Component mounting machine and nozzle photographing method

Abstract

A plurality of light-emitting elements (L) (light-emitting section) irradiate light to a plurality of mutually different light irradiation regions (Rl) (object regions) in a light diffusion member (74) (background member). The light diffusion member (74) emits light from the light irradiation regions (Rl) via the side surfaces (742) according to the irradiation of light to the light irradiation regions (Rl), thereby having a brightness corresponding to the intensity of the light irradiated from the light-emitting elements (L). Further, in the imaging process, the intensity of the light irradiated by the light-emitting elements (L) is controlled according to the rotation angles (θ) (rotation positions) of the plurality of light-emitting elements (L). Thereby, it is possible to image the nozzle (N) with the light diffusion member (74) having uniform brightness as the background.

Description

Technical Field

[0001] The present invention relates to a technique for photographing a nozzle used for adsorbing a component mounted on a substrate. Background Art

[0002] In a component mounter that mounts components on a substrate, in order to confirm the state of a nozzle that adsorbs a component and transports it to the substrate, photographing of the nozzle is performed at an appropriate timing. In addition, in Patent Document 1, a technique for photographing a so-called rotating head nozzle is proposed. The rotating head has a plurality of nozzles arranged in a circular shape around a predetermined rotation axis, and the plurality of nozzles rotate around the rotation axis. Further, a cylindrical background member centered on the rotation axis is disposed inside the plurality of nozzles, and a lighting member is disposed outside the plurality of nozzles. The background member fluoresces by ultraviolet light irradiated from the lighting member. By photographing the nozzle against the background member that fluoresces in this way, a contour image of the nozzle is obtained.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2013-191771 Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] When photographing an image of such a nozzle, it is preferable that the background member that is the background of the nozzle has the same brightness. Therefore, a structure can be adopted in which a plurality of light emitting portions arranged in a circular shape around the rotation axis face the background member and light is irradiated from the light emitting portions to the background member. As a result, the brightness corresponding to the light emitted from the light emitting portions arranged along the shape of the background member can be imparted to the background member. However, even when this structure is adopted, unevenness may sometimes occur in the brightness of the background member. For example, this unevenness may occur because the distance that the light travels through the inside of the background member from both ends of the background member to the photographing unit is longer than the distance that the light travels through the inside of the background member from the center of the background member to the photographing unit. Therefore, in the field of view from the photographing unit, unevenness such as a decrease in brightness at both ends of the background member may occur.

[0008] The present invention has been completed in view of the above problems, and an object thereof is to enable photographing of a nozzle against a background member having the same brightness.

[0009] Means for Solving the Problems

[0010] The component mounting machine according to the present invention includes: a plurality of suction nozzles arranged in a circular shape around a rotation axis that is a specified imaginary straight line; a background member disposed inside the plurality of suction nozzles and having a cylindrical shape centered on the rotation axis; a plurality of light emitting portions arranged in a circular shape around the rotation axis and facing the background member; a rotation driving portion that integrally rotates the plurality of suction nozzles, the background member, and the plurality of light emitting portions around the rotation axis; a photographing portion that faces the side surface of the background member from the outside of the plurality of suction nozzles and photographs a specified photographing range; and a control portion that executes the following photographing process: while irradiating light from the light emitting portions to the background member, the photographing portion photographs the photographing range, thereby photographing the suction nozzles located in the photographing range among the plurality of suction nozzles and obtaining an image of the suction nozzles with the background member as the background. The plurality of light emitting portions irradiate light to a plurality of different target regions in the background member, and the background member emits light from the target regions through the side surface according to the irradiation of light to the target regions, thereby having a brightness corresponding to the intensity of the light irradiated from the light emitting portions. In the photographing process, the control portion controls the intensity of the light irradiated by the light emitting portions according to the rotation positions of the plurality of light emitting portions rotated by the rotation driving portion.

[0011] The suction nozzle photographing method according to the present invention includes the following steps: integrally rotating a plurality of suction nozzles arranged in a circular shape around a rotation axis that is a specified imaginary straight line, a background member disposed inside the plurality of suction nozzles and having a cylindrical shape centered on the rotation axis, and a plurality of light emitting portions arranged in a circular shape around the rotation axis and facing the background member around the rotation axis; and executing the following photographing process: while irradiating light from the light emitting portions to the background member, using a photographing portion that faces the side surface of the background member from the outside of the plurality of suction nozzles to photograph a specified photographing range, thereby obtaining an image of the suction nozzles with the background member as the background. The plurality of light emitting portions irradiate light to a plurality of different target regions in the background member, and the background member emits light from the target regions through the side surface according to the irradiation of light to the target regions, thereby having a brightness corresponding to the intensity of the light irradiated from the light emitting portions. In the photographing process, the intensity of the light irradiated by the light emitting portions is controlled according to the rotation positions of the plurality of light emitting portions.

[0012] In the present invention (component mounting machine, suction nozzle photographing method) configured as described above, the plurality of light emitting portions irradiate light to a plurality of different target regions in the background member, and the background member emits light from the target regions through the side surface according to the irradiation of light to the target regions, thereby having a brightness corresponding to the intensity of the light irradiated from the light emitting portions. Also, in the photographing process, the intensity of the light irradiated by the light emitting portions is controlled according to the rotation positions of the plurality of light emitting portions. Thereby, it is possible to photograph the suction nozzles with the background member having the same brightness as the background.

[0013] In addition, the component mounting mechanism can be configured such that the control unit controls the intensity of the light irradiated by the light emitting unit in such a way that the intensity of the light irradiated to the end object areas at both ends within the shooting range among the plurality of object areas is greater than the intensity of the light irradiated to the object areas different from the end object areas. Thereby, it is possible to suppress the occurrence of unevenness such as a decrease in brightness at both ends of the background member in the field of view from the shooting unit, and to shoot the suction nozzle with the background member as the background.

[0014] In addition, the component mounting mechanism can be configured such that when the distance between one end object area of the end object areas at both ends within the shooting range and the rotation axis is longer than the distance between the other end object area and the rotation axis, the control unit controls the intensity of the light irradiated by the light emitting unit in such a way that the intensity of the light irradiated to one end object area is greater than the intensity of the light irradiated to the other end object area. Thereby, it is possible to suppress the influence of the difference in the distance that the light travels from one end object area to the shooting unit through the background member and the distance that the light travels from the other end object area to the shooting unit through the background member, and to give the same brightness to the background member.

[0015] In addition, the component mounting mechanism can be configured such that the light emitting unit irradiates light with an intensity corresponding to the applied current, and the control unit has a table showing the correspondence between the rotational position and the values of the currents applied to the plurality of light emitting parts respectively. By applying the current with the value represented by the table to the light emitting unit, the intensity of the light irradiated by the light emitting unit is controlled according to the rotational position. In this structure, it is possible to appropriately suppress the unevenness of the brightness of the background member by simple control using the table, and to give the same brightness to the background member.

[0016] In addition, the component mounting mechanism can be configured such that the control unit creates a table based on the results of test shooting while changing the rotational position, and the test shooting is the following shooting: using the shooting unit to shoot the background member that has irradiated light from the light emitting unit by applying current to the light emitting unit, to obtain an image of the background member. By creating the table in this way, it is possible to apply a current with an appropriate value to the light emitting unit, irradiate light with an appropriate intensity from the light emitting unit to the background member, and give the same brightness to the background member.

[0017] In addition, the component mounting mechanism can be configured such that the background member is a light diffusing member that diffuses the light irradiated to the object area and emits light from the object area through the side surface. By using this light diffusing member, it is possible to shoot the suction nozzle against a background with the same brightness.

[0018] Advantages of the Invention

[0019] According to the present invention, it is possible to shoot the suction nozzle against a background member having the same brightness. Brief Description of the Drawings

[0020] Figure 1 It is a top view schematically showing the structure of an example of a component mounter related to the present invention.

[0021] Figure 2 It shows Figure 1 a block diagram of the electrical structure of the component mounter.

[0022] Figure 3 It is a bottom view schematically showing the structures of the mounting head and the lighting unit.

[0023] Figure 4 It is a partial cross-sectional view schematically showing the structures of the mounting head, the lighting unit, and the imaging unit.

[0024] Figure 5A It is a bottom view schematically showing the operations performed in the first example of the imaging process.

[0025] Figure 5B It is a bottom view schematically showing the operations performed in the first example of the imaging process.

[0026] Figure 5C It is a bottom view schematically showing the operations performed in the first example of the imaging process.

[0027] Figure 6A It is a bottom view schematically showing the operations performed in the second example of the imaging process.

[0028] Figure 6B It is a bottom view schematically showing the operations performed in the second example of the imaging process.

[0029] Figure 6C It is a bottom view schematically showing the operations performed in the second example of the imaging process.

[0030] Figure 7 It is a diagram showing an example of a current value table indicating the correspondence between the rotation angle and the value of the current applied to the light-emitting element.

[0031] Figure 8 It is a flowchart showing a method of creating the current value table. Detailed Description of the Invention

[0032] Figure 1 It is a top view schematically showing the structure of an example of a component mounter related to the present invention. Figure 2 It shows Figure 1 a block diagram of the electrical structure of the component mounter. In Figure 1 and the following figures, the X direction as the horizontal direction, the Y direction as the horizontal direction orthogonal to the X direction, and the Z direction as the vertical direction are appropriately shown.

[0033] As shown Figure 2 in FIG. 1, the component mounter 1 includes a controller 100 that comprehensively controls the entire apparatus. The controller 100 has a processor, i.e., an arithmetic processing unit 110, which is composed of a CPU (Central Processing Unit) and a RAM (Random Access Memory), and a storage unit 120 composed of an HDD (Hard Disk Drive). Further, the controller 100 has a drive control unit 130 that controls the drive system of the component mounter 1 and a shooting control unit 140 that controls the shooting of the nozzle N ( Figure 3 , Figure 4 ) which will be described later.

[0034] Moreover, the arithmetic processing unit 110 controls the drive control unit 130 according to the program stored in the storage unit 120, thereby performing component mounting in the order specified by the program. At this time, the arithmetic processing unit 110 controls component mounting based on the images captured by the shooting unit 6 and the lighting unit 7 using the shooting control unit 140. In addition, a display / operation unit 150 is provided in the component mounter 1, and the arithmetic processing unit 110 displays the operating status of the component mounter 1 on the display / operation unit 150 and receives instructions from the operator input to the display / operation unit 150.

[0035] As shown Figure 1 in FIG. 2, the component mounter 1 includes a transport unit 12 that transports the substrate B in the X direction (substrate transport direction). The transport unit 12 has a pair of conveyors 121 arranged in parallel in the X direction on the base 11, and transports the substrate B in the X direction using the conveyors 121. The interval between these conveyors 121 can be changed in the Y direction (width direction) orthogonal to the X direction, and the transport unit 12 adjusts the interval between the conveyors 121 according to the width of the transported substrate B. The transport unit 12 transports the substrate B from the upstream side in the substrate transport direction, i.e., the X direction, to a specified work position 123, and transports the substrate B with the component E mounted at the work position 123 from the work position 123 to the downstream side in the X direction.

[0036] On both sides of the conveying unit 12 in the Y direction, two component supply units 21 are arranged in the X direction. In each component supply unit 21, a plurality of tape feeders 22 are arranged in the X direction. In the component supply unit 21, a plurality of component supply positions 23 arranged in the X direction are provided, and the tape feeder 22 for supplying the component E to be supplied to each component supply position 23 corresponds to each component supply position 23 and is detachably assembled. That is, for each tape feeder 22, a component supply reel around which a carrier tape accommodating small sheet-like components E such as integrated circuits, transistors, and capacitors at regular intervals is wound is arranged. Each tape feeder 22 intermittently feeds out the carrier tape pulled out from the component supply reel to supply the component E to the component supply position 23 at its top end portion.

[0037] In addition, in the component mounter 1, a pair of Y-axis rails 31 extending in the Y direction, a Y-axis ball screw 32 extending in the Y direction, and a Y-axis motor My for rotationally driving the Y-axis ball screw 32 are provided. The X-axis rail 34 is fixed to the nut of the Y-axis ball screw 32 in a state of being movably supported in the Y direction by the pair of Y-axis rails 31. An X-axis ball screw 35 extending in the X direction and an X-axis motor Mx for rotationally driving the X-axis ball screw 35 are mounted on the X-axis rail 34. The head unit 40 is fixed to the nut of the X-axis ball screw 35 in a state of being movably supported in the X direction by the X-axis rail 34. Therefore, the drive control unit 130 can rotate the Y-axis ball screw 32 by the Y-axis motor My to move the head unit 40 in the Y direction, or rotate the X-axis ball screw 35 by the X-axis motor Mx to move the head unit 40 in the X direction.

[0038] In addition, the component mounter 1 has a Z-axis motor Mz for raising and lowering the suction nozzle N in the Z direction and an R-axis motor Mr for rotating the suction nozzle N. And the drive control unit 130 adjusts the height of the suction nozzle N by the X-axis motor Mx and adjusts the rotation angle of the suction nozzle N by the R-axis motor Mr.

[0039] The head unit 40 has a plurality (three) mounting heads 4 arranged linearly in the X direction. The mounting head 4 is a rotating head having a plurality of suction nozzles N arranged on the circumference, and the suction nozzle N is used to perform the adsorption and mounting of the component E. As described above, the image of the suction nozzle N of the mounting head 4 is obtained using the imaging unit 6 and the lighting unit 7. Next, an explanation will be given on this point.

[0040] Figure 3 It is a bottom view schematically showing the structure of the mounting head and the lighting unit. Figure 4It is a partial cross-sectional view schematically showing the structures of the mounting head, the lighting unit, and the imaging unit. The mounting head 4 has a rotating body 41 at its lower end. The rotating body 41 is cylindrical with a rotation axis Az, which is an imaginary straight line parallel to the Z direction, as the center, and is connected to the above-mentioned R-axis motor Mr. Therefore, when the R-axis motor Mr drives the rotating body 41, the rotating body 41 rotates around the rotation axis Az. On the bottom surface of the rotating body 41, a plurality (18 in this example) of suction nozzles N are arranged at equal intervals (20°) in a circular shape centered on the rotation axis Az. And, along with the rotation of the rotating body 41, the plurality of suction nozzles N rotate around the rotation axis Az.

[0041] The lighting unit 7 is mounted on the bottom of the rotating body 41, and along with the rotation of the rotating body 41, the lighting unit 7 rotates around the rotation axis Az. The lighting unit 7 has a frame 71 extending along the rotation axis Az, a lighting substrate 72 mounted on the frame 71, a light-emitting element L mounted on the lighting substrate 72, and a light diffusion member 74 mounted on the frame 71. In the lighting substrate 72, a plurality (8 in this example) of light-emitting elements L are arranged at equal intervals (45°) in a circular shape centered on the rotation axis Az. The light-emitting element L is an LED (Light Emitting Diode) that emits light with an intensity corresponding to the applied current. And, the lighting substrate 72 causes the light-emitting element L to irradiate light with an intensity corresponding to the value of this current by applying a current with a value corresponding to an instruction from the imaging control unit 140 to the light-emitting element L.

[0042] The light diffusion member 74 has a light diffuser 741 disposed on the lower side of the plurality of light-emitting elements L. The plurality of light-emitting elements L face the light diffuser 741 from above and irradiate light into the interior of the light diffuser 741. The light diffuser 741 is cylindrical with the rotation axis Az as the center and diffuses the light irradiated from the light-emitting element L. Examples of materials for diffusing light include translucent acrylic resin, glass, etc. The region of the light diffuser 741 facing the light-emitting element L (in other words, the region directly below the light-emitting element L) becomes a light irradiation region Rl where light from the light-emitting element L is irradiated. That is, a plurality of light irradiation regions Rl are provided corresponding to the plurality of light-emitting elements L in the light diffuser 741, and each light irradiation region Rl diffuses the light irradiated from the corresponding light-emitting element L. The light diffused by the light irradiation region Rl in this way is emitted from the side surface 742 (the circumferential surface of the cylinder) of the light diffuser 741.

[0043] In addition, a photographing position Pi for photographing the suction nozzle N is provided on the mounting head 4. As shown in Figure 3As shown, two imaging positions Pi are arranged at an interval of 180° centered on the rotation axis Az, and two imaging units 6 are provided corresponding to the two imaging positions Pi. Since the structures of these imaging units 6 are common, one imaging unit 6 will be described.

[0044] As Figure 4 shown, the imaging unit 6 has a prism 61 and a camera 63. The prism 61 faces the side surface 742 of the light diffuser 741 in the Y direction (horizontal direction) across the imaging position Pi, and reflects the light incident from the imaging position Pi toward the camera 63. The camera 63 outputs an image obtained by imaging the light incident from the prism 61 using a solid-state imaging element to the imaging control unit 140. That is, the imaging unit 6 faces the side surface 742 of the light diffuser 741 across the imaging position Pi, and images the imaging position Pi with the side surface 742 of the light diffuser 741 as the background. It should be noted that the imaging unit 6 is mounted on the mounting head 4 and moves integrally with the mounting head 4.

[0045] In this way, when viewed from above, a plurality of suction nozzles N are arranged in a circular shape centered on the rotation axis Az. In addition, inside the plurality of suction nozzles N, a plurality of light-emitting elements L are arranged in a circular shape centered on the rotation axis Az. It should be noted that the number of light-emitting elements L is less than the number of suction nozzles N. Moreover, inside the plurality of suction nozzles N, a circular light diffuser 741 centered on the rotation axis Az is arranged so as to overlap the plurality of light-emitting elements L. And when the rotating body 41 rotates around the rotation axis Az, the plurality of suction nozzles N, the plurality of light-emitting elements L, and the light diffuser 741 rotate integrally around the rotation axis Az.

[0046] And, the controller 100 rotates the plurality of suction nozzles N to sequentially position each suction nozzle N at the imaging position Pi, and obtains an image of the suction nozzle N at the imaging position Pi by imaging the suction nozzle N at the imaging position Pi using the imaging unit 6 (imaging process). In this imaging process, the controller 100 irradiates light from the light-emitting element L to the light irradiation area Rl, and emits light from the side surface 742 of the light diffuser 741 toward the imaging position Pi. Thereby, a contour image of the suction nozzle N located at the imaging position Pi can be obtained with the light diffuser 741 having a brightness corresponding to the intensity of the light irradiated from the light-emitting element L as the background. In particular, as will be described later, the controller 100 adjusts the intensity of the light irradiated from the light-emitting element L so that the brightness of the light diffuser 741 serving as the background is the same.

[0047] Figure 5A 、 Figure 5B and Figure 5CIt is a bottom view schematically showing the actions performed in the first example of the shooting process. The shooting process is performed in the same manner at two shooting positions Pi. Therefore, the shooting process for one shooting position Pi on the right side in these figures will be described. In addition, each light-emitting element L located on the opposite side of the shooting position Pi with respect to the imaginary straight line Ax (the light-emitting elements L on the left side of the imaginary straight line Ax) is considered not to participate in the shooting process for this shooting position Pi. It should be noted that the imaginary straight line Ax is an imaginary straight line that intersects the rotation axis Az and is parallel to the X direction, and the position of the light-emitting element L can be obtained as the position of the peak of the illuminance distribution of the light irradiated by the light-emitting element L when viewed from below. As shown in these figures, the shooting unit 6 shoots the nozzle N included in the shooting range Ri by shooting a shooting range Ri having a predetermined width centered on the shooting position Pi in the X direction (horizontal direction).

[0048] When the rotation angle θ of the rotating body 41 centered on the rotation axis Az is θ1 (= 0°), the five light irradiation regions Rl facing the five light-emitting elements L participating in the shooting process are arranged in the X direction within the shooting range Ri. Here, the rotation angle θ is the angle centered on the rotation axis Az with respect to the imaginary straight line extending to the right in the Y direction, and the counterclockwise direction is the positive direction of the rotation angle θ. And, the light irradiation region Rl_r facing the light-emitting element Lr located at 90° and the light irradiation region Rl_l facing the light-emitting element Ll located at -90° among the five light irradiation regions Rl are located at both ends in the X direction. Therefore, the shooting control unit 140 of the controller 100 adjusts the current applied to the light-emitting element L such that the intensity of the light irradiated to the light irradiation regions Rl_r and Rl_l at both ends among the five light irradiation regions Rl is greater than the intensity of the light irradiated to the light irradiation region Rl between them. For example, the controller 100 applies a current with a normal current value In to the light-emitting element L facing the light irradiation region Rl between the light irradiation regions Rl_r and Rl_l, while applying an increased current value Ia greater than the normal current value In to the light-emitting element L facing the light irradiation regions Rl_r and Rl_l.

[0049] When the rotation angle θ of the rotating body 41 is θ2 (= 20°), the four light irradiation regions Rl facing the four light-emitting elements L participating in the imaging process are arranged in the X direction within the imaging range Ri. Moreover, among the four light irradiation regions Rl, the light irradiation region Rl_r facing the light-emitting element Lr located at 65° and the light irradiation region Rl_l facing the light-emitting element Ll located at -70° are located at both ends in the X direction. Therefore, the imaging control unit 140 of the controller 100 adjusts the current applied to the light-emitting element L such that the intensity of the light irradiated to the light irradiation regions Rl_r and Rl_l at both ends among the four light irradiation regions Rl is greater than the intensity of the light irradiated to the light irradiation region Rl between them.

[0050] In this way, as the rotation angle θ of the rotating body 41 is changed by the arrangement pitch (20°) of the nozzle N each time in order to sequentially change the nozzle N located at the imaging position Pi, the light irradiation regions Rl_r and Rl_l located at both ends in the X direction within the imaging range Ri are switched between the plurality of light irradiation regions Rl. Accordingly, the controller 100 switches the light-emitting element L to which the increased current value Ia is applied. That is, according to the rotation angle θ of the rotating body 41, the current value of the current applied to the light-emitting element L is switched between the normal current value In and the increased current value Ia. In this way, the controller 100 changes the intensity of the light irradiated from the light-emitting element L according to the rotation angle θ.

[0051] In this way, in the first example of the imaging process, the plurality of light-emitting elements L (light-emitting units) irradiate light to the plurality of mutually different light irradiation regions Rl (object regions) in the light diffusion member 74 (background member), and the light diffusion member 74 emits light from the light irradiation region Rl through the side surface 742 according to the irradiation of light to the light irradiation region Rl, thereby having a brightness corresponding to the intensity of the light irradiated from the light-emitting element L. And in the imaging process, the intensity of the light irradiated by the light-emitting element L is controlled according to the rotation angle θ (rotation position) of the plurality of light-emitting elements L. Thereby, it is possible to image the nozzle N with the light diffusion member 74 having a uniform brightness as the background.

[0052] In addition, the controller 100 (control unit) controls the intensity of the light irradiated by the light-emitting element L such that the intensity of the light irradiated to the light irradiation regions Rl_r and Rl_l (end object regions) located at both ends in the imaging range Ri among the plurality of light irradiation regions Rl is greater than the intensity of the light irradiated to the light irradiation region Rl between the light irradiation regions Rl_r and Rl_l. Thereby, it is possible to image the nozzle with the light diffusion member 74 as the background while suppressing the occurrence of unevenness such as a decrease in brightness at both ends of the light diffusion member 74 in the field of view from the imaging unit 6.

[0053] In addition, a light diffusing member 74 that diffuses the light irradiated to the light irradiation area Rl and emits the light from the light irradiation area Rl through the side surface 742 is used as a background. By using this light diffusing member 74, the nozzle N can be photographed against a background of the same brightness.

[0054] Figure 6A , Figure 6B and Figure 6C is a bottom view schematically showing the operations performed in the second example of the photographing process. The second example of the photographing process is different from the first example in the control method of the intensity of the light irradiated to the light irradiation areas Rl_r and Rl_l. Here, the differences from the first example will be mainly described, and for the parts common to the first example, the corresponding reference numerals will be given and the appropriate description will be omitted.

[0055] When the rotation angle θ of the rotating body 41 centered on the rotation axis Az is θ1 (= 0°), among the five light irradiation areas Rl facing the five light emitting elements L involved in the photographing process, the light irradiation area Rl_r facing the light emitting element Lr located at 90° and the light irradiation area Rl_l facing the light emitting element Ll located at -90° are at both ends in the X direction. Therefore, the photographing control unit 140 of the controller 100 adjusts the current applied to the light emitting element L so that the intensity of the light irradiated to the light irradiation areas Rl_r and Rl_l at both ends among the five light irradiation areas Rl is greater than the intensity of the light irradiated to the light irradiation area Rl between them.

[0056] In addition, the distance Dr in the X direction between the light irradiation area Rl_r and the rotation axis Az is equal to the distance Dl in the X direction between the light irradiation area Rl_l and the rotation axis Az. Here, in the XY plane (in other words, when viewed from below), the position of the light irradiation area Rl can be obtained as the position of the light emitting element L facing it. Therefore, the photographing control unit 140 of the controller 100 adjusts the value of the current applied to the light emitting element L facing the light irradiation area Rl_r and the value of the current applied to the light emitting element L facing the light irradiation area Rl_l so that the intensity of the light irradiated to the light irradiation area Rl_r is equal to the intensity of the light irradiated to the light irradiation area Rl_l.

[0057] When the rotation angle θ of the rotating body 41 is θ2 (= 20°), among the four light irradiation regions Rl facing the four light-emitting elements L participating in the imaging process, the light irradiation region Rl_r facing the light-emitting element Lr located at 65° and the light irradiation region Rl_l facing the light-emitting element Ll located at -70° are at both ends in the X direction. Therefore, the imaging control unit 140 of the controller 100 adjusts the current applied to the light-emitting element L such that the intensity of the light irradiated on the light irradiation regions Rl_r and Rl_l at both ends among the four light irradiation regions Rl is greater than the intensity of the light irradiated on the light irradiation region Rl between them.

[0058] In addition, the distance Dl in the X direction between the light irradiation region Rl_l and the rotation axis Az is longer than the distance Dr in the X direction between the light irradiation region Rl_r and the rotation axis Az. Therefore, the imaging control unit 140 of the controller 100 adjusts the value of the current applied to the light-emitting element L facing the light irradiation region Rl_r and the value of the current applied to the light-emitting element L facing the light irradiation region Rl_l such that the intensity of the light irradiated on the light irradiation region Rl_l is greater than the intensity of the light irradiated on the light irradiation region Rl_r.

[0059] That is to say, since the distance Dl is longer than the distance Dr, the distance that the light travels from the light irradiation region Rl_l to the imaging unit 6 through the light diffuser 741 is longer than the distance that the light travels from the light irradiation region Rl_r to the imaging unit 6 through the light diffuser 741. Therefore, the light emitted from the light irradiation region Rl_l is significantly attenuated compared to the light emitted from the light irradiation region Rl_r. To correct such attenuation bias, the intensity of the light irradiated from the light-emitting element L to the light irradiation regions Rl_l and Rl_r is adjusted as described above.

[0060] When the rotation angle θ of the rotating body 41 is θ3 (= 40°), among the four light irradiation regions Rl facing the four light-emitting elements L participating in the imaging process, the light irradiation region Rl_r facing the light-emitting element Lr located at 85° and the light irradiation region Rl_l facing the light-emitting element Ll located at -50° are at both ends in the X direction. Therefore, the imaging control unit 140 of the controller 100 adjusts the current applied to the light-emitting element L such that the intensity of the light irradiated on the light irradiation regions Rl_r and Rl_l at both ends among the four light irradiation regions Rl is greater than the intensity of the light irradiated on the light irradiation region Rl between them.

[0061] In addition, the distance Dr in the X direction between the light irradiation area Rl_r and the rotation axis Az is longer than the distance Dl in the X direction between the light irradiation area Rl_l and the rotation axis Az. Therefore, the imaging control unit 140 of the controller 100 adjusts the value of the current applied to the light emitting element L facing the light irradiation area Rl_r and the value of the current applied to the light emitting element L facing the light irradiation area Rl_l such that the intensity of the light irradiated to the light irradiation area Rl_r is greater than the intensity of the light irradiated to the light irradiation area Rl_l.

[0062] In this way, as the rotation angle θ of the rotating body 41 is changed by the arrangement pitch (20°) of the nozzle N each time in order to sequentially change the nozzle N located at the imaging position Pi, the light irradiation areas Rl_r and Rl_l at both ends in the X direction in the imaging range Ri are switched between the plurality of light irradiation areas Rl. Accordingly, the controller 100 changes the intensity of the light irradiated from the light emitting element L facing the light irradiation areas Rl_r and Rl_l to be greater than the intensity of the light irradiated from the other light emitting elements L by changing the current applied to the light emitting element L. Moreover, the intensity of the light irradiated from the light emitting elements L facing the light irradiation areas Rl_r and Rl_l respectively is adjusted according to the distances in the X direction between the light irradiation areas Rl_r and Rl_l and the rotation axis Az.

[0063] In this way, in the second example of the imaging process, when the distance between one of the light irradiation areas Rl_r and Rl_l at both ends in the imaging range Ri and the rotation axis Az is longer than that of the other light irradiation area Rl, the controller 100 controls the intensity of the light irradiated by the light emitting element L such that the intensity of the light irradiated to one light irradiation area Rl is greater than the intensity of the light irradiated to the other light irradiation area Rl. Thereby, it is possible to suppress the influence of the difference in the distance that the light travels from one of the light irradiation areas Rl_r and Rl_l to the imaging unit 6 through the light diffusion member 74 and the distance that the light travels from the other light irradiation area Rl to the imaging unit 6 through the light diffusion member 74, and to give the same brightness to the light diffusion member 74.

[0064] As described above, in the first and second examples of the imaging process, the value of the current applied to the light emitting element L is adjusted according to the rotation angle θ, so that the brightness of the light diffuser 741 in the imaging range Ri is the same. Such control of the current can be performed, for example, based on Figure 7 the current value table shown.

[0065] Figure 7It is a diagram showing an example of a current value table indicating the correspondence between the rotation angle and the value of the current applied to the light-emitting element. In this diagram, reference numerals L1 to L8 are used to identify eight light-emitting elements L. This current value table Ti shows the values of the currents flowing through the light-emitting elements L1 to L8 respectively in each case where the rotation angle θ is θ1 to θ9. This current value table Ti is stored in advance in the storage unit 120 of the controller 100. And, in the shooting process, the controller 100 determines the value of the current applied to each light-emitting element L based on the current value table Ti. Thus, the current value table Ti applies a current having a value shown for each light-emitting element L according to the rotation angle θ to each light-emitting element L.

[0066] In this example, the controller 100 has a current value table Ti indicating the correspondence between the rotation angle θ and the values of the currents applied to the plurality of light-emitting elements L respectively. And, the controller 100 controls the intensity of the light irradiated by the light-emitting element L by applying a current having a value represented by the current value table Ti according to the rotation angle θ. In this structure, it is possible to appropriately suppress the unevenness of the brightness of the light diffusion member 74 by a simple control using the current value table Ti and give the light diffusion member 74 a uniform brightness.

[0067] Figure 8 It is a flowchart showing a method of creating a current value table. This flowchart is executed simultaneously for two photographing units 6 provided at an angular interval of 180°. However, since the content of the execution is common to the two photographing units 6, the description will be made for one photographing unit 6.

[0068] In step S101, the rotation angle θ of the rotating body 41 is set to zero. Then, in step S102, a reference value current is applied to each of the plurality of (eight) light-emitting elements L. Thus, the light diffusion member 74 that becomes the background in the photographing process of the photographing unit 6 has a brightness corresponding to the intensity of the irradiated light. In step S103, the photographing control unit 140 of the controller 100 photographs the side surface 742 of the light diffuser 741 of the light diffusion member 74 using the photographing unit 6 and obtains image data of the light diffuser 741. This image data represents the luminance values of the respective pixels output by the solid-state imaging element of the camera 63.

[0069] In step S104, the arithmetic processing unit 110 of the controller 100 searches for a dark part in the image data. Specifically, a range composed of a specified number or more of pixels having a luminance value lower than a specified threshold value is searched for as a dark part in the image data. In step S105, the arithmetic processing unit 110 determines whether there is a dark part. When a dark part is detected in the search in step S104 (when it is "no" in step S105), the process proceeds to step S106.

[0070] In step S106, the shooting control unit 140 increases the value of the current applied to the light-emitting element L corresponding to the detected dark part by one level. Here, the light-emitting element L corresponding to the dark part is the light-emitting element L facing the following light irradiation area Rl, which is the light irradiation area Rl closest to the dark part in the X direction among the light irradiation areas Rl facing the light-emitting elements L participating in the shooting of the shooting unit 6 that has acquired the image data. In addition, the light-emitting elements L participating in the shooting of the shooting unit 6 can be defined in the same way as the light-emitting elements L participating in the above shooting process. That is, the controller 100 regards that the light-emitting elements L located on the opposite side of the imaginary straight line Ax with respect to the shooting unit 6 do not participate in the shooting of the shooting unit 6, and the other light-emitting elements L participate in the shooting of the shooting unit 6.

[0071] When step S106 is completed, the process returns to step S103, and the shooting control unit 140 uses the shooting unit 6 to shoot the side surface 742 of the light diffuser 741 of the light diffusion member 74 to acquire the image data of the light diffuser 741. Then, the arithmetic processing unit 110 searches for a dark part from the image data (step S104) and determines whether a dark part is detected in this search (step S105). In this way, steps S103 to S106 are repeatedly performed until the dark part disappears from the image data representing the brightness of the light diffuser 741.

[0072] If the dark part disappears and it is determined as "yes" in step S105, the arithmetic processing unit 110 determines the value of the current applied to each light-emitting element L as the value of the current applied to each light-emitting element L in the shooting process. In this way, the current value corresponding to each light-emitting element L and the rotation angle θ is obtained.

[0073] In step S108, it is determined whether the rotation angle θ is θmax (= 160°). When the rotation angle θ is not θmax (when it is "no" in step S108), in step S109, the rotation angle θ is increased by Δθ (= 20°) (that is, the rotating body 41 rotates by Δθ), and the process returns to step S102. As a result, the current values corresponding to the light-emitting elements L are determined in such a way that the rotation angle θ corresponds to θ1 to θ9 respectively. As a result, the current value table Ti is completed.

[0074] In this way, in Figure 8In the creation of the table, based on the results (steps S108 and S109) of performing test shootings (steps S102 to S106) while changing the rotation angle θ, the controller 100 creates a current value table Ti (step S107). The test shooting is as follows: The imaging unit 6 images the light diffusion member 74 that irradiates light from the light emitting element L by applying current to the light emitting element L, to obtain an image of the light diffusion member 74. By creating the current value table Ti in this way, it is possible to apply a current of an appropriate value to the light emitting element L, irradiate light of an appropriate intensity from the light emitting element L to the light diffusion member 74, and give the light diffusion member 74 a uniform brightness.

[0075] Thus, in the above-described embodiment, the component mounter 1 corresponds to an example of the "component mounter" of the present invention, the controller 100 corresponds to an example of the "control unit" of the present invention, the imaging unit 6 corresponds to an example of the "imaging unit" of the present invention, the light diffusion member 74 corresponds to an example of the "background member" and "light diffusion member" of the present invention, the side surface 742 corresponds to an example of the "side surface" of the present invention, the rotation axis Az corresponds to an example of the "rotation axis" of the present invention, the light emitting element L corresponds to an example of the "light emitting unit" of the present invention, the Z-axis motor Mz corresponds to an example of the "rotation drive unit" of the present invention, the nozzle N corresponds to an example of the "nozzle" of the present invention, the imaging range Ri corresponds to an example of the "imaging range" of the present invention, the light irradiation area Rl corresponds to an example of the "object area" of the present invention, the light irradiation areas Rl_r and Rl_l correspond to examples of the "end object areas" of the present invention, the current value table Ti corresponds to an example of the "table" of the present invention, and the rotation angle θ corresponds to an example of the "rotation position" of the present invention.

[0076] It should be noted that the present invention is not limited to the above-described embodiment, and various changes can be made to the above content without departing from its gist. For example, the background used in the imaging process may not be the light diffusion member 74 but a member that fluoresces by ultraviolet irradiation.

[0077] In addition, the number of nozzles N and the spacing between the arranged nozzles N can be appropriately changed.

[0078] In addition, the number of light emitting elements L and the spacing between the arranged light emitting elements L can be appropriately changed.

[0079] In addition, the structure of the imaging unit 6 can be appropriately changed. Specifically, the prism 61 may not be provided, and the camera 63 may face the side surface 742 of the light diffusion member 74.

[0080] In addition, the number of imaging positions Pi is not limited to the above two, and may be one or three or more.

[0081] Reference Numeral Explanation

[0082] 1…Component mounting machine

[0083] 100…Controller (control unit)

[0084] 6…Imaging unit

[0085] 74…Light diffusion member

[0086] 742…Side surface

[0087] Az…Rotation axis

[0088] L…Light-emitting element (light-emitting part)

[0089] Mz…Z-axis motor (rotation drive unit)

[0090] N…Nozzle

[0091] Ri…Imaging range

[0092] Rl…Light irradiation area (object area)

[0093] Rl_r, Rl_l…Light irradiation area (end object area)

[0094] Ti…Current value table (table)

[0095] θ…Rotation angle (rotation position)

Claims

1. A component mounter, comprising: a plurality of suction nozzles arranged in a circular pattern around a rotation axis of a prescribed imaginary straight line; a background member disposed inside the plurality of suction nozzles and having a cylindrical shape centered on the rotation axis; a plurality of light emitting portions arranged in a circular pattern around the rotation axis and facing the background member; a rotation driving portion that integrally rotates the plurality of suction nozzles, the background member, and the plurality of light emitting portions around the rotation axis; a photographing portion that faces the side surface of the background member from the outside of the plurality of suction nozzles and photographs a prescribed photographing range; and a control portion that executes the following photographing process: while irradiating light from the light emitting portion to the background member, the photographing portion photographs the photographing range, thereby photographing the suction nozzles located in the photographing range among the plurality of suction nozzles and obtaining an image of the suction nozzles with the background member as the background, the plurality of light emitting portions irradiate light to a plurality of different target regions in the background member, the background member emits light from the target regions through the side surface according to the irradiation of light to the target regions, and thus has a brightness corresponding to the intensity of the light irradiated from the light emitting portion, in the photographing process, the control portion controls the intensity of the light irradiated by the light emitting portion according to the rotation position of the plurality of light emitting portions rotated by the rotation driving portion.

2. The component mounter according to claim 1, wherein the control portion controls the intensity of the light irradiated by the light emitting portion such that the intensity of the light irradiated to the end target regions located at both ends in the photographing range among the plurality of target regions is greater than the intensity of the light irradiated to the target regions different from the end target regions.

3. The component mounter according to claim 2, wherein when the distance between one end target region of the end target regions located at both ends in the photographing range and the rotation axis is longer than the distance between the other end target region and the rotation axis, the control portion controls the intensity of the light irradiated by the light emitting portion such that the intensity of the light irradiated to the one end target region is greater than the intensity of the light irradiated to the other end target region.

4. The component mounter according to any one of claims 1 to 3, wherein the light emitting portion irradiates light having an intensity corresponding to the applied current, the control portion has a table representing the correspondence between the rotation position and the values of the currents applied to the plurality of light emitting portions respectively, and by applying the currents having the values represented by the table to the light emitting portion, the intensity of the light irradiated by the light emitting portion is controlled according to the rotation position.

5. The component mounter according to claim 4, wherein the control portion creates the table based on the results of test photographing while changing the rotation position, and the test photographing is the following photographing: using the photographing portion to photograph the background member that has irradiated light from the light emitting portion by applying a current to the light emitting portion, to obtain an image of the background member.

6. The component mounter according to any one of claims 1 to 5, wherein The background member is a light diffusing member that diffuses the light irradiated to the object area and emits light from the object area through the side surface.

7. A nozzle photographing method includes the following steps: Integrally rotating, about the rotation axis, a plurality of nozzles arranged in a circular shape about the rotation axis as a prescribed imaginary straight line, a background member arranged inside the plurality of nozzles and having a cylindrical shape about the rotation axis, and a plurality of light emitting portions arranged in a circular shape about the rotation axis and facing the background member; and Performing the following photographing process: while irradiating light from the light emitting portions to the background member, photographing a prescribed photographing range using a photographing unit facing the side surface of the background member from the outside of the plurality of nozzles, thereby obtaining an image of the nozzles with the background member as the background. The plurality of light emitting portions irradiate light to a plurality of different object areas in the background member. The background member emits light from the object area through the side surface according to the irradiation of light to the object area, thereby having a brightness corresponding to the intensity of the light irradiated from the light emitting portions. In the photographing process, the intensity of the light irradiated by the light emitting portions is controlled according to the rotational positions of the plurality of light emitting portions.

Images