Component mounting machine and method for determining state of cross of component

Abstract

After the tape feeder (5) performs pitch feeding, a supply / suction operation is performed in which the mounting head (31) tries to perform component suction in which the component (E) is sucked from the supply position (Ls) (step (S101)). Next, if the attachment of the mounting head (31) to the component fails in the supply attachment operation of two or more times of triggering that are performed continuously (YES in step (S108)), the substrate recognition camera (8) (camera) captures an image of the supply position (Ls) and acquires a supply position image (Is) (first image) (step (S109)). And determines the state of the groove (61) at the supply position (Ls) on the basis of the supply position image (Is) (i.e., whether there is a component (E) in the groove (61)) (step (S110)).

Description

TECHNICAL FIELD

[0001] The present application relates to a technology of feeding an element housed in a recess to a feeding position by conveying an element feeding tape having a plurality of recesses arranged in a row at a prescribed arrangement pitch by a tape feeder, and particularly relates to a technology of determining a state of the recess at the feeding position. BACKGROUND

[0002] In an element mounting machine that mounts an element on a substrate, an element feeding tape is conveyed by using a tape feeder, and thus an element housed in a recess of the element feeding tape is fed to a feeding position by the tape feeder. That is, the element fed to the feeding position is picked up from the feeding position to the substrate by a mounting head. In addition, when the element is picked up from the feeding position, the element feeding tape is conveyed by the tape feeder to feed the element to the feeding position. By repeating such an operation, the mounting of the element to the substrate can be continued. In addition, as described in Patent Literature 1, when the number of elements remaining in a preceding element feeding tape in use in element feeding is reduced, a splicing operation of connecting a leading end of a next element feeding tape to a trailing end of the preceding element feeding tape is performed.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent No. 6985073 SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] However, in order to confirm the switching from the preceding element feeding tape to the next element feeding tape, it is appropriate to perform control such that the arrival of the joint of these element feeding tapes to the feeding position is detected. Specifically, in the splicing operation, two or more prescribed number of empty recesses (recesses in which an element is not housed) are provided adjacent to the joint. And if the suction of the element from the feeding position by the mounting head continuously fails for a number of times corresponding to the number of empty recesses, it is determined that the joint has arrived at the feeding position. However, the failure of the suction of the element can occur not only in the case where the recess at the feeding position has no element, but also in the case where the mounting head cannot suction the element housed in the recess at the feeding position. Therefore, in order to perform reliable detection of the joint, a technology capable of confirming the cause of the failure of the suction of the element is required.

[0008] The present application has been achieved in view of the above-described problems, and aims to provide a technology capable of confirming the cause of the continuous failure of the suction of the element by the mounting head.

[0009] TECHNICAL SOLUTION FOR SOLVING THE PROBLEMS

[0010] The component mounting machine of the present application includes a tape feeder that feeds a component supply tape having a plurality of grooves arranged in a row at a prescribed arrangement pitch in a feeding direction by performing pitch feeding, and supplies a component housed in the groove to a supply position; a mounting head that performs component suction from the supply position; a control section that causes the tape feeder and the mounting head to perform a supply suction operation in which the mounting head performs trial component suction after the tape feeder performs pitch feeding; and a camera that photographs the supply position, and the control section acquires a first image by causing the camera to photograph the supply position when component suction by the mounting head fails in the supply suction operation performed two or more times in succession, and determines the state of the groove at the supply position based on the first image.

[0011] The component mounting machine of the present application includes a tape feeder that feeds a component supply tape having a plurality of grooves arranged in a row at a prescribed arrangement pitch in a feeding direction by performing pitch feeding, and supplies a component housed in the groove to a supply position; a mounting head that performs component suction from the supply position; a control section that causes the tape feeder and the mounting head to perform a supply suction operation in which the mounting head performs trial component suction after the tape feeder performs pitch feeding; and a camera that photographs the supply position, and the control section acquires a first image by causing the camera to photograph the supply position when component suction by the mounting head fails in the supply suction operation performed two or more times in succession, and determines the state of the groove at the supply position based on the first image.

[0012] In the component mounting machine and the method of determining the state of the groove of the component supply tape of the present application thus configured, the mounting head performs trial component suction from the supply position after the tape feeder performs pitch feeding in the supply suction operation. Furthermore, if component suction by the mounting head fails in the supply suction operation performed two or more times in succession, the camera photographs the supply position to acquire a first image, and the state of the groove at the supply position is determined based on the first image. Therefore, in the case where component suction by the mounting head fails continuously, the cause thereof can be confirmed.

[0013] In addition, the component mounting machine can be configured such that the control section determines whether the groove at the supply position photographed by the camera is a groove provided with respect to a joint of two component supply tapes connected to each other based on the first image. In this configuration, the joint of the two component supply tapes can be detected accurately based on the state of the groove when component suction by the mounting head fails continuously.

[0014] Further, the component mounting mechanism can be configured such that the storage section stores the number N (N is an integer of 3 or more) of grooves provided with respect to the joint, and the number of times of triggering is 2 or more and (N-1) or less. In this configuration, when component suction fails, the number of times of trial component suction of the mounting head accompanying the supply suction operation can be suppressed, and the detection of the joint of the two component supply tapes can be performed quickly.

[0015] Further, the component mounting mechanism can be configured such that the control section repeatedly performs the feed determination process until it is determined that the groove at the supply position has a component, when it is determined based on the first image that the groove at the supply position does not have a component, and in the feed determination process, the camera is caused to capture the supply position after causing the tape feeder to perform the pitch feed, and the presence or absence of a component at the groove at the supply position is determined based on the second image. In this configuration, in the feed determination process, the mounting head is not caused to perform trial component suction, and based on the second image captured by the camera, the presence or absence of a component at the groove at the supply position can be determined quickly.

[0016] Further, the component mounting mechanism can be configured such that the control section determines that the consecutive N or more grooves are grooves provided with respect to the joint, when it is determined based on the first image and the second image that the consecutive N or more grooves do not have a component. In this configuration, based on the groove in which a component is confirmed after the consecutive N or more grooves in which a component is not confirmed, the joint can be accurately detected.

[0017] Further, the component mounting mechanism can be configured such that the control section determines that the groove shown in the first image is not a groove provided with respect to the joint, when it is determined based on the first image and the second image that the number of consecutive grooves in which a component is not confirmed is less than N. In this configuration, the false detection of the joint can be reliably suppressed.

[0018] Further, the component mounting mechanism can be configured such that the control section determines the number of components housed in the preceding component supply tape, i.e., the component housing number, based on the number of times of pitch feed repeatedly performed with respect to the preceding component supply tape on the downstream side in the feeding direction among the two component supply tapes and the groove determined to be provided with respect to the joint, and manages the remaining number of components housed in the next component supply tape on the upstream side in the feeding direction than the preceding component supply tape among the two component supply tapes based on the number of components suctioned from the next component supply tape and the component housing number. In this configuration, even in a case where the component housing number of the component supply tape is different from a prescribed number, the remaining number of components of the component supply tape can be accurately managed based on the actual component housing number.

[0019] Further, the component mounting mechanism can be configured such that the component mounting machine further includes a job state acquisition section that accepts a job completion input indicating completion of splicing work of connecting the two component supply tapes to each other, and the control section acquires the first image when the number of times of the component suction failure of the mounting head in the supply suction operation reaches the trigger number in a state where the job completion input is accepted by the job state acquisition section. In this configuration, in a scenario where the possibility is high that the joint of the two component supply tapes approaches the supply position in conjunction with the splicing work, the first image can be acquired and the state of the groove of the supply position can be determined based on the first image. Therefore, the detection of the joint can be performed at a reasonable timing.

[0020] Further, the component mounting mechanism can be configured such that the control section does not acquire the first image when the number of times of the component suction failure of the mounting head in the supply suction operation reaches the trigger number in a case where the job completion input is not accepted by the job state acquisition section. In this configuration, the acquisition of the first image for the detection of the joint in a scenario where there is no possibility that the joint of the two component supply tapes approaches the supply position can be suppressed.

[0021] Further, the component mounting mechanism can be configured such that the control section causes the reporting section to report an error when the number of times of the component suction failure of the mounting head in the supply suction operation reaches an error reporting number that is larger than the trigger number. In this configuration, in a case where the failure of the component suction of the mounting head occurs frequently due to a bad condition of the mounting head or the like, the error can be reported to the worker to urge maintenance. Further, the error reporting number is larger than the trigger number. Therefore, in a case where the failure of the component suction of the mounting head continues in correspondence with the arrival of the joint at the supply position, the error can be suppressed from being reported to the worker as a result of the occurrence of the bad condition in the mounting head or the like.

[0022] Effects of Invention

[0023] According to the present application, the cause of the continuous failure of the component suction of the mounting head can be confirmed. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a schematic partial plan view that schematically shows a component mounting machine of the present application.

[0025] Figure 2 is a block diagram showing an electrical configuration of the component mounting machine of Figure 1

[0026] Figure 3 is a side view that schematically shows a configuration of a tape feeder.

[0027] Figure 4 is a plan view that schematically shows a configuration of a component supply tape. ​

[0028] Figure 5 is a flowchart showing an example of component supply control performed by the component mounting machine.

[0029] Figure 6 is a plan view schematically showing an example of an operation performed by the component supply control according to Figure 5 . DETAILED DESCRIPTION

[0030] Figure 1 is a plan view schematically showing a component mounting machine according to the present application, Figure 2 is a block diagram showing an electrical configuration of the component mounting machine according to Figure 1 . In the drawings described below, an X direction as a horizontal direction, a Y direction as a horizontal direction orthogonal to the X direction, and a Z direction as a vertical direction are appropriately shown. Figure 1

[0031] As shown in Figure 2 , the component mounting machine 1 is provided with a main control section 100 that controls the entire device, and the main control section 100 has an arithmetic processing section 110, a drive control section 120, a storage section 130, a shooting control section 140, and a feeder communication section 150. The arithmetic processing section 110 is a processor constituted by a CPU (Central Processing Unit) and a RAM (Random Access Memory), and the like, and controls the drive control section 120, the shooting control section 140, and the feeder communication section 150 on the basis of programs and data stored in the storage section 130, thereby controlling each operation described later. The storage section 130 is a storage device such as an SSD (Solid State Drive), and stores the number of components Q, the number of joints N, and the like described later. In addition, the component mounting machine 1 is provided with a user interface 160 constituted by a touch panel display, for example, and the arithmetic processing section 110 performs control in accordance with an input from the user interface 160, or displays information on the display of the user interface 160.

[0032] As shown in Figure 1 , the component mounting machine 1 is provided with a pair of conveyors 12, 12 disposed on the base 11. Each of the conveyors 12 is constituted by a belt conveyor arranged in parallel with the X direction. Also, the component mounting machine 1 controls the conveyors 12 by the drive control section 120, thereby performing conveyance of the substrate B. That is, the component mounting machine 1 mounts components E on the substrate B conveyed into a position of the substrate B at which the operation is performed from an upstream side in the X direction (substrate conveyance direction) by the conveyors 12, and conveys the substrate B on which the components E are mounted from the operation position to a downstream side in the X direction by the conveyors 12. Figure 1 Figure 4 ​​​

[0033] Two element supply sections 25 are arranged in the X direction on both sides in the Y direction of the pair of conveyors 12, 12, and a plurality of tape feeders 5 are arranged in the X direction in each of the element supply sections 25. For each of the tape feeders 5, an element supply reel on which an element supply tape 6 (see FIG. 2) on which small chip-shaped elements E such as integrated circuits, transistors, and capacitors are housed at prescribed intervals is wound is provided, and each of the tape feeders 5 supplies the elements E to a supply position Ls at the front end portion thereof by intermittently feeding out the element supply tape 6 pulled out from the element supply reel. Further, the arithmetic processing section 110 issues an instruction to the feeder control section 50 of the tape feeder 5 via the feeder communication section 150, thereby controlling the operation of the tape feeder 5. Figure 4

[0034] Between the two element supply sections 25 arranged in the X direction, an element recognition camera 7 is installed toward the upper side in the base 11. The element recognition camera 7 transmits an element recognition image Ir obtained by photographing the elements E before being mounted on the substrate B from the lower side to the photographing control section 140. The photographing control section 140 recognizes the position of the elements E on the basis of the element recognition image Ir received from the element recognition camera 7.

[0035] In addition, in the component mounting machine 1, a pair of Y-axis rails 21, 21 extending in the Y direction, a Y-axis ball screw 22 extending in the Y direction, and a Y-axis motor My that rotationally drives the Y-axis ball screw 22 are provided, and the X-axis rail 23 is fixed to the nut of the Y-axis ball screw 22 in a state of being supported so as to be movable in the Y direction by the pair of Y-axis rails 21, 21. An X-axis ball screw 24 extending in the X direction and an X-axis motor Mx that rotationally drives the X-axis ball screw 24 are installed on the X-axis rail 23, and the head unit 3 is fixed to the nut of the X-axis ball screw 24 in a state of being supported so as to be movable in the X direction by the X-axis rail 23. Therefore, the drive control section 120 can move the head unit 3 in the Y direction by rotating the Y-axis ball screw 22 by the Y-axis motor My or move the head unit 3 in the X direction by rotating the X-axis ball screw 24 by the X-axis motor Mx.

[0036] The head unit 3 has a plurality of (six) mounting heads 31 arranged in the X direction. Further, in the head unit 3, a Z-axis motor Mz that elevates the mounting head 31 is provided with respect to each of the mounting heads 31. Each of the mounting heads 31 has an elongated shape extending in the Z direction (vertical direction), and a suction nozzle for sucking the elements E is detachably provided at the lower end thereof. Then, the component mounting is performed by the mounting head 31 as follows.

[0037] ​That is, the drive control section 120 causes the suction nozzle of the mounting head 31 to oppose the supply position Ls from above by the X-axis motor Mx and the Y-axis motor My. Next, the drive control section 120 causes the mounting head 31 to descend by the Z-axis motor Mz, and causes the suction nozzle to contact the element E supplied to the supply position Ls by the tape feeder 5. Also, when the mounting head 31 adsorbs the element E to the suction nozzle by a negative pressure supplied to the suction nozzle, the drive control section 120 causes the mounting head 31 to ascend (element adsorption). In this way, when the mounting head 31 performs element adsorption and completes picking up the element E from the supply position Ls, the drive control section 120 causes the mounting head 31 to oppose the element recognition camera 7 by the X-axis motor Mx and the Y-axis motor My. Then, the shooting control section 140 causes the element recognition camera 7 to shoot the element E adsorbed by the mounting head 31 to acquire an element recognition image Ir, and recognizes the position of the element E based on the element recognition image Ir. Next, the drive control section 120 causes the mounting head 31 to move above the substrate B by the X-axis motor Mx and the Y-axis motor My. Then, the drive control section 120 causes the mounting head 31 to descend by the Z-axis motor Mz to cause the element E adsorbed by the suction nozzle of the mounting head 31 to contact the upper surface of the substrate B. At this time, the drive control section 120 controls the position of the element E with respect to the substrate B in the X direction and the Y direction based on the position of the element E recognized by the element recognition image Ir. Then, the adsorption of the element E is released, and the element E is mounted to the substrate B.

[0038] In addition, the substrate recognition camera 8 is mounted on the head unit 3 toward the lower side, and moves with the head unit 3 in the X direction and the Y direction. This substrate recognition camera 8 is used to shoot a reference mark attached to the substrate B, and the shooting control section 140 recognizes the position of the substrate B based on an image of the reference mark shot by the substrate recognition camera 8. Also, the drive control section 120 controls the position of the mounting head 31 based on the position of the substrate B, whereby the element E can be reliably mounted to the substrate B. In addition, as described later, the substrate recognition camera 8 is also used to shoot the supply position Ls of the element supply tape 6 equipped to the tape feeder 5 to acquire a supply position image Is.

[0039] Figure 3 is a side view schematically showing the structure of the tape feeder. In this figure, the feeding direction Df of the tape feeder 5 in which the element supply tape 6 is fed (parallel to the Y direction) is shown, and the arrow side of the feeding direction Df is taken as the "front" of the feeding direction Df, and the opposite side of the arrow of the feeding direction Df is taken as the "rear" of the feeding direction Df.

[0040] The tape feeder 5 has a feeder main body 51 as a mechanical structure, feeder motors Mf, Mb that drive the element supply tape 6, and a feeder control section 50 that controls the feeder motors Mf, Mb according to an instruction received from a feeder communication section 150. The feeder main body 51 has a housing 52 that is thin in the X direction and long in the tape feeding direction Df. The housing 52 houses the feeder control section 50 described above inside. In addition, a tape insertion port 53a that extends in the Z direction is provided at the rear end of the housing 52 in the tape feeding direction Df, and a supply position Ls is provided on the upper surface of the front end portion of the housing 52 in the tape feeding direction Df. Further, a tape carrying path 53b from the tape insertion port 53a to the supply position Ls is provided in the feeder main body 51. The feeder main body 51 feeds the element supply tape 6 inserted into the tape carrying path 53b from the tape insertion port 53a in the tape feeding direction Df by the driving force of the feeder motors Mf, Mb, thereby supplying the element to the supply position Ls.

[0041] The feeder main body 51 has a sprocket 54 disposed adjacent to the tape insertion port 53a below the tape carrying path 53b and a gear 55 that transmits the driving force of the feeder motor Mb to the sprocket 54 inside the housing 52, and the sprocket 54 rotates by the driving force generated by the feeder motor Mb. Therefore, the feeder motor Mb can carry the element supply tape 6 engaged with the sprocket 54 in the tape feeding direction Df by rotating in the forward direction (forward rotation).

[0042] In addition, the feeder main body 51 has two sprockets 57d, 57u disposed at the front end portion thereof adjacent to the tape carrying path 53b from below and two gears 58d, 58u that transmit the driving force of the feeder motor Mf to the sprockets 57d, 57u, respectively, inside the housing 52. Further, the sprockets 57d, 57u rotate by the driving force generated by the feeder motor Mf. Therefore, the feeder motor Mf can carry the element supply tape 6 engaged with the sprockets 57d, 57u in the tape feeding direction Df by rotating in the forward direction (forward rotation).

[0043] In this structure, the element supply tape 6 inserted into the tape carrying path 53b from the tape insertion port 53a is engaged with the sprockets 54, 57u, 57d, whereby the element supply tape 6 is fitted to the tape feeder 5. Further, the feeder control section 50 intermittently carries the element supply tape 6 in the tape feeding direction Df by controlling the rotation of the sprockets 54, 57u, 57d based on the feeder motors Mf, Mb. Thus, the plurality of elements E housed in the element supply tape 6 can be sequentially supplied to the supply position Ls.

[0044] Further, the tape feeder 5 has a cutter 59 that opens the component supply tape 6 at an opening position Le near an upstream side of the feeding direction Df at the supply position Ls. The cutter 59 contacts the component supply tape 6 at the opening position Le, cuts and opens the component supply tape 6 passing through the opening position Le in the feeding direction Df, thereby exposing the component E at the supply position Ls. Note that the method of exposing the component E is not limited to this example, and can be performed by peeling a cover tape of the component supply tape 6.

[0045] Figure 4 is a plan view schematically showing the structure of the component supply tape. Further, in Figure 4 , the sprocket 54 of the tape feeder 5 is shown together. The component supply tape 6 has a plurality of grooves 61 arranged at a prescribed arrangement pitch Pp in the feeding direction Df, and the component E is housed in the groove 61. Further, the component supply tape 6 has a plurality of engagement holes 62 arranged in the feeding direction Df, and each sprocket 54, 57d, 57u of the tape feeder 5 engages with and rotates the engagement hole 62, thereby carrying the component supply tape 6 in the feeding direction Df.

[0046] Further, in Figure 4 , two component supply tapes 6 connected in series in the feeding direction Df are shown. That is, the upstream end (i.e., the rear end) of the preceding component supply tape 6A on the upstream side in the feeding direction Df among the two component supply tapes 6 is connected to the downstream end (i.e., the front end) of the next component supply tape 6B on the upstream side of the component supply tape 6A by a joint J. The splicing work of connecting these component supply tapes 6A, 6B is performed by the worker. After the splicing work is completed, the worker performs an input to the user interface 160 indicating the completion of the splicing work, and the arithmetic processing unit 110 accepts the input to the user interface 160, thereby confirming the completion of the splicing work.

[0047] In the feeding direction Df, a joint detection region Rj is provided at the downstream end (i.e., the front end) of the component supply tape 6B. The joint detection region Rj has N grooves 61 (i.e., empty grooves 61) in which the component E is not housed arranged continuously in the feeding direction Df. That is, the N empty grooves 61 arranged continuously in the joint detection region Rj are arranged adjacent to the joint J. Here, N is the number of the empty grooves 61 (the number of joints N) to be provided in the joint detection region Rj, and is an integer of 2 or more. In this example, the number of joints N is 4. As described above, the number of joints N is stored in the storage unit 130. Further, the number of components Q housed in one component supply tape 6 is stored in the storage unit 130.

[0048] Figure 5 is a flowchart showing an example of the component supply control performed by the component mounting machine, Figure 6 is a plan view schematically showing the structure of the component supply tape according to Figure 5FIG. 2 is a plan view of an example of an operation of the component supply control. Figure 5 The component supply control is executed by the main control section 100. The component supply control is executed individually for each of the plurality of tape feeders 5. However, since the contents of the component supply control for each tape feeder 5 are the same, the component supply control executed for one tape feeder 5 will be described here.

[0049] In step S101, the drive control section 120 causes the tape feeder 5 to perform pitch feeding of the component supply tape 6A by a distance corresponding to the arrangement pitch Pp in the feeding direction Df. By this, the component E is supplied to the supply position Ls. Further, in step S101, the drive control section 120 causes the mounting head 31 to perform component suction of the component E from the supply position Ls. In this way, the supply and suction operation of supplying the component E to the supply position Ls and suctioning the component E from the supply position Ls is performed.

[0050] In step S102, the arithmetic processing section 110 determines whether or not the component suction of the mounting head 31 has failed. Whether or not the component suction has succeeded can be determined, for example, by a method based on the pressure generated at the mounting head 31 and a method based on the component recognition image Ir. In the former method, if the pressure (negative pressure) generated at the mounting head 31 is below a prescribed threshold pressure, the arithmetic processing section 110 determines that the component suction of the mounting head 31 has succeeded, whereas if the pressure generated at the mounting head 31 is greater than the prescribed threshold pressure, the arithmetic processing section 110 determines that the component suction of the mounting head 31 has failed. In the latter method, if the component recognition image Ir indicates the component E suctioned by the mounting head 31, the arithmetic processing section 110 determines that the component suction of the mounting head 31 has succeeded, whereas if the component recognition image Ir does not indicate the component E suctioned by the mounting head 31, the arithmetic processing section 110 determines that the component suction of the mounting head 31 has failed.

[0051] The arithmetic processing section 110 initializes, that is, resets, the continuous error number to zero when it is determined that the component suction of the mounting head 31 has succeeded, that is, when no suction error has occurred (NO in step S102), and returns to step S101. Here, the continuous error number is the number of times that it is determined in step S102 that a suction error has occurred, and is counted by the arithmetic processing section 110.

[0052] When the processing unit 110 determines that the component of the mounting head 31 has failed to be attached, i.e., an attachment error has occurred ("Yes" in step S102), it increments the consecutive error count by 1 (step S104) and proceeds to step S105. In step S105, it determines whether the consecutive error count exceeds the retries. Here, the retries are the number of times that give the user interface 160 a trigger to execute an error notification indicating a frequent attachment error, for example, "5". When the processing unit 110 determines that the consecutive error count has exceeded the retries ("Yes" in step S105), it causes the user interface 160 to execute an error notification (step S106). Then, after resetting the consecutive error count to zero (step S103), the processing unit 110 returns to step S101.

[0053] When the processing unit 110 determines that the number of consecutive errors is less than the number of retries ("No" in step S105), it proceeds to step S107. In step S107, the processing unit 110 determines whether the splicing operation connecting component supply tape 6B and component supply tape 6A has been confirmed as complete. If the completion of the splicing operation has not been confirmed ("No" in step S107), the processing unit 110 returns to step S101. On the other hand, if the completion of the splicing operation has been confirmed ("Yes" in step S107), the processing unit 110 proceeds to step S108.

[0054] In step S108, the arithmetic processing unit 110 determines whether the number of consecutive errors is greater than or equal to the trigger count. Here, the trigger count is an integer greater than or equal to 2, which is less than the number of retries. In this example, the trigger count is set to the value obtained by subtracting 1 from the number of seams N (=4), which is 3.

[0055] use Figure 6 The example illustrates the above process in detail. Figure 6 In the "Action M1" column, it shows the state in which the upstream (rear) component E in the feeding direction Df of the component E housed in the component supply belt 6A is supplied to the supply position Ls by the spacing feed in step S101. Additionally, in Figure 6 In the "Action M2" column, it shows the state in which the mounting head 31 has picked up the element E supplied to the supply position Ls by the pitch feed through the element adsorption in step S101. The element adsorption is successful, and the element E is taken out from the groove 61 of the supply position Ls.

[0056] In step S102, following actions M1 and M2, it is determined that no adsorption error has occurred (determined as "No"). In step S103, the consecutive error count is reset to "0", and the process returns to step S101. In step S101, as follows... Figure 6As shown in the "Action M3" column of Table 1, pitch feeding is performed. Thereby, the joint J is moved to the downstream side of the feeding direction Df of the supply position Ls, and the empty groove 61a of the component supply tape 6B is transported to the supply position Ls. Further, in step S101, the mounting head 31 performs (tentative) component suction to the groove 61a of the supply position Ls. Since this component suction fails, it is determined in step S102 that a suction error has occurred (determination of "Yes"), and the continuous error number is increased from "0" to "1" (step S104).

[0057] Then, steps S105 and S107 are passed, and step S108 is reached. Since the continuous error number (=1) is less than the trigger number (=3), it is determined in step S108 that "No", and the routine returns to step S101. In this step S101, as shown in the "Action M4" column of Table 1, pitch feeding is performed, and after the empty groove 61b adjacent to the empty groove 61a is fed to the supply position Ls, the mounting head 31 performs (tentative) component suction to the groove 61b of the supply position Ls. Since this component suction fails, it is determined in step S102 that a suction error has occurred (determination of "Yes"), and the continuous error number is increased from "1" to "2" (step S104). Figure 6

[0058] Then, steps S105 and S107 are passed, and step S108 is reached. Since the continuous error number (=2) is less than the trigger number (=3), it is determined in step S108 that "No", and the routine returns to step S101. In this step S101, as shown in the "Action M5" column of Table 1, pitch feeding is performed, and after the empty groove 61c adjacent to the empty groove 61b is fed to the supply position Ls, the mounting head 31 performs (tentative) component suction to the groove 61c of the supply position Ls. Since this component suction fails, it is determined in step S102 that a suction error has occurred (determination of "Yes"), and the continuous error number is increased from "2" to "3" (step S104). Figure 6

[0059] Then, steps S105 and S107 are passed, and step S108 is reached. At this time, since the continuous error number (=3) is equal to or more than the trigger number (=3), it is determined in step S108 that "Yes", and step S109 is reached.

[0060] ​​In step S109, the drive control section 120 causes the substrate recognition camera 8 to oppose the supply position Ls from the upper side, and the imaging control section 140 causes the substrate recognition camera 8 to image the supply position Ls, thereby acquiring a supply position image Is (first image). In step S110, the arithmetic processing section 110 determines whether or not the component E exists at the supply position Ls on the basis of the supply position image Is acquired in step S109. If it is determined that the component E exists at the supply position Ls (YES in step S110), the arithmetic processing section 110 resets the continuous error number to "0" (step S111), and returns to step S101.

[0061] On the other hand, if it is determined that the component E does not exist at the supply position Ls (NO in step S110), the arithmetic processing section 110 proceeds to step S112. In the example shown in the column of "Action M5" in Table 1, the supply position Ls at the time of execution of the action M5 has no component E, and thus it is determined as NO in step S110. Figure 6

[0062] In step S112, after the drive control section 120 executes the pitch feed, the imaging control section 140 causes the substrate recognition camera 8 to image the recess 61 conveyed to the supply position Ls by the pitch feed, and acquires a supply position image Is. In step S113, the arithmetic processing section 110 determines whether or not the component E exists at the supply position Ls on the basis of the supply position image Is acquired in step S112. If it is determined that the component E exists at the supply position Ls (YES in step S113), the arithmetic processing section 110 resets the continuous error number to "0" (step S111), and returns to step S101.

[0063] On the other hand, if it is determined that the component E does not exist at the supply position Ls (NO in step S113), the arithmetic processing section 110 proceeds to step S114. According to the example shown in the column of "Action M6" in Table 1, in step S112, the empty recess 61d adjacent to the empty recess 61c is fed to the supply position Ls by execution of the pitch feed, and a supply position image Is obtained by imaging the empty recess 61d is acquired. Thus, in step S113, the arithmetic processing section 110 determines that the component E does not exist at the supply position Ls (determination of NO in step S113), and proceeds to step S114. Figure 6

[0064] ​​In step S114, after the drive control unit 120 performs the pitch feed, the imaging control unit 140 causes the substrate recognition camera 8 to capture an image of the groove 61 that has been fed to the supply position Ls by the pitch feed, thereby obtaining a supply position image Is (the second image). In step S115, the arithmetic processing unit 110 determines whether element E exists at the supply position Ls based on the supply position image Is obtained in step S114. If it is determined that element E does not exist at the supply position Ls ("No" in step S115), the arithmetic processing unit 110 executes step S114 again.

[0065] That is, at the execution time of step S115, after the first adsorption error in a series of consecutive adsorption errors occurs, the interval feed is performed more than N times, specifically (N+1) times. As mentioned above, N is the number of empty grooves 61 that should be set in the seam detection area Rj (number of seams N). Therefore, if the number of empty grooves 61 set relative to the seam J in the splicing operation is correctly N, the presence of element E should be confirmed in the first step S115. However, if the operator mistakenly sets more than N empty grooves 61 during the splicing operation, the presence of element E cannot be confirmed in the first step S115. Therefore, steps S114 and S115 are repeated until the presence of element E is confirmed.

[0066] On the other hand, if it is determined that element E exists at the supply position Ls ("Yes" in step S115), the arithmetic processing unit 110 proceeds to step S116. ​ In the example shown in the "Action M7" column, in step S114, through the execution of the pitch feed, the groove 61 adjacent to the empty groove 61d is conveyed to the supply position Ls, where element E is present. Therefore, in step S115, the arithmetic processing unit 110 determines that element E is present at the supply position Ls (determined as "No" in step S115), and proceeds to step S116.

[0067] In step S116, the arithmetic processing unit 110 performs a belt switching process accompanying the switching from the component supply belt 6A to the component supply belt 6B. Specifically, the arithmetic processing unit 110 initializes the remaining number of components managed in the arithmetic processing unit 110. That is, the arithmetic processing unit 110 manages the remaining number of components E as the value obtained by subtracting the number of interval feeds from the number of components stored Q. In contrast, in step S116, the remaining number of components E is reset to the number of components stored Q, and the management is such that the remaining number of components on the component supply belt 6B is the number of components stored Q.

[0068] In the above-described embodiment, the following supply suction operation is performed: After the pitch feeding by the tape feeder 5, the mounting head 31 tentatively performs the component suction of the component E from the supply position Ls (step S101). Then, if the component suction by the mounting head 31 fails in the supply suction operation of two or more times of the trigger frequency which is continuously performed (YES in step S108), the substrate recognition camera 8 (camera) is caused to capture the supply position Ls to acquire the supply position image Is (first image) (step S109), and the state of the groove 61 of the supply position Ls (i.e., the presence or absence of the component E in the groove 61) is determined based on the supply position image Is (step S110). Thus, in the case where the suction of the component E by the mounting head 31 continuously fails, the cause thereof can be confirmed.

[0069] Further, the main control section 100 (control section) determines, based on the supply position image Is (first image), whether the groove 61 of the supply position Ls captured by the substrate recognition camera 8 is the groove 61 provided with respect to the joint J of the two component supply tapes 6A, 6B connected to each other (steps S110, S112 to S116). In this configuration, the joint J of the two component supply tapes 6A, 6B can be accurately detected based on the state of the groove 61 at the time when the suction of the component E by the mounting head 31 continuously fails.

[0070] Further, the storage section 130 stores the number N (N is an integer of 3 or more) of the grooves 61 which should be provided with respect to the joint J. In contrast, the trigger frequency is set to two or more and (N-1) or less. In this configuration, at the time when the component suction fails, the number of times of the tentative component suction by the mounting head 31 accompanying the supply suction operation (step S101) can be suppressed, and the detection of the joint J of the two component supply tapes 6A, 6B can be promptly performed.

[0071] Further, when the main control section 100 determines that there is no component E at the recess 61 of the supply position Ls on the basis of the supply position image Is (first image) acquired in step S109 (NO in step S110), it acquires the supply position image Is (second image) by causing the substrate recognition camera 8 to take a picture of the supply position Ls after causing the tape feeder 5 to perform pitch feeding (step S114). Then, the main control section 100 determines the presence or absence of the component E at the recess 61 of the supply position Ls on the basis of the supply position image Is acquired in step S114 (step S115). In particular, the processing of steps S114 and S115 (feeding determination processing) is repeated until it is determined that there is a component E at the recess 61 of the supply position Ls. In this configuration, in the feeding determination processing of steps S114 and S115, the mounting head 31 is not caused to tentatively adsorb a component, and the presence or absence of the component E at the recess 61 of the supply position Ls can be rapidly determined on the basis of the supply position image Is (second image) taken by the substrate recognition camera 8 in step S114.

[0072] Further, when the main control section 100 determines that there is no component E at the recess 61 of the supply position Ls on the basis of the supply position image Is (first image) acquired in step S109 (NO in step S110), it acquires the supply position image Is (second image) by causing the substrate recognition camera 8 to take a picture of the supply position Ls after causing the tape feeder 5 to perform pitch feeding (step S114). Then, the main control section 100 determines the presence or absence of the component E at the recess 61 of the supply position Ls on the basis of the supply position image Is acquired in step S114 (step S115). In particular, the processing of steps S114 and S115 (feeding determination processing) is repeated until it is determined that there is a component E at the recess 61 of the supply position Ls. In this configuration, in the feeding determination processing of steps S114 and S115, the mounting head 31 is not caused to tentatively adsorb a component, and the presence or absence of the component E at the recess 61 of the supply position Ls can be rapidly determined on the basis of the supply position image Is (second image) taken by the substrate recognition camera 8 in step S114.

[0073] Specifically, the adsorption error is continuously confirmed in correspondence with the amount of the number of triggers, and when the number of consecutive errors reaches the number of triggers (YES in step S108), (N-number of triggers) or more consecutive recesses 61 are sequentially taken pictures of at the supply position Ls, and the supply position image Is is acquired by the substrate recognition camera 8 (steps S109, S112, S114). When the main control section 100 determines that there is no component E for each of the (N-number of triggers) or more supply position images Is thus acquired (NO in steps S110, S113, S115), it determines that the recess 61 without a component E has continued for N or more, and determines that the N or more recesses 61 are the recesses 61 provided for the joint J. Thus, the joint J can be accurately detected on the basis of the recess 61 with a component E being confirmed after the recess 61 without a component E has continued for N or more (YES in step S115).

[0074] Further, the main control section 100 determines that the number of grooves 61 without the element E is not continuous is less than N when the supply position image Is (first image) taken in step S109 and the supply position image Is (second image) taken in step S114 (YES in steps S110 and S113), and determines that the groove 61 shown in the supply position image Is (first image) taken in step S109 is not the groove 61 provided for the joint J (step S111). In this configuration, it is possible to reliably suppress false detection of the joint J.

[0075] Further, the user interface 160 (work state acquisition section) that receives a work completion input indicating completion of splicing work of connecting the two element supply tapes 6A and 6B to each other is provided. Then, the main control section 100 acquires the supply position image Is (first image) when the number of times of the element suction failure of the mounting head 31 in the supply suction operation (step S101) reaches the trigger number in a state where the user interface 160 receives the work completion input (YES in step S108). In this configuration, in a scenario where the possibility that the joint J of the two element supply tapes 6A and 6B approaches the supply position Ls is high along with the work of splicing, it is possible to acquire the supply position image Is and determine the state of the groove 61 of the supply position Ls based on the supply position image Is (steps S109 and S110). Therefore, it is possible to perform detection of the joint J at a reasonable timing.

[0076] Further, when the number of times of the element suction failure of the mounting head 31 in the supply suction operation (step S101) reaches the trigger number, the supply position image Is is not acquired in a case where the user interface 160 does not receive the work completion input (in a case where NO in step S107). In this configuration, it is possible to suppress unnecessary acquisition of the supply position image Is for detection of the joint J in a scenario where there is no possibility that the joint J of the two element supply tapes 6A and 6B approaches the supply position Ls.

[0077] Further, the user interface 160 (reporting section) that reports an error to the worker is provided. Then, the main control section 100 causes the user interface 160 to notify the error when the number of times of the element suction failure of the mounting head 31 in the supply suction operation (step S101) reaches a retry number (error notification number) that is larger than the trigger number (YES in step S105). In this configuration, in a case where the element suction of the mounting head 31 fails frequently due to an abnormality in the mounting head 31 and the like, it is possible to report the error to the worker and urge maintenance. Further, the retry number is larger than the trigger number. Therefore, in a case where the element suction of the mounting head 31 is continuous in correspondence with the joint J reaching the supply position Ls, it is possible to suppress reporting of the error to the worker due to the error being erroneously determined as occurrence of an abnormality in the mounting head 31 and the like as the cause.

[0078] Thus, in the above-described embodiment, the component mounting machine 1 corresponds to an example of the "component mounting machine" of the present application, the main control section 100 corresponds to an example of the "control section" of the present application, the user interface 160 corresponds to an example of the "operation state acquisition section" and the "notification section" of the present application, the mounting head 31 corresponds to an example of the "mounting head" of the present application, the tape feeder 5 corresponds to an example of the "tape feeder" of the present application, the component supply tape 6 corresponds to an example of the "component supply tape" of the present application, the recess 61 corresponds to an example of the "recess" of the present application, the substrate recognition camera 8 corresponds to an example of the "camera" of the present application, the feeding direction Df corresponds to an example of the "feeding direction" of the present application, the component E corresponds to an example of the "component" of the present application, the supply position image Is acquired in step S109 corresponds to an example of the "first image" of the present application, the supply position image Is acquired in step S114 corresponds to an example of the "second image" of the present application, the joint J corresponds to an example of the "joint" of the present application, the supply position Ls corresponds to an example of the "supply position" of the present application, and the arrangement pitch Pp corresponds to an example of the "arrangement pitch" of the present application.

[0079] Further, the present application is not limited to the above-described embodiment, and various modifications can be made to the above-described content without departing from the gist thereof. For example, the remaining number of components E in the component supply tape 6 can be managed as follows. That is, as described above, the arithmetic processing section 110 manages the value obtained by subtracting the number of times of the pitch feeding from the component storage number Q as the remaining number of components E. At this time, the number of components E actually stored in the component supply tape 6 can be found based on the joint J, and this can be managed as the component storage number Q.

[0080] In this example of the remaining number management, the arithmetic processing section 110 determines the number of components E stored in the component supply tape 6A, that is, the component storage number Q, based on the number of times of the pitch feeding repeatedly performed on the component supply tape 6A before determining the recess 61 provided in correspondence with the joint J. Then, the arithmetic processing section 110 manages the remaining number of components E stored in the next component supply tape 6B based on the number of components E sucked from the component supply tape 6B and the component storage number Q. In this configuration, even in the case where the component storage number Q stored in the component supply tape 6 differs from the prescribed number, the remaining number of components E in the component supply tape 6 can be accurately managed based on the actual component storage number Q.

[0081] In addition, the position at which the joint detection region Rj is provided is not limited to the above-described example. Thus, the joint detection region Rj can be provided not at the next component supply tape 6B but at the upstream end (i.e., the rear end) of the feeding direction Df of the preceding component supply tape 6A.

[0082] In addition, the execution subject of the splicing work is not limited to the worker, and may be a robot, for example.

[0083] In addition, the number of triggers can also be appropriately changed. Therefore, the number of triggers can also be the number of seams N. In this case, it can be configured to omit steps S112 and S113. Alternatively, the number of triggers can be appropriately set to (N-M) times (M is an integer of 1 or more). In this case, it can be configured to execute steps S112 and S113 M times.

[0084] Reference Signs

[0085] 1 … component mounting machine

[0086] 100 … main control unit

[0087] 160 … user interface (work status acquisition unit, notification unit)

[0088] 31 … mounting head

[0089] 5 … tape feeder

[0090] 6 … component supply tape

[0091] 61 … groove

[0092] 8 … substrate recognition camera (camera)

[0093] Df … feed direction

[0094] E … component

[0095] Is … supply position image (first image, second image)

[0096] J … seam

[0097] Ls … supply position

[0098] Pp … arrangement pitch

Claims

1. A component mounting machine comprising: a tape feeder that feeds a component supply tape in which a plurality of recesses arranged in a row at a prescribed arrangement pitch are arranged, and supplies a component housed in the recess to a supply position by performing pitch feeding of feeding in a tape feeding direction; a mounting head that performs component suction of suctioning a component from the supply position; a control section that causes the tape feeder and the mounting head to perform a supply suction operation in which the mounting head tentatively performs the component suction after causing the tape feeder to perform the pitch feeding; and a camera that photographs the supply position, wherein the control section causes the camera to photograph the supply position and acquire a first image when the component suction of the mounting head fails in two or more times of the supply suction operation performed consecutively, and determines a state of the recess of the supply position based on the first image.

2. The component mounting machine according to claim 1, wherein the control section determines whether the recess at the supply position photographed by the camera is a recess provided with respect to a joint of two component supply tapes connected to each other based on the first image.

3. The component mounting machine according to claim 2, wherein the component mounting machine further comprises a storage section that stores a number N of recesses that should be provided with respect to the joint, N being an integer of three or more, and the number of times of the trigger is two or more and (N-1) or less.

4. The component mounting machine according to claim 3, wherein the control section repeatedly performs feeding determination processing in which the camera photographs the supply position and acquires a second image after causing the tape feeder to perform the pitch feeding, and determines the presence or absence of a component at the recess of the supply position based on the second image, when it is determined based on the first image that there is no component in the recess at the supply position.

5. The component mounting machine according to claim 4, wherein the control section determines that the recesses of N or more that are consecutive are recesses provided with respect to the joint when it is determined based on the first image and the second image that there is no component in the recesses of N or more that are consecutive.

6. The component mounting machine according to claim 4 or 5, wherein the control section determines that the recesses shown in the first image are not recesses provided with respect to the joint when it is determined based on the first image and the second image that the number of recesses in which there is no component that are consecutive is less than N.

7. The component mounting machine according to any one of claims 4 to 6, wherein ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The control section determines the number of components housed in the preceding component supply tape based on the number of times the pitch feed is repeatedly performed on the preceding component supply tape on the downstream side in the feeding direction and the groove determined to be provided with respect to the joint, and manages the remaining number of components housed in the next component supply tape on the upstream side in the feeding direction than the preceding component supply tape among the two component supply tapes based on the number of components sucked from the next component supply tape and the number of component housed.

8. The component mounting machine according to any one of claims 2 to 7, wherein The component mounting machine further includes a job state acquisition section that accepts a job completion input indicating completion of splicing work of connecting the two component supply tapes to each other, The control section acquires the first image when the number of times of the component suction failure of the mounting head in the supply suction operation reaches the trigger number in a state where the job state acquisition section accepts the job completion input.

9. The component mounting machine according to claim 8, wherein The first image is not acquired in a case where the job state acquisition section does not accept the job completion input when the number of times of the component suction failure of the mounting head in the supply suction operation reaches the trigger number.

10. The component mounting machine according to any one of claims 1 to 9, wherein The component mounting machine further includes a reporting section that reports an error to a worker, The control section causes the reporting section to report an error when the number of times of the component suction failure of the mounting head in the supply suction operation reaches an error reporting number that is more than the trigger number.

11. A method of determining a state of a groove of a component supply tape, comprising: a step of causing a tape feeder and a mounting head to perform a supply suction operation in which the mounting head tentatively sucks a component from a supply position after the tape feeder performs a pitch feed of transporting a component supply tape having a plurality of grooves arranged in a column at a prescribed arrangement pitch in a feeding direction; a step of causing a camera to capture the supply position and acquire a first image when the component suction of the mounting head fails in the supply suction operation performed twice or more continuously; and a step of determining the state of the groove of the supply position based on the first image.

Images