Component mounting machine and inclination detection method of component

Abstract

To improve an inclination detection accuracy of a component having an electrode part.SOLUTION: A component mounting machine comprises: a suction nozzle that sucks a component; an imaging part that is arranged on a lateral side of the suction nozzle; and a control part that controls the imaging part so as to image the component to be sucked by the suction nozzle from the lateral side, and detects an inclination of the component on the basis of an image obtained by the imaging. The control part detects a plurality of edge points of a lower edge of the component from the image, specifies a plurality of electrode edge points corresponded to an electrode part of the component by specifying a peak point projected from an inside of the plurality of edge points to a lower side, and detects an inclination on the basis of the electrode edge point.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The technology disclosed in this specification relates to component mounting machines and component inclination detection technology.

Background Art

[0002] In a component mounting machine that mounts a component adsorbed by a suction nozzle onto a substrate, it is known to determine the quality of the adsorption posture of the component based on an image obtained by imaging the adsorbed component from the side.

[0003] According to Patent Document 1, the component mounting machine detects a plurality of positions of the lower edge including the lowermost end position of the component from the image captured as described above. Then, the component mounting machine obtains an approximate straight line that approximates a plurality of detected positions including the lowermost end position, and detects the angle of the approximate straight line as the adsorption angle of the component.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Some components to be mounted on a substrate have electrode portions, and the electrode portions have a shape that bulges more than other portions. When such a component having an electrode portion is mounted on a substrate, the electrode portion contacts the substrate. Therefore, when it is assumed to detect the inclination of a component having an electrode portion, improvements for enhancing the accuracy of inclination detection are required in consideration of the shape characteristics of the component.

Means for Solving the Problems

[0006] This specification discloses a component mounter. The component mounter includes a suction nozzle that sucks a component, an imaging unit disposed laterally to the suction nozzle, and a control unit that controls the imaging unit to image the component sucked by the suction nozzle from the side and detects the inclination of the component based on the image obtained by the imaging. Then, the control unit detects a plurality of edge points of the lower edge of the component from the image, specifies peak points protruding downward from among the plurality of edge points to specify a plurality of electrode edge points corresponding to the electrode portion of the component, and detects the inclination based on the electrode edge points.

[0007] According to the above configuration, the control unit detects the inclination of the component based on the electrode edge points. Thereby, it becomes possible to detect the inclination of the component that brings the electrode portion into contact with the object to be mounted with higher accuracy when mounted.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Embodiments for Carrying Out the Invention

[0009] List the main features of the embodiments described below. Note that the technical elements described below are independent technical elements, each of which exhibits technical utility alone or in various combinations, and is not limited to the combinations described in the claims at the time of filing.

[0010] In the component mounter disclosed in this specification, the control unit may calculate an approximate straight line approximating the positions of a plurality of the edge points, and specify the peak point based on the height information for each edge point with respect to the approximate straight line. According to the above configuration, the control unit can easily and accurately specify the electrode edge point, which is the peak point, by using the height information for each edge point with respect to the approximate straight line.

[0011] In the component mounter disclosed in this specification, the control unit may set, as a condition for the peak point, that the degree of protrusion downward from an adjacent edge point is equal to or greater than a predetermined threshold value. According to the above configuration, the control unit can avoid erroneously specifying a peak point that does not actually correspond to the electrode edge point.

[0012] In the component mounter disclosed in this specification, when the control unit is based on the lowermost endpoint among a plurality of the edge points, the control unit may calculate the approximate straight line from the group of edge points located on the right side or the group of edge points located on the left side that has a larger number of edge points. According to the above configuration, the control unit can avoid calculating the approximate straight line by misrecognizing a side of a component that does not correspond to the actual lower edge as the lower edge.

[0013] The component mounter disclosed in this specification may further include a selection reception unit that receives a selection by a user's operation from among options including a first detection mode and a second detection mode for detecting the inclination. Then, when the first detection mode is selected, the control unit calculates an approximate straight line approximating the positions of the plurality of edge points, and detects the inclination based on the inclination of the approximate straight line. On the other hand, when the second detection mode is selected, the electrode edge point is specified from among the plurality of edge points, and the inclination is detected based on the electrode edge point. According to the above configuration, the user can arbitrarily select the first detection mode or the second detection mode according to the characteristics of the component, and cause the component mounter to execute the detection of the inclination according to the selected detection mode.

[0014] In the component mounter disclosed in this specification, the control unit may perform control not to mount the component whose detected inclination exceeds a predetermined allowable range on the mounting object. According to the above configuration, the control unit can prevent the component from being mounted in a state where it is relatively largely inclined, and suppress the occurrence of mounting defects of the component.

[0015] In the component mounter disclosed in this specification, when the detected inclination of the component is a predetermined normal angle, the control unit performs control to mount the component on the mounting object under predetermined mounting conditions, and when the detected inclination of the component is not the normal angle but within a predetermined allowable range, the control unit performs control to mount the component on the mounting object under mounting conditions obtained by changing the predetermined mounting conditions so as to suppress the influence of the inclination. According to the above configuration, when the inclination of the component is not normal but within a predetermined allowable range, the control unit can suppress the occurrence of mounting defects of the component.

[0016] The category of the technology disclosed in this specification is not limited to component mounters. This specification discloses a method for detecting the inclination of a component. The method includes an imaging step of imaging a component adsorbed by a suction nozzle from the side, and an inclination detection step of detecting the inclination of the component based on the image obtained in the imaging step. In the inclination detection step, a plurality of edge points of the lower edge of the component are detected from the image, and a plurality of electrode edge points corresponding to the electrode portion of the component are specified by specifying peak points protruding downward from among the plurality of edge points, and the inclination is detected based on the electrode edge points.

Example

[0017] With reference to the drawings, examples will be described. Each figure is merely illustrative, and this example is not limited to the illustrated content. Also, since each figure is illustrative, the illustrated shape may not be accurate or a part may be omitted.

[0018] FIG. 1 is a perspective view showing a schematic configuration of a component mounter 10, and FIG. 2 is a perspective view showing a schematic configuration of a head unit 60. Also, FIG. 3 is a simplified block diagram showing the configuration of the component mounter 10 including a control unit 40. The component mounter 10 is a device for mounting a component P (see FIG. 5) on an object to be mounted. In FIG. 1, the X-axis indicates the left-right direction, the Y-axis indicates the front-rear direction, and the Z-axis indicates the up-down direction, respectively. In FIG. 1, a substrate 12 is shown as an example of an object to be mounted. According to FIG. 1, the component mounter 10 generally includes a component supply device 20 including a reel or the like that houses the component P, a substrate transfer device 30 that transfers the substrate 12, a head unit 60 that adsorbs the component P with a suction nozzle 71 and mounts it on the substrate 12, and a movement mechanism 50 that moves the head unit 60. Also, the component mounter 10 has a parts camera 90 for imaging the component P adsorbed by the suction nozzle 71 from below.

[0019] The moving mechanism 50 includes a guide rail 56 provided along the Y-axis direction at the upper part of the apparatus, a Y-axis slider 58 capable of moving along the guide rail 56, a guide rail 52 provided along the X-axis direction on the front surface of the Y-axis slider 58, and an X-axis slider 54 capable of moving along the guide rail 52 and to which the head unit 60 is attached. The control unit 40 can move the head unit 60 to any position on the XY plane by controlling the movement of each of the Y-axis slider 58 and the X-axis slider 54 via an actuator (not shown).

[0020] As shown in FIG. 2, the head unit 60 includes a rotary head 70 in which a plurality of shaft-shaped suction nozzles 71 are arranged at predetermined angular intervals in the circumferential direction (on the circumference coaxial with the rotation axis), and a side camera 80 that images the suction nozzles 71 from the side. The side camera 80 corresponds to an example of an "imaging unit" arranged on the side of the suction nozzles 71. The rotary head 70 can intermittently rotate by a predetermined angle. When the rotary head 70 intermittently rotates, each suction nozzle 71 moves to each position on the circumference by a predetermined angle. Further, the head unit 60 includes an actuator 78 that moves the suction nozzles 71 in the Z-axis direction. The suction nozzle 71 is communicated with and blocked from a suction pump (not shown) by a solenoid valve 79, and the negative pressure from the suction pump acts to enable the suction of the component P. The rotation of the rotary head 70, the movement of the suction nozzles 71 along the Z-axis direction, and the suction of the component P by the suction nozzles 71 are also controlled by the control unit 40.

[0021] The side camera 80 is composed of a camera body 82 attached to the lower part of the head unit 60 and an optical system unit 84 that forms an optical path to the camera body 82. The optical system unit 84 includes an irradiation unit (not shown), and irradiates ultraviolet light from the irradiation unit toward a cylindrical fluorescent member (not shown) attached to the central position at the lower part of the rotary head 70. When the fluorescent member emits light upon receiving the ultraviolet light, the light excluding the light blocked by the suction nozzle 71 or the component P at a predetermined imaging position enters the optical system unit 84, and is guided to the camera body 82 through the optical path of the optical system unit 84. As a result, the camera body 82 can image the suction nozzle 71 or the component P at a predetermined imaging position.

[0022] In the example of FIG. 2, only one side camera 80 is shown, but the head unit 60 may be configured to have a plurality of side cameras 80 around the rotary head 70. That is, a configuration may be adopted in which a plurality of suction nozzles 71 are simultaneously imaged by each of the plurality of side cameras 80 imaging. The control unit 40 can determine the presence or absence of the component P or detect the inclination of the component P based on the image captured by the side camera 80.

[0023] The control unit 40 has a processor such as a CPU, a memory, and other storage media, and controls the component mounter 10 by the processor executing arithmetic processing according to a program stored in the memory or the like or a command from the outside. As shown in FIG. 1, a management computer 92 may be communicably connected to the component mounter 10 by wire or wirelessly. A display 94 and an input device 96 such as a mouse and a keyboard are connected to the computer 92 as a user interface (UI). Although details are omitted, the computer 92 stores a production program for the substrate 12 and the like. The production program is a program that determines which component P is to be mounted on the substrate 12 in what order and the number of substrates 12 to be produced. The computer 92 outputs a command to the control unit 40 so that the component P is mounted at a predetermined mounting position according to the production program. The control unit 40 controls the component mounter 10 to realize the mounting according to the command.

[0024] The flow of the component mounting process by the component mounter 10 will be briefly described. For the basic flow of the component mounting process, reference may be appropriately made to the description in Patent Document 1. The control unit 40 controls the substrate transfer device 30 to transfer the substrate 12 to a predetermined position. Next, the control unit 40 controls the movement mechanism 50 to move the head unit 60 onto a predetermined supply position of the component supply device 20. Next, the control unit 40 controls the rotary head 70 to adsorb the component P to each suction nozzle 71. Next, the control unit 40 controls the movement mechanism 50 to move the head unit 60 onto the substrate 12 via above the parts camera 90.

[0025] When the head unit 60 moves above the parts camera 90, the control unit 40 controls the parts camera 90 to image each component P adsorbed to each suction nozzle 71 from below and acquire a lower image. Subsequently, the control unit 40 executes an "inclination detection process" for detecting the inclination of the component P adsorbed by the suction nozzle 71, and performs a "mounting process" for mounting the component P on the substrate 12 reflecting the result of the inclination detection process. In this embodiment, the inclination detection process and the mounting process will be described below.

[0026] Figure 4 shows the inclination detection process executed by the control unit 40 in a flowchart. In step S100, the control unit 40 controls the side camera 80 to image the component P adsorbed by the suction nozzle 71 from the side, and acquires an image as the imaging result (hereinafter referred to as a side image) from the side camera 80. Step S100 corresponds to an example of the "imaging process". Further, the following steps S110 to S160 correspond to an example of the "inclination detection process" for detecting the inclination of the component P based on the image obtained by imaging.

[0027] In step S110, the control unit 40 detects a plurality of edge points of the lower edge of the component P from the side image acquired in step S100. In this case, the control unit 40 processes the side image and detects edge pixels corresponding to the lower edge of the region of the component P discriminated by, for example, luminance information at regular intervals D (see FIG. 6) along the horizontal direction. Edge pixels are also called edge points. In step S120, the control unit 40 detects, as the lowermost point Zp, the pixel with the smallest position in the Z direction (the pixel at the lowermost position) among the plurality of edge points detected in step S110.

[0028] In step S130, the control unit 40 specifies, as the edge point group of the lower edge of the component P, the group with the larger number of edge points among the group of edge points located on the right side and the group of edge points located on the left side when the lowermost point Zp is used as a reference. The lowermost point Zp is included in the edge point group. The left and right here refer to the left and right of the side image, not the left and right of the component mounter 10 shown in FIG. 1. However, it is assumed that the up and down of the side image coincide with the up and down shown in FIGS. 1 and 2. The component P in the side image is generally rectangular, and one of its long sides is the lower edge. By specifying the edge point group in this way, it is possible to avoid misrecognizing one side of the side of the component P as the lower edge.

[0029] The edge point group identified in step S130 is simply referred to as the edge point group hereinafter. In step S140, the control unit 40 calculates an approximate straight line that approximates the positions of each edge point included in the edge point group. Although there are various methods for calculating the approximate straight line, the control unit 40 obtains the approximate straight line using, for example, the least squares method.

[0030] FIG. 5 shows an example of the component P assumed in this embodiment. The component P generally has a shape close to a rectangular parallelepiped as a whole, and both ends thereof are electrode portions Q. The electrode portion Q in the component P has a shape slightly expanded compared to the portion other than the electrode portion Q.

[0031] FIG. 6 is a diagram for explaining steps S110 to S140 and shows an example of a side image. The side image 86 includes an image of the suction nozzle 71 and the component P. In FIG. 6, for the sake of clarity, the concentrations of the suction nozzle 71 and the component P are shown differently. In any case, the side image 86 is an image capable of discriminating the shape of the object to be imaged. In FIG. 6, a plurality of points along the lower edge of the component P are the plurality of edge points detected in step S110. Among these edge points, the lowermost edge point corresponds to the lowermost point Zp.

[0032] In the example of FIG. 6, among the plurality of edge points, the lowermost point Zp and the edge points on the right side of the lowermost point Zp are specified as the edge point group in step S130. Then, in step S140, the approximate straight line F1 is calculated from the edge point group. As described above, the electrode portion Q of the component P has a shape slightly expanded compared to the portion other than the electrode portion Q of the component P. Therefore, when the component P is mounted on the substrate 12, basically only the electrode portion Q contacts the substrate 12. Regarding such a component P, by focusing on the electrode portion Q rather than the entire lower edge and obtaining the inclination, the inclination of the component P that causes problems during mounting can be detected more accurately.

[0033] In step S150, the control unit 40 identifies a plurality of "electrode edge points" corresponding to the electrode portion Q of the component P by identifying peak points that protrude downward from among the plurality of edge points. The control unit 40 identifies peak points from among the edge point group. For example, the control unit 40 may identify peak points based on the height information for each edge point with respect to the approximate straight line F1 calculated in step S140.

[0034] FIG. 7 shows an edge point group and an approximate straight line F1 in the same manner as FIG. 6. Reference numeral H indicates the height information H of the lowermost point Zp. The height information is the distance along the Z-axis direction with respect to the approximate straight line F1. Although there are various algorithms for identifying peak points, as an example, the control unit 40 determines whether a point is a peak point based on whether it is below the adjacent edge point. When the control unit 40 designates one edge point belonging to the edge point group as the target edge point, it compares the height information of the target edge point with the height information of the two adjacent edge points, and when the target edge point is located downward in the Z-axis direction from either of the two adjacent edge points, the target edge point is identified as a peak point. For the edge point located at the outermost end in the edge point group, it is only necessary to determine whether it is a peak point by comparing it with the adjacent edge point on one side.

[0035] Note that the approximate straight line F1 may be inclined with respect to the horizontal direction, and simply comparing the magnitude relationship of the height information of the edge points may not accurately determine which edge point is located lower. Therefore, the control unit 40 may use the height information for each edge point corrected by a correction value corresponding to the inclination of the approximate straight line F1 and the position of each edge point in the horizontal direction for comparison to identify peak points. The control unit 40 sequentially designates all the edge points included in the edge point group as target edge points and identifies peak points.

[0036] The lower edge of component P has fine irregularities. Therefore, there may be a case where an edge point that does not actually correspond to the edge point of electrode portion Q is erroneously identified as a peak point due to the relative positional relationship with an adjacent edge point. In order to suppress the occurrence of such an error as much as possible, the control unit 40 may set as a condition for a peak point that the degree of protrusion downward from an adjacent edge point is equal to or greater than a predetermined threshold value. The predetermined threshold value is defined in advance, for example, as the number of pixels in the side image 86. By setting such a condition, it is possible to avoid erroneously identifying a small convex portion that does not correspond to the bulge of electrode portion Q at the lower edge of component P as one of the peak points. In the example of FIG. 7, the edge points identified as peak points in step S150 are shown surrounded by a dashed circle. That is, each of these peak points is an electrode edge point.

[0037] In step S160, the control unit 40 detects the inclination of component P based on the electrode edge points identified in step S150. The control unit 40 calculates an approximate straight line that approximates the positions of the respective electrode edge points. For convenience, the approximate straight line F1 calculated in step S140 may be referred to as the first approximate straight line F1, and the approximate straight line calculated from the electrode edge points in step S160 may be referred to as the second approximate straight line F2. In FIG. 7, the second approximate straight line F2 is illustrated by a two-dot chain line. If there are two electrode edge points as shown in FIG. 7, the control unit 40 may set the straight line connecting the two electrode edge points as the second approximate straight line F2. When there are three or more electrode edge points, the second approximate straight line F2 may be calculated from the electrode edge points by the least squares method or the like. Then, the control unit 40 detects the inclination of the second approximate straight line F2 with respect to the horizontal direction as the inclination of component P, and stores the detected inclination. Thus, the flowchart of the inclination detection process shown in FIG. 4 ends.

[0038] FIG. 8 shows a flowchart of the mounting process executed by the control unit 40. In the description of FIG. 8, the inclination of component P detected in step S160 is simply referred to as the inclination. Needless to say, the control unit 40 repeatedly executes the above-described inclination detection process and the mounting process for each component P adsorbed by each suction nozzle 71 of the rotary head 70.

[0039] In step S200, the control unit 40 determines whether or not the inclination is within a predetermined allowable range. If the inclination is within the allowable range, the control unit 40 proceeds from the "Yes" determination in step S200 to step S210. If the inclination exceeds the allowable range, the control unit 40 proceeds from the "No" determination in step S200 to step S270. If the inclination is within the allowable range, the control unit 40 determines that the component P is in a posture (at least a posture allowed for mounting) that enables mounting on the substrate 12. On the other hand, for the component P whose inclination exceeds the allowable range, the control unit 40 determines that the inclination is large and the posture is defective, skips the mounting of that component P (step S270), and ends the mounting process. Skipping the mounting corresponds to control that does not mount the component P on the substrate 12 which is the object to be mounted. Thereby, it is possible to suppress the occurrence of mounting defects of the component P due to a large inclination. For the component P for which the mounting is skipped, the control unit 40 can perform a process of discarding it in a predetermined discard area, or transmit information indicating that the mounting has been skipped to the computer 92.

[0040] The allowable range is defined, for example, as a range of several degrees or a dozen or so degrees on the positive side and the negative side with respect to a predetermined normal angle. The normal angle is the angle when the component P is adsorbed by the adsorption nozzle 71 without inclination, and can be, for example, 0 degree or approximately 0 degree. In step S210, the control unit 40 determines whether or not the inclination is the normal angle. If the inclination corresponds to the normal angle, the control unit 40 proceeds from the "Yes" determination in step S210 to step S220. If the inclination exceeds the range of the normal angle, the control unit 40 proceeds from the "No" determination in step S210 to step S240. The case of proceeding to step S240 after passing through the determinations in steps S200 and S210 corresponds to the case where the inclination is not the normal angle but within the allowable range. Needless to say, the order of the determinations in steps S200 and S210 may be reversed.

[0041] In step S220, the control unit 40 corrects a predetermined mounting position of the component P based on a preset position correction amount. Then, in step S230, the control unit 40 controls the moving mechanism 50 and the head unit 60 to mount the component P at the corrected mounting position in a normal operation, and ends the mounting process. Steps S220 and S230 correspond to an example of control for mounting the component P on a mounting object under predetermined mounting conditions.

[0042] The position correction amount will be briefly described. The control unit 40 processes the lower image acquired from the component camera 90 as described above and sets the position correction amount at the time of mounting. For example, the control unit 40 processes the lower image to detect a deviation in the suction position of the component P with respect to the suction nozzle 71, and sets a position correction amount that can eliminate the position deviation for each component P. The normal operation means that, for example, the lowering speed when the suction nozzle 71 is lowered until the component P is placed on the substrate 12 is a predetermined normal speed.

[0043] On the other hand, in step S240, the control unit 40 sets an angle correction amount according to the inclination of the component P. When the inclined component P is mounted, it contacts the substrate 12 from the corner of the bottom surface (the lowermost end point Zp), so the component P may move on the substrate 12 in a sliding manner and the mounting position may shift. The amount of position shift (sliding amount) and the direction of shift of such a component P vary depending on various factors such as the inclination and type of the component P. In this embodiment, the control unit 40 uses a table, a function, etc. generated in advance based on experiments, simulations, etc. to set, as an angle correction amount, a correction amount for correcting the position shift according to these factors including at least the inclination.

[0044] In step S250, the control unit 40 corrects a predetermined mounting position of the component P based on the angle correction amount set in step S240 and the above-described position correction amount. Then, in step S260, the control unit 40 controls the moving mechanism 50 and the head unit 60 to mount the component P at the corrected mounting position with a low-speed operation, and ends the mounting process. Steps S240 to S260 correspond to an example of control for mounting the component P on the mounting object under the mounting conditions in which the predetermined mounting conditions are changed so as to suppress the influence of the inclination. In step S250, since the mounting position is corrected using the angle correction amount assuming the deviation when the component P is placed on the substrate 12 in an inclined state, even if a positional deviation (sliding) due to the inclination occurs when the component P is mounted, it can be mounted at an appropriate position.

[0045] Also, the low-speed operation means that, for example, the lowering speed when the suction nozzle 71 is lowered until the component P is placed on the substrate 12 is lower than the normal speed. That is, in step S260, the control unit 40 lowers the suction nozzle 71 at a low speed and suppresses the momentum when the corner of the bottom surface of the inclined component P contacts the substrate 12, thereby preventing the component P from moving in an unexpected direction. According to steps S240 to S260 like this, the control unit 40 can mount the component P within an allowable range where the inclination is not normal so that no mounting defect occurs. Note that for the details of steps S220, S230, and steps S240, S250, S260, the description in Patent Document 1 may be appropriately referred to.

[0046] As described above, according to this embodiment, the control unit 40 detects the inclination of the component P based on the electrode edge points. Therefore, the inclination when the component P having the electrode portion Q contacts the substrate 12 can be detected with higher accuracy than before. As can be seen from the difference in the angles between the first approximate straight line F1 and the second approximate straight line F2 illustrated in FIG. 7, in the conventional method, since the inclination was obtained from the edge point group at regular intervals over the entire lower edge of the component P, an inclination including noise was calculated. On the other hand, in this embodiment, the detection accuracy of the inclination can be improved by calculating the inclination using only the electrode edge points.

[0047] However, the concept of this embodiment, which detects the inclination of the component P based on the electrode edge points, may include cases where edge points that do not correspond to the electrode edge points are also used for inclination detection. However, even in such a case, since the electrode edge points should be emphasized, it is necessary to perform processes such as increasing the ratio of the electrode edge points among the edge points used for inclination detection compared to the edge points that do not correspond to the electrode edge points.

[0048] A modification will be described. The component mounter 10 may be provided with a selection reception unit 88 (see FIG. 3) that receives a selection by a user's operation from among options including a first detection mode and a second detection mode for detecting the inclination of the component P. The selection reception unit 88 is, for example, a UI such as buttons, switches (not shown), or a touch panel that the component mounter 10 has. A display 94 and an input device 96 connected to the component mounter 10 via a computer 92 may also be regarded as an example of the selection reception unit 88.

[0049] The user can arbitrarily select the first detection mode or the second detection mode. When the first detection mode is selected, the control unit 40 calculates an approximate straight line that approximates the positions of a plurality of edge points on the lower edge of the component P, and detects the inclination of the component P based on the inclination of this approximate straight line. This means that the inclination of the first approximate straight line F1 calculated in step S140 is regarded as the inclination of the component P. On the other hand, when the second detection mode is selected, the control unit 40 identifies the electrode edge points from among the plurality of said edge points, and detects the inclination of the component P based on the electrode edge points. This means that steps S150 and S160 are further executed to regard the inclination of the second approximate straight line F2 as the inclination of the component P. According to such a modification, the user can select a detection mode according to the characteristics of the component shape, such as whether the component P has an electrode portion Q as illustrated in FIG. 5, and can cause the component mounter 10 to perform appropriate inclination detection according to the component shape.

[0050] Note that, without the user's selection, the control unit 40 may determine whether to select the first detection mode or the second detection mode according to the type of the component P. For example, the control unit 40 can identify the type of the component P based on the information from the computer 92 according to the production program, so as to determine whether the component P adsorbed by the suction nozzle 71 is a component having the electrode portion Q. Therefore, when the control unit 40 determines that the component P is a component without the electrode portion Q, it may select the first detection mode, and when it determines that the component P is a component having the electrode portion Q, it may select the second detection mode.

[0051] As described above, specific examples of the technology disclosed in this specification have been described in detail, but these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and changes of the specific examples exemplified above. In addition, the technical elements described in this specification or the drawings exhibit technical utility alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. Further, the technology exemplified in this specification or the drawings achieves a plurality of purposes simultaneously, and achieving one of the purposes itself has technical utility.

Explanation of Reference Numerals

[0052] 10: Component mounting machine 12: Substrate 20: Component supply device 30: Substrate transfer device 40: Control unit 50 Moving mechanism 60: Head unit 70: Rotary head 71: Suction nozzle 80: Side camera 86: Side image 88: Selection reception unit 90: Parts camera 92: Computer 94: Display 96: Input device P: Component Q: Electrode portion Zp: Lowest end point

Claims

1. A suction nozzle for sucking a component, An imaging unit disposed laterally of the suction nozzle, A control unit that controls the imaging unit to image the component adsorbed by the suction nozzle from the side, and detects the inclination of the component based on the image obtained by the imaging; and The control unit detects a plurality of edge points of the lower edge of the component from the image, specifies a plurality of electrode edge points corresponding to the electrode portion of the component by specifying peak points protruding downward from among the plurality of edge points, and detects the inclination based on the electrode edge points. A component mounting machine.

2. The control unit calculates an approximate straight line approximating the positions of the plurality of edge points, and specifies the peak point based on the height information of each edge point with respect to the approximate straight line. The component mounting machine according to claim 1.

3. The control unit sets, as a condition for the peak point, that the degree of protrusion downward is equal to or greater than a predetermined threshold value than an adjacent edge point. The component mounting machine according to claim 2.

4. When the control unit calculates the approximate straight line from the group of edge points located on the right side and the group of edge points located on the left side when based on the lowermost end point among the plurality of edge points, the control unit calculates the approximate straight line from the group having the larger number of edge points. The component mounting machine according to claim 2 or claim 3.

5. Further comprising a selection reception unit that receives a selection by a user operation from among options including a first detection mode and a second detection mode for detecting the inclination, When the first detection mode is selected, the control unit calculates an approximate straight line approximating the positions of the plurality of edge points, and detects the inclination based on the inclination of the approximate straight line. When the second detection mode is selected, the control unit specifies the electrode edge points from among the plurality of edge points, and detects the inclination based on the electrode edge points. The component mounting machine according to claim 1.

6. The control unit performs control not to mount the component whose detected inclination exceeds a predetermined allowable range on the mounting object. The component mounting machine according to claim 1.

7. The control unit performs control to mount the component whose detected inclination is a predetermined normal angle on the mounting object under a predetermined mounting condition, and the component whose detected inclination is not the normal angle but within a predetermined allowable range is mounted on the mounting object under a mounting condition in which the predetermined mounting condition is changed so as to suppress the influence of the inclination. The component mounting machine according to claim 1.

8. An imaging step of imaging a component being adsorbed by a suction nozzle from the side; and An inclination detection step of detecting the inclination of the component based on the image obtained in the imaging step, wherein in the inclination detection step, a plurality of edge points of the lower edge of the component are detected from the image, and a plurality of electrode edge points corresponding to the electrode portion of the component are specified by specifying peak points protruding downward from among the plurality of edge points, and the inclination is detected based on the electrode edge points. A method for detecting the inclination of a component.

Images