually, so that the amount of light of each of the second coaxial illumination and the second main illumination can be measured with high accuracy.

According to the present invention, as described above, in a device that captures an image of an object by irradiating the object with light from an illumination source from the same side as the imaging unit, the amount of illumination light can be easily measured.

1 is a plan view showing an outline of a component mounting apparatus according to an embodiment of the present invention; FIG. 2 is a block diagram showing a control configuration of the component mounting apparatus according to an embodiment of the present invention. 2 is a side view showing a component recognition imaging unit of the component mounting apparatus according to the embodiment of the present invention; FIG. 2 is a plan view showing a component recognition imaging unit of the component mounting apparatus according to the embodiment of the present invention; FIG. 2 is a side view showing a board recognition imaging unit of the component mounting apparatus according to the embodiment of the present invention; FIG. 5 is a diagram for explaining measurement of the amount of light of illumination of a component recognition imaging unit of a component mounting apparatus according to an embodiment of the present invention. FIG. 11 is a diagram for explaining measurement of the amount of light of illumination of a board recognition imaging unit of a component mounting apparatus according to an embodiment of the present invention. FIG. 10 is a diagram for explaining division of an imaging area when capturing an image of illumination of a component recognition imaging section of a component mounting apparatus according to an embodiment of the present invention. FIG. 10A and 10B are diagrams for explaining a decrease in the amount of light due to deterioration of the illumination of the component mounting device according to an embodiment of the present invention. 11A and 11B are diagrams for explaining a decrease in the amount of light due to reasons other than deterioration of the illumination of the component mounting device according to an embodiment of the present invention. 5 is a flowchart for explaining a light amount adjustment process of the component mounting apparatus according to one embodiment of the present invention.

The following describes an embodiment of the present invention with reference to the drawings.

The configuration of a component mounting device 100 according to one embodiment of the present invention will be described with reference to Figures 1 to 10.

As shown in FIG. 1, the component mounting device 100 is a component mounting device that transports a board S in the X direction using a pair of conveyors 2 and mounts components 31 on the board S at a mounting work position M.

The component mounting device 100 includes a base 1, a pair of conveyors 2, a component supply unit 3, a head unit 4, a moving mechanism 5, a moving mechanism 6, a component recognition imaging unit 7, and a control unit 8. The component recognition imaging unit 7 is an example of a "first imaging unit" in the claims. The component mounting device 100 is also an example of a "board work device" in the claims.

The pair of conveyors 2 are installed on the base 1 and are configured to transport the board S in the X direction. The pair of conveyors 2 are also provided with a holding mechanism that holds the board S stopped at the mounting work position M during transportation. The pair of conveyors 2 are also configured so that the distance in the Y direction can be adjusted to match the dimensions of the board S.

The component supply unit 3 is disposed on the outer side (Y1 side and Y2 side) of the pair of conveyors 2. The component supply unit 3 also has a tape feeder 30 disposed therein that supplies components 31 to the mounting head 42. The component supply unit 3 is also configured to be capable of arranging multiple tape feeders 30.

The tape feeder 30 supplies the components 31 while feeding out a component supply tape holding the components 31. Specifically, the tape feeder 30 holds a reel around which a component supply tape is wound, holding a plurality of components 31 at a predetermined interval. The tape feeder 30 is also configured to feed the component supply tape on the reel towards the component supply position. The tape feeder 30 is configured to supply the components 31 from the tip in the Y direction. Here, the components 31 include electronic components such as ICs, transistors, capacitors, resistors, and connectors.

As shown in FIG. 1, the head unit 4 is disposed above the pair of conveyors 2 and the component supply unit 3, and includes multiple (five) mounting heads 42 with nozzles 41 attached to their lower ends, and a board recognition imaging unit 43. The board recognition imaging unit 43 is an example of the "second imaging unit" in the claims.

The mounting head 42 is configured to perform work on the board S. The mounting head 42 is configured to mount the components 31 on the board S. Specifically, the mounting head 42 is configured to pick up the components 31 supplied from the tape feeder 30 arranged in the component supply unit 3, and mount the components 31 on the board S arranged at the mounting work position M. The mounting head 42 is also configured to be able to move up and down (to be able to move in the Z direction). The mounting head 42 is also configured to pick up and hold the components 31 supplied from the tape feeder 30 by the negative pressure generated at the tip of the nozzle 41 by a negative pressure generator (not shown), and mount (mount) the components 31 at the mounting position on the board S. The mounting head 42 is an example of a "working unit" in the claims.

The board recognition imaging unit 43 images the board S as the second imaging target from above. The board recognition imaging unit 43 is configured to image the fiducial mark F of the board S in order to recognize the position and orientation of the board S. Then, by imaging and recognizing the position of the fiducial mark F, it is possible to accurately obtain the mounting position of the component 31 on the board S.

The board recognition imaging unit 43 is provided with a second illumination that irradiates light from above onto the board S as the second imaging target when the board recognition imaging unit 43 is imaging. As shown in FIG. 2 and FIG. 5, the second illumination includes a coaxial illumination 432 that irradiates light in a direction overlapping with the optical axis of the board recognition imaging unit 43, and a main illumination 431 arranged around the board recognition imaging unit 43. The main illumination 431 and the coaxial illumination 432 each have a light source such as an LED (light emitting diode). The coaxial illumination 432 irradiates light onto the board S by reflecting light off the half mirror 433. The board recognition imaging unit 43 images the board S with light that passes through the half mirror 433. The main illumination 431 and the coaxial illumination 432 can be turned on individually. The main illumination 431 is an example of the "second main illumination" in the claims, and the coaxial illumination 432 is an example of the "second coaxial illumination" in the claims.

As shown in FIG. 1, the movement mechanism 5 includes a motor 51. The movement mechanism 5 is configured to move the head unit 4 in the X direction along the movement mechanism 5 by driving the motor 51. The movement mechanism 5 is supported at both ends by the movement mechanism 6.

The moving mechanism 6 is fixed on the base 1. The moving mechanism 6 on the X1 side includes a motor 61. The moving mechanism 6 is configured to move the moving mechanism 5 in the Y direction perpendicular to the X direction along the moving mechanism 6 by driving the motor 61. The head unit 4 is movable in the X direction along the moving mechanism 5, and the moving mechanism 5 is movable in the Y direction along the moving mechanism 6, so that the head unit 4 can move in the horizontal direction (XY direction). In other words, the moving mechanisms 5 and 6 are configured to move the mounting head 42 in the horizontal direction.

The component recognition imaging unit 7 images the component 31 as the first imaging target from below. The component recognition imaging unit 7 is fixed on the upper surface of the base 1. The component recognition imaging unit 7 is disposed on the outer side (Y1 side and Y2 side) of the pair of conveyors 2. The component recognition imaging unit 7 is configured to image the component 31 adsorbed to the nozzle 41 of the mounting head 42 from the lower side (Z2 side) in order to image the component 31 prior to mounting the component 31 and recognize the adsorption state (adsorption posture) of the component 31. This makes it possible for the control unit 8 to acquire the adsorption state of the component 31 adsorbed to the nozzle 41 of the mounting head 42.

The part recognition imaging unit 7 is provided with a first illumination that irradiates light from below onto the part 31 as the first imaging target when the part recognition imaging unit 7 is imaging. As shown in FIG. 2 and FIG. 3, the first illumination includes a side illumination 72 that irradiates light from the side onto the part 31, a coaxial illumination 73 that irradiates light in a direction overlapping with the optical axis of the part recognition imaging unit 7, and a main illumination 71 arranged around the part recognition imaging unit 7. The main illumination 71, the side illumination 72, and the coaxial illumination 73 each have a light source such as an LED (light emitting diode). The coaxial illumination 73 irradiates light onto the part 31 by reflecting light off the half mirror 731. The part recognition imaging unit 7 images the part 31 by the light that passes through the half mirror 731. The main illumination 71, the side illumination 72, and the coaxial illumination 73 can be turned on individually. The main light 71 is an example of the "first main light" in the claims, and the coaxial light 73 is an example of the "first coaxial light" in the claims.

The control unit 8 is configured to control the overall operation of the component mounting device 100, such as the transport operation of the board S by the pair of conveyors 2, the mounting operation by the head unit 4, and the imaging operation by the component recognition imaging unit 7 and the board recognition imaging unit 43.

Specifically, the control unit 8 includes, as its control components, a CPU (central processing unit) 81, a storage device 82, a memory 83, a display unit 84, an input device 85, a camera I/F 86, and a lighting controller 87.

The storage device 82 stores information about the board S, information about the components 31, and programs for performing mounting operations. The storage device 82 includes, for example, a hard disk drive (HDD) and a solid state drive (SSD).

The memory 83 is configured to store information when the CPU 81 is operating. The display unit 84 is configured to display the status of the component mounting device 100 and information about the board S being produced. The input device 85 is configured to input operations by the user for the component mounting device 100. The input device 85 includes, for example, a mouse, a keyboard, a switch, a touch panel, etc.

The camera I/F (interface) 86 is connected to the component recognition imaging unit 7 and the board recognition imaging unit 43. The camera I/F 86 is also connected to the CPU 81. This is configured to connect the CPU 81 to the component recognition imaging unit 7 and the board recognition imaging unit 43, respectively.

The lighting controller 87 is configured to turn on each of the main lighting 431, the coaxial lighting 432, the main lighting 71, the side lighting 72, and the coaxial lighting 73 under the control of the CPU 81. The CPU 81 also controls the timing of turning on the main lighting 431, the coaxial lighting 432, the main lighting 71, the side lighting 72, and the coaxial lighting 73. The CPU 81 also controls the adjustment of the light intensity of the main lighting 431, the coaxial lighting 432, the main lighting 71, the side lighting 72, and the coaxial lighting 73. Specifically, the CPU 81 adjusts the current value supplied to the main lighting 431, the coaxial lighting 432, the main lighting 71, the side lighting 72, and the coaxial lighting 73 to adjust the light intensity. Alternatively, the CPU 81 adjusts the duty ratio (the ratio of the on/off time) of the current supplied to the main lighting 431, the coaxial lighting 432, the main lighting 71, the side lighting 72, and the coaxial lighting 73 to adjust the light intensity.

Here, in this embodiment, the control unit 8 measures the amount of light from the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) by imaging the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) with the board recognition imaging unit 43 while irradiating light from the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) with the board recognition imaging unit 43 while arranging the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) facing each other in the vertical direction. At least one of the first lighting measurement process (see FIG. 6) and the second lighting measurement process (see FIG. 7) is performed in which the second lighting (main lighting 431, coaxial lighting 432) and the component recognition imaging unit 7 are opposed in the vertical direction, light is emitted from the second lighting (main lighting 431, coaxial lighting 432), and the second lighting (main lighting 431, coaxial lighting 432) is imaged by the component recognition imaging unit 7 to measure the amount of light of the second lighting (main lighting 431, coaxial lighting 432).

The control unit 8 is configured to perform at least one of the following controls: control to adjust the brightness of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) based on the light amount of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) measured by the first lighting measurement process; and control to adjust the brightness of the second lighting (main lighting 431, coaxial lighting 432) based on the light amount of the second lighting (main lighting 431, coaxial lighting 432) measured by the second lighting measurement process.

The control unit 8 is configured to perform at least one of the following controls: determining deterioration of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) based on the light intensity of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) measured by the first lighting measurement process; and determining deterioration of the second lighting (main lighting 431, coaxial lighting 432) based on the light intensity of the second lighting (main lighting 431, coaxial lighting 432) measured by the second lighting measurement process.

The control unit 8 is configured to perform at least one of the following: control to determine whether the brightness of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) is appropriate based on the light amount of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) measured by the first lighting measurement process; and control to determine whether the brightness of the second lighting (main lighting 431, coaxial lighting 432) is appropriate based on the light amount of the second lighting (main lighting 431, coaxial lighting 432) measured by the second lighting measurement process. The control unit 8 is also configured to perform at least one of the following: control to determine the deterioration of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) based on the suitability of the brightness of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) and control to determine the deterioration of the second lighting (main lighting 431, coaxial lighting 432) based on the suitability of the brightness of the second lighting (main lighting 431, coaxial lighting 432).

The control unit 8 is configured to perform at least one of the following controls: control to determine deterioration of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) based on the light intensity of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) and the cumulative amount of current supplied to the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) from the start of use; and control to determine deterioration of the second lighting (main lighting 431, coaxial lighting 432) based on the light intensity of the second lighting (main lighting 431, coaxial lighting 432) and the cumulative amount of current supplied to the second lighting (main lighting 431, coaxial lighting 432) from the start of use.

Specifically, the control unit 8 stores the cumulative total of the current supplied to the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) in the storage device 82. The control unit 8 also stores the cumulative total of the current supplied to the second lighting (main lighting 431, coaxial lighting 432) in the storage device 82. The control unit 8 then determines the deterioration of the light-emitting elements (LEDs) of the first lighting and the second lighting based on the cumulative current values of the first lighting and the second lighting stored in the storage device 82.

In addition, when the cumulative value of the current of the first lighting (second lighting) stored in the memory device 82 exceeds a threshold value, the control unit 8 measures the light amount of the first lighting (second lighting) by a first lighting measurement process (second lighting measurement process).

The control unit 8 is configured to perform at least one of the following controls: a control to issue a notification to encourage replacement of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) based on a determination of deterioration of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73); and a control to issue a notification to encourage replacement of the second lighting (main lighting 431, coaxial lighting 432) based on a determination of deterioration of the second lighting (main lighting 431, coaxial lighting 432).

When the control unit 8 determines that the first and second lights have deteriorated and that the light intensity of the first and second lights is lower than the replacement recommendation threshold, the control unit 8 issues a notification recommending replacement. The notification recommending replacement is sent to, for example, the display unit 84, an external control device, or a mobile terminal carried by the worker. The replacement recommendation threshold is set higher than the light intensity at which replacement of the first and second lights is essential.

The control unit 8 is configured to perform at least one of the following controls: a control to issue a notification to encourage replacement of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) based on the cumulative amount of current supplied to the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) from the start of use; and a control to issue a notification to encourage replacement of the second lighting (main lighting 431, coaxial lighting 432) based on the cumulative amount of current supplied to the second lighting (main lighting 431, coaxial lighting 432) from the start of use.

The control unit 8 is configured to perform at least one of the following controls when the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) is imaged by the board recognition imaging unit 43: turning on the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) and turning off the second lighting (main lighting 431, coaxial lighting 432) or turning on the lighting with a lower light level than when imaging; and when the second lighting (main lighting 431, coaxial lighting 432) is imaged by the component recognition imaging unit 7, turning on the second lighting (main lighting 431, coaxial lighting 432) and turning off the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) or turning on the lighting with a lower light level than when imaging.

The control unit 8 is configured to perform at least one of the following: control to perform a first lighting measurement process when the cumulative amount of current supplied to the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) from the start of use exceeds a first threshold value; and control to perform a second lighting measurement process when the cumulative amount of current supplied to the second lighting (main lighting 431, coaxial lighting 432) from the start of use exceeds a second threshold value.

As shown in FIG. 9, the control unit 8 issues a notification to encourage replacement of the first and second lights when the rate of decrease in the light intensity of the first and second lights increases and falls below a set threshold value after the cumulative lighting time of the first and second lights reaches the set time T1, or when the value of the correction current becomes equal to or greater than a set threshold value. Note that the correction current is a current that is corrected to improve the light intensity when the light intensity of the first and second lights is decreasing. In other words, when the light intensity of the first and second lights decreases, the correction current increases.

The control unit 8 is configured to perform at least one of the following: control to perform a first lighting measurement process based on an instruction to end maintenance including cleaning of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73), board recognition imaging unit 43, optical system (lens, half mirror) or cover (lighting cover); and control to perform a second lighting measurement process based on an instruction to end maintenance including cleaning of the second lighting (main lighting 431, coaxial lighting 432), component recognition imaging unit 7, optical system (lens, half mirror) or cover (lighting cover).

The control unit 8 is configured to perform at least one of the following: control to perform a first lighting measurement process when a recognition error occurs for the first imaging target (component 31) based on the imaging result of the first imaging target (component 31) by the component recognition imaging unit 7; and control to perform a second lighting measurement process when a recognition error occurs for the second imaging target (board S) based on the imaging result of the second imaging target (board S) by the board recognition imaging unit 43.

In addition, the control unit 8 compares the predicted value of the light intensity due to deterioration of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) with the measured value of the light intensity of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73), and if the measured value is smaller than the predicted value and the difference between the predicted value and the measured value is greater than a third threshold value, or if the rate of decrease in the measured value is greater than a fourth threshold value, the control unit 8 determines that the light intensity of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) has decreased due to reasons other than deterioration. and comparing a predicted value of the light intensity due to deterioration of the second lighting (main lighting 431, coaxial lighting 432) with a measured value of the light intensity of the second lighting (main lighting 431, coaxial lighting 432), and determining that the light intensity of the second lighting (main lighting 431, coaxial lighting 432) has decreased due to reasons other than deterioration if the measured value is smaller than the predicted value and the difference between the predicted value and the measured value is greater than a fifth threshold value, or if the rate of decrease in the measured value is greater than a sixth threshold value.

As shown in FIG. 10, the control unit 8 compares the predicted change (decrease) in the amount of light due to deterioration of the first and second illumination with the change in the amount of light actually measured, and if the difference between the predicted change and the actual change in the amount of light is greater than a threshold value, it does not determine that the decrease in the amount of light is due to deterioration of the first and second illumination. In this case, the control unit 8 determines that the decrease in the amount of light of the first and second illumination is due to other causes (for example, adhesion of foreign matter (such as dust) to the first illumination, second illumination, component recognition imaging unit 7, or board recognition imaging unit 43, a component falling off the component recognition imaging unit 7, or dirt on the lens provided on the component recognition imaging unit 7 or board recognition imaging unit 43).

In addition, when the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) is imaged by the board recognition imaging unit 43, the control unit 8 is configured to divide it into multiple imaging areas in a planar view and capture images in the multiple imaging areas while moving the board recognition imaging unit 43 horizontally relative to the first lighting (main lighting 71, side lighting 72, coaxial lighting 73).

The control unit 8 is also configured to determine the number of divisions into multiple imaging regions based on the imaging range of the board recognition imaging unit 43 and the size of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73).

As shown in FIG. 8, the control unit 8 divides the imaging range of the board recognition imaging unit 43 into multiple imaging areas A1 to A9 and sequentially captures images. The imaging areas A1 to A9 are set so that their ends slightly overlap. The control unit 8 then combines the imaging results of capturing images of the multiple imaging areas A1 to A9 to obtain an image of the entire first illumination.

When the control unit 8 captures an image of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) using the board recognition imaging unit 43, the control unit 8 is configured to individually turn on the side lighting 72, coaxial lighting 73, and main lighting 71 to capture the image, and to measure the light intensity of each of the side lighting 72, coaxial lighting 73, and main lighting 71.

When the component recognition imaging unit 7 images the second lighting (main lighting 431, coaxial lighting 432), the control unit 8 is configured to individually turn on the coaxial lighting 432 and the main lighting 431 to capture images and measure the light intensity of each of the coaxial lighting 432 and the main lighting 431.

(Light intensity adjustment process)
Next, the light amount adjustment process performed by the control unit 8 of the component mounting apparatus 100 will be described with reference to FIG.

In step S1 of FIG. 11, the control unit 8 moves the board recognition imaging unit 43 to vertically face the board recognition imaging unit 43 and the component recognition imaging unit 7. Specifically, the control unit 8 moves the head unit 4 in the XY directions to move the board recognition imaging unit 43. Then, the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) and the board recognition imaging unit 43 are vertically opposed, and the second illumination (main illumination 431, coaxial illumination 432) and the component recognition imaging unit 7 are vertically opposed.

In step S2, the control unit 8 captures images of the lighting. Specifically, as shown in FIG. 6, the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) is imaged by the board recognition imaging unit 43 while irradiating light from the first lighting (main lighting 71, side lighting 72, coaxial lighting 73). Also, as shown in FIG. 7, the second lighting (main lighting 431, coaxial lighting 432) is imaged by the component recognition imaging unit 7 while irradiating light from the second lighting (main lighting 431, coaxial lighting 432).

In step S3, the control unit 8 determines whether the imaging range of the imaging unit is larger than the size of the illumination to be imaged. If the imaging range is larger, the process proceeds to step S7, and if the imaging range is smaller, the process proceeds to step S4. In step S4, the control unit 8 proceeds to a process of capturing images multiple times. Specifically, the process proceeds to a process of dividing the image into multiple imaging regions in a planar view and capturing images in the multiple imaging regions while moving the imaging unit horizontally relative to the illumination.

In step S5, the control unit 8 judges whether or not the entire illumination of the imaging target has been captured. If the entire illumination of the imaging target has been captured, the process proceeds to step S6. If the entire illumination of the imaging target has not been captured, the process returns to step S1. In step S6, the control unit 8 combines the captured images. That is, the control unit 8 arranges and combines the captured images captured by dividing the imaging area according to the imaging area.

In step S7, the control unit 8 checks the lighting state. In step S8, the control unit 8 determines whether the average luminance value of the designated lighting range is within the standard value. If the average luminance value of the designated lighting range is within the standard value, the light intensity adjustment process ends. If the average luminance value of the designated lighting range is outside the standard value, the process proceeds to step S9.

In step S9, the control unit 8 determines whether or not it is possible to increase the current value for turning on the light. If the current value can be increased, the process proceeds to step S10, and if the current value cannot be increased, the process proceeds to step S11. In step S10, the control unit 8 changes the current value for turning on the light. Specifically, the control unit 8 increases the current value for turning on the light so as to make the light brighter. Note that the control unit 8 may increase the duty ratio when supplying power to the light to turn it on so as to make the light brighter. Then, the process returns to step S1.

In step S11, the control unit 8 notifies the user of the error. In step S12, the control unit 8 notifies the user to clean the light. After the user cleans the light, the process returns to step S1.

(Effects of this embodiment)
In this embodiment, the following effects can be obtained.

In this embodiment, as described above, a control unit 8 is provided that performs at least one of a first lighting measurement process in which the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) and the board recognition imaging unit 43 are opposed in the vertical direction and light is irradiated from the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) while the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) is imaged by the board recognition imaging unit 43 to measure the amount of light of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73); and a second lighting measurement process in which the second lighting (main lighting 431, coaxial lighting 432) and the component recognition imaging unit 7 are opposed in the vertical direction and light is irradiated from the second lighting (main lighting 431, coaxial lighting 432) while the second lighting (main lighting 431, coaxial lighting 432) is imaged by the component recognition imaging unit 7 to measure the amount of light of the second lighting (main lighting 431, coaxial lighting 432). As a result, when the light amount of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) that irradiates light onto the first imaging target (component 31) from below in the same manner as the component recognition imaging unit 7 is measured by direct imaging using the board recognition imaging unit 43, the light amount of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) can be easily measured, unlike when light is irradiated from the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) onto a dedicated component such as a jig and then imaged by the component recognition imaging unit 7 to measure the light amount. In addition, when the light quantity of the second lighting (main lighting 431, coaxial lighting 432) that irradiates the second imaging target from the same upper side as the board recognition imaging unit 43 is measured by direct imaging using the component recognition imaging unit 7, the light quantity of the second lighting (main lighting 431, coaxial lighting 432) can be easily measured, unlike when light is irradiated from the second lighting (main lighting 431, coaxial lighting 432) to a dedicated member such as a jig and imaged by the board recognition imaging unit 43 to measure the light quantity. Also, in a device that irradiates light from the lighting to the imaging target from the same side as the imaging unit to image the imaging target, the light quantity of the lighting can be easily measured. Also, since the worker does not need to visually check the light quantity of the lighting, the workload of the worker can be suppressed from increasing.

In addition, in this embodiment, as described above, the control unit 8 is configured to perform at least one of the following: control to adjust the brightness of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) based on the light amount of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) measured by the first lighting measurement process; and control to adjust the brightness of the second lighting (main lighting 431, coaxial lighting 432) based on the light amount of the second lighting (main lighting 431, coaxial lighting 432) measured by the second lighting measurement process. This allows the brightness of the lighting to be adjusted based on the light amount of the lighting measured by capturing an image of the lighting by the imaging unit located opposite the lighting, so that the brightness of the lighting can be easily adjusted without using a dedicated member such as a jig.

In addition, in this embodiment, as described above, the control unit 8 is configured to perform at least one of the following: control to determine the deterioration of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) based on the light amount of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) measured by the first lighting measurement process; and control to determine the deterioration of the second lighting (main lighting 431, coaxial lighting 432) based on the light amount of the second lighting (main lighting 431, coaxial lighting 432) measured by the second lighting measurement process. As a result, the deterioration of the lighting can be determined based on the light amount of the lighting measured by imaging by the imaging unit at a position opposite the lighting, so that the deterioration of the lighting can be easily determined without using a dedicated member such as a jig. In addition, since the worker does not need to determine the deterioration of the lighting by visual inspection, the workload of the worker can be suppressed from increasing.

In addition, in this embodiment, as described above, the control unit 8 is configured to perform at least one of the following: control to determine deterioration of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) based on whether the brightness of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) is appropriate; and control to determine deterioration of the second lighting (main lighting 431, coaxial lighting 432) based on whether the brightness of the second lighting (main lighting 431, coaxial lighting 432) is appropriate. This makes it possible to accurately determine the deterioration state of the lighting from the appropriateness of the brightness of the lighting based on the image captured by the image capture unit positioned opposite the lighting.

In addition, in this embodiment, as described above, the control unit 8 is configured to perform at least one of the following: control to determine deterioration of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) based on the light amount of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) and the cumulative amount of current supplied to the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) from the start of use; and control to determine deterioration of the second lighting (main lighting 431, coaxial lighting 432) based on the light amount of the second lighting (main lighting 431, coaxial lighting 432) and the cumulative amount of current supplied to the second lighting (main lighting 431, coaxial lighting 432) from the start of use. In this way, by determining deterioration based on the cumulative amount of electricity supplied to the lighting, deterioration of the lighting can be confirmed before the deterioration due to use of the lighting reaches its limit.

In addition, in this embodiment, as described above, the control unit 8 is configured to perform at least one of the following: control to issue a notification to prompt replacement of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) based on a determination of deterioration of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73); and control to issue a notification to prompt replacement of the second lighting (main lighting 431, coaxial lighting 432) based on a determination of deterioration of the second lighting (main lighting 431, coaxial lighting 432). This makes it possible to prompt replacement of the lighting before the deterioration due to use of the lighting reaches its limit, thereby effectively suppressing the occurrence of errors (problems) caused by imaging the imaging subject using deteriorated lighting.

In addition, in this embodiment, as described above, the control unit 8 is configured to perform at least one of the following: control to issue a notification to encourage replacement of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) based on the cumulative amount of current supplied to the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) from the start of use; and control to issue a notification to encourage replacement of the second lighting (main lighting 431, coaxial lighting 432) based on the cumulative amount of current supplied to the second lighting (main lighting 431, coaxial lighting 432) from the start of use. This makes it possible to estimate the deterioration of the lighting based on the cumulative amount of current supplied to the lighting, and to encourage replacement of the lighting before the deterioration due to use of the lighting reaches its limit.

In addition, in this embodiment, as described above, the control unit 8 is configured to perform at least one of the following: when the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) is imaged by the board recognition imaging unit 43, the control unit 8 turns on the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) and controls the second lighting (main lighting 431, coaxial lighting 432) to be turned off or turned on with a light amount smaller than that at the time of imaging; and when the second lighting (main lighting 431, coaxial lighting 432) is imaged by the component recognition imaging unit 7, the control unit 8 turns on the second lighting (main lighting 431, coaxial lighting 432) and controls the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) to be turned off or turned on with a light amount smaller than that at the time of imaging. This makes it possible to suppress ambient light other than the lighting of the target for which the light amount is to be measured from being reflected in the imaging unit, so that the light amount of the target lighting can be measured accurately.

In addition, in this embodiment, as described above, the control unit 8 is configured to perform at least one of control to perform a first lighting measurement process when the cumulative amount of current supplied to the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) from the start of use exceeds a first threshold value, and control to perform a second lighting measurement process when the cumulative amount of current supplied to the second lighting (main lighting 431, coaxial lighting 432) from the start of use exceeds a second threshold value. As a result, a process to measure the light intensity of the lighting is performed when the cumulative amount of current supplied to the lighting exceeds the threshold value, so that the measurement of the light intensity of the lighting can be performed at an appropriate timing after a certain amount of time has passed since the start of use.

In addition, in this embodiment, as described above, the control unit 8 is configured to perform at least one of control to perform a first lighting measurement process based on an instruction to end maintenance including cleaning of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) or the board recognition imaging unit 43, and control to perform a second lighting measurement process based on an instruction to end maintenance including cleaning of the second lighting (main lighting 431, coaxial lighting 432) or the component recognition imaging unit 7. As a result, in a state in which the lighting and imaging unit have been cleaned to remove fogging, dirt, and other contaminants through maintenance, the imaging unit can capture an image of the lighting and measure the amount of light from the lighting, so that the amount of light from the lighting can be measured with high accuracy.

In addition, in this embodiment, as described above, the control unit 8 is configured to perform at least one of control to perform a first illumination measurement process when a recognition error occurs for the first imaging target (component 31) from the imaging result of the first imaging target (component 31) by the component recognition imaging unit 7, and control to perform a second illumination measurement process when a recognition error occurs for the second imaging target (board S) from the imaging result of the second imaging target (board S) by the board recognition imaging unit 43. This makes it possible to determine whether or not the recognition error for the imaging target is due to a decrease in the amount of illumination light, thereby accurately determining the cause of the recognition error.

In addition, in this embodiment, as described above, the control unit 8 compares the predicted value of the light intensity due to deterioration of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) with the measured value of the light intensity of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73), and if the measured value is smaller than the predicted value and the difference between the predicted value and the measured value is greater than the third threshold value, or if the rate of decrease in the measured value is greater than the fourth threshold value, it determines that the light intensity of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) has decreased due to reasons other than deterioration. The control is configured to perform at least one of the following: a control to determine that the light amount of the second lighting (main lighting 431, coaxial lighting 432) has decreased due to a reason other than deterioration, and a control to compare a predicted value of the light amount due to deterioration of the second lighting (main lighting 431, coaxial lighting 432) with a measured value of the light amount of the second lighting (main lighting 431, coaxial lighting 432), and determine that the light amount of the second lighting (main lighting 431, coaxial lighting 432) has decreased due to a reason other than deterioration if the measured value is smaller than the predicted value and the difference between the predicted value and the measured value is greater than a fifth threshold value, or if the rate of decrease in the measured value is greater than a sixth threshold value. This makes it possible to determine based on a threshold value whether the light amount of the lighting has decreased due to fogging or dirt such as dust on the lighting and imaging unit, or due to deterioration of the lighting, so that deterioration of the lighting can be easily and accurately determined.

In addition, in this embodiment, as described above, when the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) is imaged by the board recognition imaging unit 43, the control unit 8 is configured to divide the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) into multiple imaging regions in a plan view and image the multiple imaging regions while moving the board recognition imaging unit 43 horizontally relative to the first illumination (main illumination 71, side illumination 72, coaxial illumination 73). As a result, even if the horizontal size of the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) is larger than the imaging range of the board recognition imaging unit 43, the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) can be divided into multiple imaging regions and imaged, so that the light amount of the entire first illumination (main illumination 71, side illumination 72, coaxial illumination 73) can be reliably measured.

In addition, in this embodiment, as described above, the control unit 8 is configured to determine the number of divisions into multiple imaging regions based on the imaging range of the board recognition imaging unit 43 and the size of the first illumination (main illumination 71, side illumination 72, coaxial illumination 73). This allows the imaging region to be divided without excess or deficiency, so that the entire first illumination (main illumination 71, side illumination 72, coaxial illumination 73) can be efficiently imaged.

In addition, in this embodiment, as described above, when the control unit 8 captures an image of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) using the board recognition imaging unit 43, the control unit 8 is configured to individually turn on the side lighting 72, coaxial lighting 73, and main lighting 71 to capture the image, and measure the amount of light of each of the side lighting 72, coaxial lighting 73, and main lighting 71. As a result, the amount of light of the side lighting 72, coaxial lighting 73, and main lighting 71 of the first lighting is individually measured, so that the amount of light of each of the side lighting 72, coaxial lighting 73, and main lighting 71 can be accurately measured.

In addition, in this embodiment, as described above, when the second lighting (main lighting 431, coaxial lighting 432) is imaged by the component recognition imaging unit 7, the control unit 8 is configured to individually turn on the coaxial lighting 432 and the main lighting 431 to image the second lighting, and measure the amount of light of each of the coaxial lighting 432 and the main lighting 431. As a result, the amount of light of the coaxial lighting 432 and the main lighting 431 of the second lighting are individually measured, so that the amount of light of each of the coaxial lighting 432 and the main lighting 431 can be accurately measured.

(Modification)
It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not by the description of the embodiments above, and further includes all modifications (variations) within the meaning and scope of the claims.

For example, in the above embodiment, an example was shown in which the board working device of the present invention is applied to a component mounting device, but the present invention is not limited to this. The board working device of the present invention may be applied to a printing device that prints solder on a board using a mask. In this case, the printing device includes a first imaging unit that images the mask as the first imaging target from below, a first illuminator that irradiates light onto the mask from below when imaging by the first imaging unit, a second imaging unit that images the board as the second imaging target from above, and a second illuminator that irradiates light onto the board from above when imaging by the second imaging unit.

In the above embodiment, an example was shown in which the component recognition imaging unit (first imaging unit) that captures an image of the component from below was fixed and disposed on the base, but the present invention is not limited to this. In the present invention, the component recognition imaging unit (first imaging unit) may be disposed in the head unit and provided movably.

In the above embodiment, an example of a configuration in which the lighting includes an LED is shown, but the present invention is not limited to this. In the present invention, the lighting may include a light-emitting element other than an LED. For example, the lighting may include a semiconductor laser.

In addition, in the above embodiment, an example of a configuration in which one head unit is provided is shown, but the present invention is not limited to this. In the present invention, multiple head units may be provided.

In addition, in the above embodiment, an example of a configuration in which a pair of conveyors are provided to transport the boards is shown, but the present invention is not limited to this. In the present invention, multiple pairs of conveyors for transporting the boards may be provided. For example, the present invention may be applied to a component mounting device that can transport boards in parallel and mount components on the boards in parallel.

In the above embodiment, for convenience of explanation, an example was shown in which the control processing of the control unit was explained using a flow-driven flowchart in which processing is performed in order according to a processing flow, but the present invention is not limited to this. In the present invention, the control processing of the control unit may be performed by event-driven processing in which processing is performed on an event-by-event basis. In this case, the control processing may be performed completely event-driven, or may be a combination of event-driven and flow-driven.

7 Part recognition imaging unit (first imaging unit)
8 Control unit 31 Part (first imaging target)
42 Mounting head (working section)
43 Board recognition imaging unit (second imaging unit)
71 Main lighting (first lighting, first main lighting)
72 Side lighting (first lighting)
73 Coaxial lighting (first lighting, first coaxial lighting)
100 Component mounting device (substrate working device)
431 Main lighting (second lighting, second main lighting)
432 Coaxial lighting (second lighting, second coaxial lighting)
S: Substrate (second imaging target)

Claims (17)

a working section that performs work on the substrate;
A first imaging unit that captures an image of a first imaging target from below;
a first illumination that irradiates light from below the first imaging target when imaging is performed by the first imaging unit;
A second imaging unit that captures an image of a second imaging target from above;
A second illumination that irradiates light from above onto the second imaging target when imaging is performed by the second imaging unit;
a control unit that controls imaging by the first imaging unit and the second imaging unit,
the control unit is configured to perform at least one of a first lighting measurement process in which the first lighting and the second imaging unit are opposed to each other in a vertical direction, and an image of the first lighting is captured by the second imaging unit while irradiating light from the first lighting, thereby measuring the amount of light of the first lighting, and a second lighting measurement process in which the second lighting and the first imaging unit are opposed to each other in a vertical direction, and an image of the second lighting is captured by the first imaging unit while irradiating light from the second lighting, thereby measuring the amount of light of the second lighting. The board working device according to claim 1, wherein the control unit is configured to perform at least one of control to adjust the brightness of the first illumination based on the light amount of the first illumination measured by the first illumination measurement process, and control to adjust the brightness of the second illumination based on the light amount of the second illumination measured by the second illumination measurement process. The board working device according to claim 1 or 2, wherein the control unit is configured to perform at least one of control to determine whether the brightness of the first lighting is appropriate based on the light amount of the first lighting measured by the first lighting measurement process, and control to determine whether the brightness of the second lighting is appropriate based on the light amount of the second lighting measured by the second lighting measurement process. The board working device according to claim 3, wherein the control unit is configured to perform at least one of control for determining deterioration of the first lighting based on whether the brightness of the first lighting is appropriate, and control for determining deterioration of the second lighting based on whether the brightness of the second lighting is appropriate. The board working device according to claim 4, wherein the control unit is configured to perform at least one of control for determining deterioration of the first lighting based on the light intensity of the first lighting and the cumulative amount of current supplied to the first lighting from the start of use, and control for determining deterioration of the second lighting based on the light intensity of the second lighting and the cumulative amount of current supplied to the second lighting from the start of use. The board working device according to claim 4 or 5, wherein the control unit is configured to perform at least one of control to give a notification to encourage replacement of the first lighting based on a determination of deterioration of the first lighting, and control to give a notification to encourage replacement of the second lighting based on a determination of deterioration of the second lighting. The board working device according to any one of claims 1 to 6, wherein the control unit is configured to perform at least one of control to give a notification to encourage replacement of the first lighting based on the cumulative amount of current supplied to the first lighting from the start of use, and control to give a notification to encourage replacement of the second lighting based on the cumulative amount of current supplied to the second lighting from the start of use. The board working device according to any one of claims 1 to 7, wherein the control unit is configured to perform at least one of the following when the first lighting is imaged by the second imaging unit: turning on the first lighting and turning off the second lighting or turning on the lighting with a light amount less than that at the time of imaging; and when the second lighting is imaged by the first imaging unit, turning on the second lighting and turning off the first lighting or turning on the lighting with a light amount less than that at the time of imaging. The board working device according to any one of claims 1 to 8, wherein the control unit is configured to perform at least one of control to perform the first lighting measurement process when the cumulative amount of current supplied to the first lighting from the start of use exceeds a first threshold value, and control to perform the second lighting measurement process when the cumulative amount of current supplied to the second lighting from the start of use exceeds a second threshold value. The board working device according to any one of claims 1 to 9, wherein the control unit is configured to perform at least one of control to perform the first lighting measurement process based on an instruction to end maintenance including cleaning the first lighting or the second imaging unit, and control to perform the second lighting measurement process based on an instruction to end maintenance including cleaning the second lighting or the first imaging unit. The board working device according to any one of claims 1 to 10, wherein the control unit is configured to perform at least one of control to perform the first lighting measurement process when a recognition error occurs in the first imaging target from the imaging result of the first imaging target by the first imaging unit, and control to perform the second lighting measurement process when a recognition error occurs in the second imaging target from the imaging result of the second imaging target by the second imaging unit. The control unit is configured to perform at least one of the following controls: compare a predicted value of the light intensity due to deterioration of the first illumination with a measured value of the light intensity of the first illumination, and determine that the light intensity of the first illumination has decreased due to a reason other than deterioration if the measured value is smaller than the predicted value and the difference between the predicted value and the measured value is larger than a third threshold value, or if the rate of decrease in the measured value is larger than a fourth threshold value; and compare a predicted value of the light intensity due to deterioration of the second illumination with a measured value of the light intensity of the second illumination, and determine that the light intensity of the second illumination has decreased due to a reason other than deterioration if the measured value is smaller than the predicted value and the difference between the predicted value and the measured value is larger than a fifth threshold value, or if the rate of decrease in the measured value is larger than a sixth threshold value. The board working device according to any one of claims 1 to 11. a mounting head that mounts components on a board;
a first imaging unit configured to image, from below, a first imaging target including the component held by the mounting head and mounted on the board;
a first illumination that irradiates light from below the first imaging target when imaging is performed by the first imaging unit;
A second imaging unit that captures an image of a second imaging target including the substrate from above;
A second illumination that irradiates light from above onto the second imaging target when imaging is performed by the second imaging unit;
a control unit that controls imaging by the first imaging unit and the second imaging unit,
the control unit is configured to perform at least one of a first lighting measurement process in which the first lighting and the second imaging unit are opposed to each other in a vertical direction, and an image of the first lighting is captured by the second imaging unit while irradiating light from the first lighting, thereby measuring the amount of light of the first lighting, and a second lighting measurement process in which the second lighting and the first imaging unit are opposed to each other in a vertical direction, and an image of the second lighting is captured by the first imaging unit while irradiating light from the second lighting, thereby measuring the amount of light of the second lighting. The component mounting device according to claim 13, wherein the control unit is configured to divide the first illumination into a plurality of imaging regions in a plan view when the first illumination is imaged by the second imaging unit, and to capture images in the plurality of imaging regions while moving the second imaging unit in a horizontal direction relative to the first illumination. The component mounting device according to claim 14, wherein the control unit is configured to determine the number of divisions into a plurality of imaging regions based on the imaging range of the second imaging unit and the size of the first illumination. the first illumination includes a side illumination that irradiates the component with light from a side, a first coaxial illumination that irradiates light in a direction overlapping with an optical axis of the first imaging unit, and a first main illumination that is disposed in a periphery of the first imaging unit;
The component mounting device according to any one of claims 13 to 15, wherein, when capturing an image of the first illumination by the second imaging unit, the control unit is configured to capture images by turning on the side illumination, the first coaxial illumination, and the first main illumination individually, and to measure the light intensity of each of the side illumination, the first coaxial illumination, and the first main illumination. the second illumination includes a second coaxial illumination that emits light in a direction overlapping with an optical axis of the second image capture unit, and a second main illumination that is disposed around the second image capture unit,
The component mounting device according to any one of claims 13 to 16, wherein when the second illumination is imaged by the first imaging unit, the control unit is configured to individually turn on the second coaxial illumination and the second main illumination to image the second illumination and measure the amount of light of each of the second coaxial illumination and the second main illumination.

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