Liquid agent application device and initial setting method for liquid agent application device

Abstract

To provide a liquid agent application device and an initial setting method for the liquid agent application device which can execute a teaching mode and a liquid agent application mode using a captured image obtained by imaging means.SOLUTION: Before performing a teaching mode, a marking tool is attached to tool attachment means 13, and a marking plate material 19 is placed in a work area A. The marking tool marks a plurality of points 3 on a marking surface 19a of the marking plate material 19. The imaging means 15 images the marking surface 19a, and image coordinate data of a captured image 2 is generated on the basis of the points 3 marked on the imaged marking surface 19a. The generated image coordinate data is stored in storage means 17. The image coordinate data stored in the storage means 17 is used for a captured image 2 taken during execution of the teaching mode and for a captured image 2 taken during execution of the liquid agent application mode.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a liquid agent application device having a teaching mode in which an application trajectory of a nozzle is set in advance, and a liquid agent application mode in which a liquid agent is applied along the application trajectory set in the teaching mode, and a method for initial setting of this liquid agent application device. [Background technology]

[0002] As described in Patent Document 1, teaching includes remote teaching, direct teaching, and teaching by inputting numerical values. In order to solve the problem of teaching by inputting numerical values, Patent Document 1 displays an image of a workpiece together with application path information, but does not use the image to set the application path. In contrast, Patent Document 2 discloses a control means having a scale calculation unit and an image coordinate data determination unit, in which the scale calculation unit performs a first registration of a specific position of the work or work support table in a first image captured by the imaging means, and then performs a second registration of the specific position in a second image captured by the imaging means after the imaging means has been moved a specified distance by the moving means, and calculates the unit distance per pixel of the image captured by the imaging means from the number of pixels and the specified distance between the first and second registrations, and the image coordinate data determination unit determines image coordinate data from the unit distance calculated by the scale calculation unit and position information of the imaging means relative to the work support table. In Patent Document 2, the accumulated work image is stored together with the image coordinate data determined by the image coordinate data determination unit, the accumulated work image is displayed on a display means, and the coating trajectory input based on the displayed accumulated work image is stored as the image coordinate data, thereby setting the coating trajectory in the teaching process. Thus, according to Patent Document 2, the accumulated work image is stored together with the image coordinate data determined by the image coordinate data determination unit, so that the accumulated work image can be matched with the actual work position, and the coating trajectory input based on the accumulated work image can be set as the coating trajectory in the teaching process as is. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-71408 [Patent Document 2] Japanese Patent Application Publication No. 2022-25289 Summary of the Invention [Problem to be solved by the invention]

[0004] However, although Patent Document 2 uses a captured image to set a coating trajectory, the coating trajectory is input based on an accumulated workpiece image.

[0005] The present invention aims to provide a liquid agent application device that can perform a teaching mode and a liquid agent application mode using an image captured by a photographing means, and an initial setting method for this liquid agent application device. [Means for solving the problem]

[0006] The liquid agent application device of the present invention described in claim 1 comprises a conveyor 11 that leads a substrate 1, which is an object to be applied, to a work area A, a nozzle 12 that applies a liquid agent to the substrate 1, a tool mounting means 13 to which the nozzle 12 is attached, a moving means 14 to move the tool mounting means 13, an image capturing means 15 that captures an image of a range B that includes the work area A, a display means 16 that displays an image 2 captured by the image capturing means 15, a storage means 17, and a control means 18, wherein the control means 18 has a teaching mode in which an application path of the nozzle 12 is set in advance, and a liquid agent application mode in which the liquid agent is applied along the application path set in the teaching mode, and before performing the teaching mode, A marking tool is attached to the tool attachment means 13, a marking plate 19 is placed in the work area A, a plurality of points 3 are marked on a marking surface 19a of the marking plate 19 using the marking tool, the marking surface 19a is photographed by the photographing means 15, image coordinate data for the photographed image 2 is generated based on the points 3 marked on the photographed marking surface 19a, the generated image coordinate data is stored in the storage means 17, and the image coordinate data stored in the storage means 17 is used for the photographed image 2 taken when performing the teaching mode and the photographed image 2 taken when performing the liquid agent application mode. The present invention described in claim 2 is characterized in that, in the liquid agent application device described in claim 1, the photographing means 15 is fixed at a position higher than the conveyor 11, the nozzle 12, the tool mounting means 13, and the moving means 14. The present invention described in claim 3 is characterized in that, in the liquid agent application device described in claim 1, first image coordinate data generated by the marking surface 19a at a first height and second image coordinate data generated by the marking surface 19a at a second height different from the first height are used as the image coordinate data, and height data for the substrate 1 is input when performing the teaching mode and the liquid agent application mode. The present invention described in claim 4 is characterized in that, in the liquid agent application device described in claim 1, before performing the teaching mode, relative position data between the tool mounting means 13 and the nozzle 12 is stored in the memory means 17, and the application trajectory is set using the image coordinate data and the relative position data. The present invention described in claim 5 is characterized in that, in the liquid agent application device described in claim 1, in the teaching mode, the work area A is photographed by the photographing means 15 with a teaching substrate 1X placed in the work area A, a target image 7 enlarged from the photographed photographed image 2 is displayed by the display means 16, an application area 5 to which the liquid agent is to be applied is input into the displayed target image 7, and the input application area 5 is displayed using the image coordinate data. The present invention as set forth in claim 6 is characterized in that in the liquid agent application device as set forth in claim 5, an application prohibited area 6 in which application of the liquid agent is prohibited is input to the displayed target image 7. The present invention described in claim 7 is characterized in that in the liquid agent application device described in claim 1, in the liquid agent application mode, with the substrate to be coated placed in the work area A, an image is taken of each substrate to be coated by the photographing means 15, and from the photographed image 2 it is determined whether the substrate to be coated is placed in the correct position, and if it is determined that the substrate to be coated is placed in the correct position, the liquid agent is applied to the substrate to be coated along the set application trajectory. The present invention described in claim 8 is characterized in that, in the liquid agent application device described in claim 1, the control means 18 has a liquid agent application inspection mode for inspecting the liquid agent application state of a coated substrate to which the liquid agent has been applied, and before performing the liquid agent application inspection mode, a properly coated coated reference substrate is photographed by the photographing means 15 while it is placed in the work area A, and in the liquid agent application inspection mode, the coated substrate is photographed by the photographing means 15 while it is placed in the work area A, and it is determined from the photographed image 2 whether the coated substrate has been properly coated. The method for initializing a liquid agent application device of the present invention as set forth in claim 9 is a method for initializing a liquid agent application device comprising: a conveyor 11 that leads a substrate 1, which is an object to be applied, to a work area A; a nozzle 12 that applies a liquid agent to the substrate 1; a tool mounting means 13 that mounts the nozzle 12; a moving means 14 that moves the tool mounting means 13; an image capturing means 15 that captures an image of a range B that includes the work area A; a display means 16 that displays an image 2 captured by the image capturing means 15; a storage means 17; and a control means 18, wherein the control means 18 has a teaching mode that pre-sets an application path of the nozzle 12; and a liquid agent application mode that applies the liquid agent along the application path set in the teaching mode, Before performing the process, a marking tool is attached to the tool attachment means 13, a marking plate 19 is placed in the work area A, a plurality of points 3 are marked on a marking surface 19a of the marking plate 19 using the marking tool, the marking surface 19a is photographed by the photographing means 15, image coordinate data for the photographed image 2 is generated based on the points 3 marked on the photographed marking surface 19a, the generated image coordinate data is stored in the storage means 17, and the image coordinate data stored in the storage means 17 is used for the photographed image 2 taken when performing the teaching mode and the photographed image 2 taken when performing the liquid agent application mode.

[0007] According to the present invention, before performing the teaching mode, image coordinate data for the captured image is generated and the generated image coordinate data is stored in a memory means, so that the teaching mode and liquid agent application mode can be performed using the captured image captured by the imaging means. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a block diagram showing a liquid application device according to an embodiment of the present invention; [Figure 2] A flowchart showing an initial setting method for the liquid application device. [Figure 3]FIG. 10 is an explanatory diagram showing an initial setting method for the liquid application device; [Figure 4] FIG. 10 is an explanatory diagram showing the teaching mode of the liquid application device. [Figure 5] FIG. 10 is a diagram showing a display image on the display means of the liquid application device in teaching mode. DETAILED DESCRIPTION OF THE INVENTION

[0009] In the liquid agent application device according to the first embodiment of the present invention, before performing the teaching mode, a marking tool is attached to a tool attachment means, a marking plate is placed in a work area, a plurality of points are marked on the marking surface of the marking plate using the marking tool, the marking surface is photographed using an imaging means, image coordinate data for the photographed image is generated based on the points marked on the photographed marking surface, the generated image coordinate data is stored in a memory means, and the image coordinate data stored in the memory means is used for the photographed images taken when performing the teaching mode and the photographed images taken when performing the liquid agent application mode. According to this embodiment, before performing the teaching mode, image coordinate data for the captured image is generated and the generated image coordinate data is stored in a memory means, so that the teaching mode and liquid agent application mode can be performed using the captured image captured by the imaging means.

[0010] In the second embodiment of the present invention, in the liquid agent application device according to the first embodiment, the imaging means is fixed at a position higher than the conveyor, the nozzle, the tool mounting means, and the moving means. According to this embodiment, the image capturing means is fixed at a position higher than the conveyor, nozzle, tool mounting means, and moving means, so that images can be captured without moving the image capturing means, and the same image coordinate data can be applied in both the teaching mode and the liquid application mode. In addition, the high position of the image capturing means reduces the influence of distortion that occurs in the periphery of the captured image.

[0011] The third embodiment of the present invention uses, as image coordinate data in the liquid agent application device according to the first embodiment, first image coordinate data generated by a marking surface at a first height and second image coordinate data generated by a marking surface at a second height different from the first height, and when performing the teaching mode and the liquid agent application mode, height data for the substrate is input. According to this embodiment, it is possible to eliminate dimensional errors due to the height of the substrate, which occur particularly in the peripheral portion of the photographed image.

[0012] In a fourth embodiment of the present invention, in the liquid agent application device according to the first embodiment, before performing the teaching mode, relative position data between the tool mounting means and the nozzle is stored in a memory means, and the application trajectory is set using image coordinate data and relative position data. According to this embodiment, it is possible to perform calibration for the nozzles.

[0013] In a fifth embodiment of the present invention, in a teaching mode of the liquid agent application device according to the first embodiment, a teaching board is placed in the work area, and an image of the work area is photographed by an imaging means, and an enlarged target image of the photographed image is displayed by a display means. The user is prompted to input an application area where the liquid agent is to be applied to the displayed target image, and the input application area is displayed using image coordinate data. According to this embodiment, teaching can be performed by inputting the application area where the liquid agent is to be applied to the image captured by the imaging means.

[0014] The sixth embodiment of the present invention allows the user to input a coating prohibition area where coating of the liquid agent is prohibited for the displayed target image in the liquid agent application device according to the fifth embodiment. According to this embodiment, by being able to input the application area and the application prohibited area, it is possible to input the application prohibited area overlapping with part of the application area, allowing for teaching with higher work efficiency compared to inputting only the application area.

[0015] In the seventh embodiment of the present invention, in the liquid agent application mode of the liquid agent application device according to the first embodiment, each substrate to be coated is placed in a work area, and the substrate to be coated is photographed by an imaging means, and it is determined from the photographed image whether the substrate to be coated is positioned correctly.If it is determined that the substrate to be coated is positioned correctly, the liquid agent is applied to the substrate to be coated along a set application trajectory. According to this embodiment, in the liquid agent application mode, it is possible to determine whether the substrate to be applied is positioned correctly, and therefore it is possible to apply the liquid agent accurately.

[0016] In the eighth embodiment of the present invention, in the liquid agent application device according to the first embodiment, the control means has a liquid agent application inspection mode for inspecting the liquid agent application state of a coated substrate to which a liquid agent has been applied, and before performing the liquid agent application inspection mode, a properly coated coated reference substrate is placed in the work area and photographed by the photographing means, and in the liquid agent application inspection mode, each coated substrate is placed in the work area and photographed by the photographing means, and it is determined from the photographed image whether the coated substrate has been properly coated. According to this embodiment, a liquid application inspection mode can also be performed.

[0017] An initial setting method for a liquid agent application device according to a ninth embodiment of the present invention involves, before performing the teaching mode, attaching a marking tool to a tool attachment means, placing a marking plate in a work area, marking a plurality of points on the marking surface of the marking plate using the marking tool, photographing the marking surface using an imaging means, generating image coordinate data for the photographed image based on the points marked on the photographed marking surface, storing the generated image coordinate data in a memory means, and using the image coordinate data stored in the memory means for the photographed image taken when performing the teaching mode and the photographed image taken when performing the liquid agent application mode. According to this embodiment, before performing the teaching mode, image coordinate data for the captured image is generated and the generated image coordinate data is stored in a memory means, so that the teaching mode and liquid agent application mode can be performed using the captured image captured by the imaging means. [Example]

[0018] A liquid application device according to an embodiment of the present invention will now be described. FIG. 1 is a diagram showing the configuration of a liquid agent application device according to this embodiment. The liquid agent application device of this embodiment comprises a conveyor 11 that leads the substrate 1, which is the object to be applied, to the work area A, a nozzle 12 that applies the liquid agent to the substrate 1, a tool mounting means 13 that mounts the nozzle 12, a moving means 14 that moves the tool mounting means 13, an imaging means 15 that photographs a range B that includes the work area A, a display means 16 that displays the captured image 2 captured by the imaging means 15, a memory means 17, and a control means 18. FIG. 1 shows a liquid agent application device equipped with a first nozzle 12a and a second nozzle 12b as the nozzle 12.

[0019] The imaging means 15 is fixed at a position higher than the conveyor 11, nozzle 12, tool mounting means 13, and moving means 14 to capture an image of range B, including the work area A. Range B is the imaging area. By fixing the imaging means 15 at a position higher than the conveyor 11, nozzle 12, tool mounting means 13, and moving means 14, imaging can be performed without moving the imaging means 15, allowing the same image coordinate data to be applied in both the teaching mode and the liquid application mode. Furthermore, the high position of the imaging means 15 reduces the influence of distortion occurring in the periphery of the captured image 2. The optical axis of the imaging means 15 is perpendicular to the marking surface 19a (see Figure 2). While the imaging means 15 is preferably fixed to always obtain the predetermined captured image 2, it may be movable as long as it can always be set in a set position during imaging. If the imaging means 15 is movable, it may be attached to the moving means 14, for example. The control means 18 has a teaching mode in which the application trajectory of the nozzle 12 is set in advance, and a liquid agent application mode in which the liquid agent is applied along the application trajectory set in the teaching mode. Preferably, the control means 18 further has a liquid agent application inspection mode in which the state of the liquid agent application on the coated substrate is inspected.

[0020] FIG. 2 is a flowchart showing the initial setting method for the liquid agent application device according to this embodiment, and FIG. 3 is an explanatory diagram showing the initial setting method for the liquid agent application device. The initial settings of the liquid application device are performed before the teaching mode is executed. First, a marking tool is mounted on the tool mounting means 13 (S21), and a marking plate 19 is placed in the work area A (S22). In S22, the marking surface 19a of the marking plate 19 is set to a first height. Note that a dummy substrate may be used for the marking plate 19, and the marking tool may be a pen that imparts color or texture by bringing the tip of the tool into contact with the marking plate 19, or a dispenser that ejects liquid from the tip of the tool. Then, a marking tool is used to mark a plurality of points 3 on the marking surface 19a of the marking plate 19 (S23). The plurality of markings are preferably arranged at equal intervals at a predetermined pitch about the orthogonal X-axis and Y-axis.

[0021] FIG. 3( a ) is an image diagram of a point 3 marked on the marking surface 19 a of the marking plate 19 . One point 3 is selected from the marking surface 19a photographed by the photographing means 15 and set as a point image (S24). Furthermore, a search range for point 3 is set on marking surface 19a photographed by photographing means 15 (S25). The search range for point 3 is set to range B including work area A. The control means 18 searches for point 3 within the search range from the photographed image 2 photographed by the photographing means 15 (S26). Here, point 3 to be searched is based on the point image set in S24. It is confirmed whether the number of points searched in S26 matches the number of points marked in the search range (S27). By checking the number of points in S27, it is possible to check for defects in the photographed image 2. If the number of points in S27 matches, coordinate data for a first image based on the marking surface 19a at the first height is generated (S28). In addition, the teaching mode and the liquid agent application mode can also be performed by storing the coordinate data for the first image generated by S28 in the storage means 17 and using the coordinate data for the first image stored in the storage means 17 for the captured image 2 taken when performing the teaching mode and the captured image 2 taken when performing the liquid agent application mode.

[0022] However, particularly when substrates 1 having different heights are used as coating targets for the liquid agent coating device according to this embodiment, it is preferable to further use the second image coordinate data from S29 to S32 described below. In S29, the height of the marking plate 19 is changed. In S29, the marking surface 19a of the marking plate 19 is set to a second height. The second height is different from the first height. The control means 18 searches for the point 3 within the search range from the photographed image 2 photographed on the marking surface 19a at the second height (S30). The point 3 to be searched here is based on the point image set in S24. It is confirmed whether the number of points searched in S30 matches the number of points marked in the search range (S31). By checking the number of points in S31, it is possible to check for defects in the photographed image 2. If the number of points in S31 matches, coordinate data for a second image based on the marking surface 19a at the second height is generated (S32).

[0023] The second image coordinate data generated by S32 is stored in the storage means 17. The storage means 17 stores the first height data and the first image coordinate data, as well as the second height data and the second image coordinate data. In this way, by storing multiple image coordinate data with different heights together with the height data, it is possible to calculate image coordinate data according to the height. When performing the teaching mode and the liquid agent application mode, by inputting the height data for the substrate 1, it is possible to use the image coordinate data according to the height for the captured image 2 captured in the teaching mode and the captured image 2 captured in the liquid agent application mode. This eliminates dimensional errors due to the height of the substrate 1, especially around the periphery of the captured image 2, and allows the teaching mode and the liquid agent application mode to be performed.

[0024] Next, the nozzle 12 is attached to the tool attachment means 13 (S33), and calibration is performed on the nozzle 12 (S34). 3(b) is an image diagram of calibration for the nozzle 12, and the control means 18 determines the position D of the tool mounting means 13 and the nozzle position C from the captured image 2 captured by the imaging means 15, and stores the relative position data between the tool mounting means 13 and the nozzle 12 in the storage means 17. Then, the application trajectory is set by the image coordinate data and the relative position data. In this way, by performing calibration for the nozzle 12 and performing calibration for different nozzles in advance, different nozzles can be used in the liquid agent application device according to this embodiment.

[0025] FIG. 4 is an explanatory diagram showing the teaching mode of the liquid application device according to this embodiment, and FIG. 5 is a diagram showing a display image on the display means of the liquid application device in the teaching mode. FIG. 4(a) shows a state in which the teaching board 1X is placed in the work area A, and in this state, the work area A is photographed by the photographing means 15. 4(b) shows a target image 7 obtained by enlarging a portion of the captured image 2. In FIG. 4(b), the entire teaching board 1X is enlarged as the target image 7, but a portion of the teaching board 1X may also be enlarged as the target image 7. Note that the target image 7 may be cut out from the captured image 2. The enlarged target image 7 is displayed by the display means 16 as shown in FIG. FIG. 4(b) shows that a plurality of semiconductor chips 4 are arranged on a teaching board 1X. FIG. 4(c) shows a state in which an application area 5 to which a liquid agent is to be applied has been input to the displayed target image 7. For example, by inputting two points, the application area 5 can be specified as a rectangular area with the diagonal line between the two points. FIG. 4(c) shows a state in which an application prohibition area 6 in which application of the liquid agent is prohibited has been input to the displayed target image 7. For example, the entire target image 7 can be input as the application area 5, and the upper right corner and the lower left corner of the application area 5 specified as a rectangle can be input as the application prohibited area 6.

[0026] In this way, by being able to input the application area 5 and the application prohibited area 6, it is possible to input the application prohibited area 6 overlapping with part of the application area 5, allowing for teaching with higher work efficiency compared to inputting only the application area 5. As shown in FIG. 5, the display means 16 displays the input application area 5 using image coordinate data.

[0027] It is preferable to display the input application area 5 using image coordinate data and also display the application trajectory, as shown in Figure 5. In this way, the input application area 5 is displayed using image coordinate data for each application trajectory, so the range of the application area 5 can be changed by specifying the application trajectory and changing the coordinate data value for the specified application trajectory, allowing for fine adjustment of the area.

[0028] As described above, in this embodiment, image coordinate data for the captured image 2 is generated using the points 3 marked on the photographed marking surface 19a, the generated image coordinate data is stored in the storage means 17, and the image coordinate data stored in the storage means 17 is used for the captured image 2 captured when performing the teaching mode and the captured image 2 captured when performing the liquid agent application mode. In this way, before performing the teaching mode, image coordinate data for the captured image 2 is generated and the generated image coordinate data is stored in the memory means 17, so that the teaching mode and liquid agent application mode can be performed using the captured image 2 captured by the imaging means 15. In addition, this embodiment uses, as image coordinate data, first image coordinate data generated by the marking surface 19a at a first height and second image coordinate data generated by the marking surface 19a at a second height different from the first height, and when performing the teaching mode and the liquid agent application mode, height data for the substrate 1 is input. Therefore, it is possible to eliminate dimensional errors due to the height of the substrate 1 that occur particularly in the peripheral portion of the photographed image 2. In addition, in this embodiment, in the teaching mode, the work area A is photographed by the photographing means 15 with the teaching substrate 1X placed in the work area A, and the target image 7 enlarged from the photographed photographed image 2 is displayed by the display means 16, and the application area 5 to which the liquid agent is to be applied is displayed on the displayed target image 7 using image coordinate data. In this way, teaching can be performed by inputting the application area 5 to which the liquid agent is to be applied to the photographed image 2 photographed by the photographing means 15.

[0029] In the liquid agent application mode, the liquid agent application device of this embodiment places each substrate to be coated in work area A, photographs the substrate to be coated using the photographing means 15, determines from the photographed image 2 whether the substrate to be coated is positioned correctly, and if it is determined that the substrate to be coated is positioned correctly, applies the liquid agent to the substrate to be coated along the set application trajectory. Therefore, in the liquid agent application mode, it is possible to determine whether the substrate to be applied is positioned correctly, and to apply the liquid agent accurately. Furthermore, it is determined from the captured image 2 whether the substrate to be coated is positioned in the correct position, and if it is determined that the substrate to be coated is displaced within a predetermined position range or a predetermined angle range from the correct position, the coating trajectory data is corrected using the determined predetermined position or predetermined angle, and the liquid agent is applied to the substrate to be coated along the corrected coating trajectory. Therefore, in the liquid agent application mode, even if the substrate to be applied is displaced from the correct position within a predetermined position range or a predetermined angle range, accurate liquid agent application can be performed.

[0030] Furthermore, in the liquid agent application device according to this embodiment, the control means 18 preferably has a liquid agent application inspection mode for inspecting the liquid agent application state of the coated substrate on which the liquid agent has been applied. If the liquid agent application inspection mode is provided, a properly coated reference substrate is placed in work area A and photographed by the photographing means 15 before the liquid agent application inspection mode is performed, and in the liquid agent application inspection mode, each coated substrate is placed in work area A and photographed by the photographing means 15, and it is determined from the photographed image 2 whether the coated substrate has been properly coated. [Industrial Applicability]

[0031] According to the present invention, the teaching mode and the liquid agent application mode can be performed using the image captured by the imaging means. [Explanation of symbols]

[0032] 1 board 1x Teaching board 2. Captured images 3 Points 4. Semiconductor chips 5 Application area 6. No-paint areas 7 Target image 11 Conveyor 12 nozzles 12a No. 1 nozzle 12b Second nozzle 13 Tool mounting means 14 Transportation 15. Filming Method 16 Display means 17 Memory means 18 Control Means 19 Marking Plate 19a Marking surface A Work Area B range C Nozzle position D position

Claims

1. a conveyor that guides the substrate to be coated to the work area; a nozzle for applying a liquid agent to the substrate; a tool mounting means for mounting the nozzle; a moving means for moving the tool mounting means; an imaging means for imaging a range including the work area; a display means for displaying an image captured by the imaging means; a storage means; Control means and Equipped with The control means a teaching mode in which the application path of the nozzle is set in advance; a liquid agent application mode in which the liquid agent is applied along the application path set in the teaching mode; A liquid agent application device, Before performing the teaching mode, A marking tool is attached to the tool attachment means, Placing a marking plate in the work area; Marking a plurality of points on the marking surface of the marking plate by the marking tool; The marking surface is photographed by the photographing means, generating image coordinate data for the photographed image based on the points marked on the photographed marking surface; storing the generated image coordinate data in the storage means; The image coordinate data stored in the storage means is used for the captured image captured when the teaching mode is performed and the captured image captured when the liquid agent application mode is performed. A liquid application device characterized by:

2. The photographing means is fixed at a position higher than the conveyor, the nozzle, the tool mounting means, and the moving means. The liquid application device according to claim 1 .

3. As the image coordinate data, coordinate data for a first image generated by the marking surface at a first height; coordinate data for a second image generated by the marking surface at a second height different from the first height; Using When the teaching mode and the liquid agent application mode are performed, height data for the substrate is input. The liquid application device according to claim 1 .

4. Before performing the teaching mode, storing relative position data between the tool mounting means and the nozzle in the storage means; The application path is set based on the image coordinate data and the relative position data. The liquid application device according to claim 1 .

5. In the teaching mode, taking an image of the work area with the teaching board placed on the work area by the image taking means; a target image enlarged from the captured image is displayed by the display means; inputting an application area to which the liquid agent is to be applied on the displayed target image; The input application area is displayed using the image coordinate data. The liquid application device according to claim 1 .

6. A coating prohibition area where the application of the liquid agent is prohibited is input for the displayed target image. The liquid application device according to claim 5 .

7. In the fluid application mode With the substrates to be coated placed in the work area, an image is taken of each substrate to be coated by the imaging means; determining whether the substrate to be coated is positioned correctly from the captured image; When it is determined that the substrate to be coated is placed at the correct position, the liquid agent is applied to the substrate to be coated along the set application path. The liquid application device according to claim 1 .

8. the control means has a liquid agent application inspection mode for inspecting the liquid agent application state of the coated substrate to which the liquid agent has been applied, Before performing the liquid application inspection mode, a properly coated reference substrate is placed in the work area and photographed by the photographing means; In the liquid application inspection mode, With the coated substrates placed in the work area, photographing each coated substrate by the photographing means; From the photographed image, it is determined whether the coated substrate has been properly coated. The liquid application device according to claim 1 .

9. a conveyor that guides the substrate to be coated to the work area; a nozzle for applying a liquid agent to the substrate; a tool mounting means for mounting the nozzle; a moving means for moving the tool mounting means; an imaging means for imaging a range including the work area; a display means for displaying an image captured by the imaging means; a storage means; Control means and Equipped with The control means a teaching mode in which the application path of the nozzle is set in advance; a liquid agent application mode in which the liquid agent is applied along the application path set in the teaching mode; 1. An initial setting method for a liquid agent application device, comprising: Before performing the teaching mode, A marking tool is attached to the tool attachment means, Placing a marking plate in the work area; Marking a plurality of points on the marking surface of the marking plate by the marking tool; The marking surface is photographed by the photographing means, generating image coordinate data for the photographed image based on the points marked on the photographed marking surface; storing the generated image coordinate data in the storage means; The image coordinate data stored in the storage means is used for the captured image captured when the teaching mode is performed and the captured image captured when the liquid agent application mode is performed. A method for initializing a liquid application device, comprising:

Images