Work device, and control method of work device

Abstract

To provide a work device capable of executing more accurate support pin detection, and a control method of a work device.SOLUTION: The work device includes: a base that removably attaches multiple support pins; a work head that performs work on an object supported by multiple support pins; and an imaging lighting unit that is integrally provided to the work head. The imaging lighting unit includes: an imaging unit; and a first lighting unit that emits light in a direction tilted at a predetermined angle relative to the imaging direction of the imaging unit. The control unit controls the imaging unit to pick up an image of an area including the tip while irradiating the tip of the support pin attached to the base with light from the first lighting unit.SELECTED DRAWING: Figure 7B

Description

[Technical Field]

[0001] The present disclosure relates to a work implement and a method for controlling the work implement. [Background technology]

[0002] 2. Description of the Related Art Conventionally, known working devices include component mounting devices that mount components on a board and printing devices that print on a printing target.

[0003] For example, a component mounting device repeatedly performs a component mounting operation of picking up components from a component supply device and mounting them on a board. As a means for supporting the board from below during the component mounting operation, a method using multiple support pins is known (for example, Patent Document 1).

[0004] The component mounting device described in Patent Document 1 performs a support pin detection process by irradiating light from an optical sensor onto the tip surface of the support pin. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2017-069502 Summary of the Invention [Problem to be solved by the invention]

[0006] However, there is a demand for more accurate support pin detection processing.

[0007] Therefore, the present disclosure provides a working device and a method for controlling the working device that can execute support pin detection processing with higher accuracy. [Means for solving the problem]

[0008] A working apparatus according to one aspect of the present disclosure includes a base portion to which a plurality of support pins are detachably attached, a working head that performs work on a work object supported by the plurality of support pins, an imaging and lighting unit that is integral with the working head, and a control unit, wherein the imaging and lighting unit includes an imaging device and a first lighting device that irradiates light in a direction inclined at a predetermined angle with respect to the imaging direction of the imaging device, and the control unit causes the imaging device to image an area including the tip surface while irradiating light from the first lighting device toward the tip surface of the support pin attached to the base portion.

[0009] A control method for a work apparatus according to one aspect of the present disclosure is a control method for a work apparatus comprising: a base portion to which a plurality of support pins are detachably attached; a work head that performs work on a work object supported by the plurality of support pins; an imaging and lighting unit that is integral with the work head; and a control unit, wherein the imaging and lighting unit comprises an imaging device and a first lighting device that irradiates light in a direction inclined at a predetermined angle with respect to the imaging direction of the imaging device, and the control unit causes the imaging device to image an area including the tip surface while irradiating light from the first lighting device toward the tip surface of the support pin attached to the base portion. [Effects of the Invention]

[0010] According to the working apparatus and the method for controlling the working apparatus of the present disclosure, the support pin detection process can be performed with higher accuracy. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic plan view illustrating a component mounting apparatus according to an embodiment of the present disclosure. [Figure 2] 1 is a schematic perspective view of a structure that supports a substrate placed at a mounting position from below; [Figure 3A] Schematic front view of the imaging lighting unit [Figure 3B] Schematic front view of the imaging lighting unit [Figure 4]10 is a flowchart showing an example of a circuit board recognition process using an imaging illumination unit. [Figure 5] FIG. 5 is a front view schematically showing the execution state of the board recognition process shown in FIG. 4; [Figure 6] A flowchart showing an example of a support pin detection process using an imaging illumination unit. [Figure 7A] FIG. 7 is a front view schematically illustrating a state in which the support pin detection process illustrated in FIG. 6 is being performed. [Figure 7B] FIG. 7 is a front view schematically illustrating a state in which the support pin detection process illustrated in FIG. 6 is being performed. [Figure 8A] Schematic plan view of the imaging area when a support pin to be detected is present [Figure 8B] Schematic plan view of the imaging area when there is no support pin to be detected [Figure 9] 10 is a graph showing an example of changes in the position of the spot light and the brightness of the captured image when capturing an image multiple times while finely adjusting the position of the spot light. DETAILED DESCRIPTION OF THE INVENTION

[0012] According to a first aspect of the present disclosure, there is provided a work device comprising: a base portion to which a plurality of support pins are detachably attached; a work head that performs work on a work object supported by the plurality of support pins; an imaging and lighting unit that is integral with the work head; and a control unit, wherein the imaging and lighting unit comprises an imaging device and a first lighting device that irradiates light in a direction inclined at a predetermined angle with respect to the imaging direction of the imaging device, and the control unit irradiates light from the first lighting device toward a tip surface of the support pin attached to the base portion, while causing the imaging device to image an area including the tip surface.

[0013] According to a second aspect of the present disclosure, there is provided the working device according to the first aspect, wherein the first lighting device emits spot light.

[0014] According to a third aspect of the present disclosure, there is provided the working device described in the second aspect, wherein the size of the spot light is the same as or larger than the tip surface of the support pin and smaller than the pitch between the multiple support pins.

[0015] According to a fourth aspect of the present disclosure, there is provided the working device according to the second or third aspect, wherein the size of the spot light is equal to or greater than the diameter of the tip surface of the support pin and equal to or less than twice the diameter.

[0016] According to a fifth aspect of the present disclosure, there is provided the working device according to any one of the first to fourth aspects, wherein the predetermined angle is equal to or greater than 15 degrees and equal to or less than 45 degrees.

[0017] According to a sixth aspect of the present disclosure, there is provided a working device according to any one of the first to fifth aspects, further comprising an alarm unit, wherein the control unit causes the alarm unit to issue an alarm according to an imaging result using the first lighting device and the imaging device.

[0018] According to a seventh aspect of the present disclosure, there is provided a work device described in any one of the first to sixth aspects, wherein the imaging lighting unit further includes a second lighting device separate from the first lighting device, and the control unit causes the imaging device to capture an image of the work object supported by the support pin while irradiating light from the second lighting device onto the work object.

[0019] According to an eighth aspect of the present disclosure, there is provided the working device according to the seventh aspect, wherein the first lighting device has only one light source, and the second lighting device has a plurality of light sources.

[0020] According to a ninth aspect of the present disclosure, there is provided a working device according to any one of the first to eighth aspects, wherein the work object is a circuit board, and the working head is a mounting head that mounts components on the circuit board.

[0021] According to a tenth aspect of the present disclosure, there is provided a control method for a work apparatus comprising: a base portion to which a plurality of support pins are detachably attached; a work head that performs work on a work object supported by the plurality of support pins; an image capturing and lighting unit that is integral with the work head; and a control unit, wherein the image capturing and lighting unit comprises an image capturing device and a first lighting device that irradiates light in a direction inclined at a predetermined angle with respect to the image capturing direction of the image capturing device, and the control unit irradiates light from the first lighting device toward a tip surface of the support pin attached to the base portion, while causing the image capturing device to capture an image of an area including the tip surface.

[0022] (Embodiment) Hereinafter, an embodiment will be described with reference to the drawings.

[0023] [Overall configuration] FIG. 1 is a schematic diagram showing a component mounting apparatus 1 according to an embodiment of the present disclosure.

[0024] 1 is an apparatus for mounting components on a substrate 3, which is an example of a work object, using a mounting head 10, which is an example of a work head. The component mounting apparatus 1 is an example of a "working apparatus."

[0025] As shown in FIG. 1, component mounting apparatus 1 mounts components (electronic components), such as chip components or components with leads, on a substrate 3 on which the components are to be mounted.

[0026] The component mounting apparatus 1 includes a board transport unit 2, a component supply device 20, a mounting head 10, a head moving device 12, a notification unit , and a control unit .

[0027] The board transport unit 2 is a device that transports the board 3 to a mounting work position located in the center of the base 1a and transports the board 3 from the mounting work position. More specifically, the board transport unit 2 transports the board 3 in the X direction, which is transported from the upstream side of a component mounting system (not shown) including the component mounting device 1, and positions and holds the board 3 at the mounting work position. When the component mounting work is completed, the board transport unit 2 transports the board 3 downstream of the component mounting system.

[0028] Component supply devices 20 are arranged at both ends of base 1a in the Y direction. Component supply device 20 includes a stick feeder 4, a tape feeder 5, and a tray feeder 7 as multiple component supply devices. On one side of base 1a in FIG. 1, multiple stick feeders 4 are arranged along the X direction. On the other side of base 1a in FIG. 1, multiple tape feeders 5 are arranged along the X direction. A tray feeder 7 having a component tray 6 is arranged next to the multiple tape feeders 5.

[0029] The component supply devices, stick feeder 4, tape feeder 5, and tray feeder 7, supply components P to be mounted on the board 3. The component supply device does not necessarily have to include all of stick feeder 4, tape feeder 5, and tray feeder 7, but may include at least one of stick feeder 4, tape feeder 5, and tray feeder 7, as long as it can supply components in any manner.

[0030] The head moving device 12 includes a Y-axis table 8 and an X-axis beam 9. The Y-axis table 8 has linear drive devices on both ends in the X direction on the upper surface of the base 1a. The X-axis beam 9 has similar linear drive devices and is connected to the Y-axis table 8. A mounting head 10 is mounted on the X-axis beam 9 so that it can move in the X direction. The linear drive devices included in the Y-axis table 8 move the X-axis beam 9 in the Y direction, and the linear drive devices included in the X-axis beam 9 move the mounting head 10 in the X direction.

[0031] The head moving device 12 controls the linear drive device described above to move the mounting head 10 to the pickup position of the stick feeder 4, the pickup position of the tape feeder 5, or the pickup position of the component tray 6. The components P picked up by the mounting head 10 at the pickup position are transferred to the mounting position on the board 3 held by the board transport unit 2 and mounted thereon. The component mounting device 1 repeatedly executes the series of processes from transporting the board 3 to mounting the components P described above.

[0032] 1, a component recognition camera 14 is provided between the board transport unit 2 and the component supply device 20. The mounting head 10, which has picked up a component from the component supply device 20, moves above the component recognition camera 14, thereby acquiring an image of the component held by the mounting head 10. The acquired image is subjected to recognition processing, thereby detecting any misalignment of the component while it is held by the mounting head 10.

[0033] An imaging and lighting unit 32 that moves integrally with the mounting head 10 is attached. The imaging and lighting unit 32 is a unit that combines imaging and lighting functions, and is attached to the mounting head 10 with its imaging optical axis facing downward. The imaging and lighting unit 32 captures an image of the board 3, for example, facing downward, and by recognizing and processing the captured image, the positional deviation of the board 3, i.e., the positional deviation of the mounting point, is detected. Then, based on the detection results of the component positional deviation and the detection results of the mounting point positional deviation, positional correction is performed during component mounting. Positional correction includes rotational alignment, which aligns the rotational position of the component around the θ axis in the correct direction.

[0034] The notification unit 34 is a member for notifying the worker who handles the component mounting apparatus 1. The notification unit 34 notifies the worker by any method such as a screen display or voice guidance.

[0035] The control unit 36 ​​is a member that controls each component of the component mounting apparatus 1. The control unit 36 ​​is configured, for example, by a microcomputer that includes a processor and a memory that stores a computer program executed by the processor.

[0036] 2 is a perspective view schematically showing a structure for supporting from below the substrate 3 placed at the mounting position. In FIG. 2, the substrate 3 is shown by a dotted line.

[0037] As shown in FIG. 2, a base portion 40 and a plurality of support pins 42 are provided as a support structure for the substrate 3.

[0038] The base portion 40 is a member for detachably attaching a plurality of support pins 42. The base portion 40 of this embodiment is made of a magnetic material such as metal, and each support pin 42 can be attached by magnetic force. The support pins 42 are detachably attachable only to specific locations on the base portion 40 so that the support pins 42 can be attached to predetermined positions on the base portion 40. The number of support pins 42 that can be detached from the base portion 40 may be any number.

[0039] The support pins 42 are members for supporting the substrate 3 from below, and are detachably attached to the base portion 40. Each support pin 42 has a detachable portion 44 and a support portion 46.

[0040] The detachable portion 44 is a portion that is attached to the base portion 40, and is made up of a magnet or the like, and has a larger diameter than the support portion 46.

[0041] The support portion 46 is a portion for supporting the substrate 3 from below, extends upward from the detachable portion 44, and has a smaller diameter than the detachable portion 44. The support portion 46 of this embodiment has a long, thin rod shape and is tapered at the tip.

[0042] A tip surface 48 is provided at the tip of the support portion 46. The tip surface 48 is a surface that contacts and supports the rear surface of the substrate 3, and functions as a "contact surface" and a "support surface." The tip surface 48 in this embodiment is a circular surface having a predetermined diameter (for example, about 1 mm).

[0043] As shown in FIG. 2, the mounting head 10 mounts components on the surface of the substrate 3 while the substrate 3 is supported from below by a plurality of support pins 42 attached to the base portion 40 .

[0044] The mounting head 10 has a head main body 30, a component suction nozzle 31, and an imaging illumination unit 32. Although two component suction nozzles 31 are shown in Fig. 2, the number of component suction nozzles 31 may be any number.

[0045] The component mounting apparatus 1 having the above configuration performs a "board recognition process" to recognize the position and orientation of the board 3 by capturing an image of the board 3 supported by a plurality of support pins 42 with the imaging and lighting unit 32. The component mounting apparatus 1 further performs a "support pin detection process" to detect the presence or absence of the support pins 42 by capturing an image of the support pins 42 not supporting the board 3 with the imaging and lighting unit 32.

[0046] By executing the support pin detection process, it is possible to automatically determine and detect whether the support pin 42 has been attached correctly and notify the worker.

[0047] In the component mounting apparatus 1 of this embodiment, the imaging and lighting unit 32 is provided with separate lighting devices for the board recognition process and the support pin detection process. By using different lighting devices in this way, it becomes possible to accurately perform both the board recognition process and the support pin detection process. The configuration of the imaging and lighting unit 32 will be described below.

[0048] 3A and 3B are front views each showing a schematic view of the imaging illumination unit 32 of the mounting head 10. FIG.

[0049] As shown in FIGS. 3A and 3B, the imaging and lighting unit 32 includes a mounting block 50, an imaging device 52, a wide-area lighting device 54, and a spot lighting device 56.

[0050] The imaging device 52, wide-area lighting device 54, and spot lighting device 56 are attached to the mounting block 50 and move together. This is not limited to the case where a separate mounting block 50 is provided, and the imaging device 52 and the lighting devices 54, 56 may be attached to each other.

[0051] The imaging device 52 is a device (e.g., a camera) having an imaging function, and is attached to the mounting block 50 with the imaging direction A1 facing vertically downward (-Z direction). In Figures 3A and 3B, the imaging range of the imaging device 52 is indicated by a chain line.

[0052] Both the wide-area lighting device 54 and the spot lighting device 56 are devices that emit illumination light when the imaging device 52 captures an image.

[0053] In the example shown in Figures 3A and 3B, the imaging device 52 is placed in the center, the wide-area lighting device 54 is placed around the imaging device 52, and the spot lighting device 56 is placed further outside the wide-area lighting device 54.

[0054] The wide-area lighting device 54 is an illumination device used for the above-mentioned board recognition process, and has the function of irradiating light over a wider area than the spot lighting device 56. The wide-area lighting device 54 has multiple light sources, and two light sources are shown as examples in Figures 3A and 3B. In Figure 3A, the illumination range of the wide-area lighting device 54 is shown by a dotted line, and the range of light illuminated by the wide-area lighting device 54 includes the imaging range of the imaging device 52.

[0055] The spot lighting device 56 is an illumination device used for the support pin detection process described above, and has the function of emitting spot light. Unlike the wide-area illumination device 54, the spot lighting device 56 has only one light source, and by narrowing the light emitted from the light source with a lens, it irradiates the spot light only in a limited range.

[0056] 3B, the spot illumination device 56 emits spot light L1 in a direction inclined at a predetermined angle θ1 with respect to the imaging direction A1 of the imaging device 52. The direction of the spot illumination device 56 is set so that the spot light L1 passes through the imaging area of ​​the imaging device 52.

[0057] When the spot lighting device 56 is actually used, the position thereof is controlled so that the spot light L1 is irradiated toward the tip end surface 48 of the support pin 42 shown in FIG.

[0058] The size of the spot light L1 is set to be equal to or larger than the size of the tip surface 48, and smaller than the pitch between the plurality of support pins 42 attached to the base portion 40.

[0059] When the distal end surface 48 is circular as in this embodiment, the size of the spot light L1 may be set to, for example, between one and two times the diameter of the distal end surface 48.

[0060] The predetermined angle θ1 is set to an acute angle. The predetermined angle θ1 may be set, for example, to 15 degrees or more and 45 degrees or less, and more preferably, to 20 degrees or more and 30 degrees or less. In this embodiment, the predetermined angle θ1 is fixed, but the orientation of the spot lighting device 56 may be variable.

[0061] The specific operations of the "board recognition process" and the "support pin detection process" using the imaging and lighting unit 32 having the above configuration will be described with reference to FIG. 4 and subsequent drawings.

[0062] (Board recognition processing) Fig. 4 is a flowchart showing an example of a board recognition process using the imaging illumination unit 32. Each process shown in Fig. 4 is executed by the control unit 36. Fig. 5 is a front view schematically showing the execution state of the board recognition process shown in Fig. 4.

[0063] As shown in Fig. 4, the control unit 36 ​​moves the image capturing and lighting unit 32 above the substrate 3 (S11). Specifically, the control unit 36 ​​operates the head moving device 12 shown in Fig. 1 to move the image capturing and lighting unit 32 of the mounting head 10 above the substrate 3 positioned at the mounting work position (see Fig. 5). As shown in Fig. 5, the substrate 3 is supported from below by a plurality of support pins 42 attached to a base unit 40.

[0064] The control unit 36 ​​turns on the wide-area lighting (S12). As shown in Fig. 5, by operating the wide-area lighting device 54 of the imaging and lighting unit 32, illumination light is applied to the surface of the substrate 3 supported by the multiple support pins 42. The range of light illuminated by the wide-area lighting device 54 includes the imaging range of the imaging device 52, and the entire imaging range is illuminated.

[0065] The control unit 36 ​​captures an image using the imaging device 52 (S13). As shown in Fig. 5, the imaging device 52 captures an image while the wide-area lighting device 54 is irradiating it with illumination light. This makes it possible to capture an image of an area on the surface of the substrate 3 that includes a recognition mark or the like. By performing predetermined image processing on the captured image, the position and orientation of the substrate 3 can be recognized.

[0066] In steps S12 and S13, the operation of the spotlight device 56 is stopped, and the spotlight L1 is not emitted.

[0067] (Support pin detection process) Fig. 6 is a flowchart showing an example of support pin detection processing using the imaging illumination unit 32. Each processing step shown in Fig. 6 is executed by the control unit 36. Fig. 7A and Fig. 7B are front views each schematically showing an execution state of the support pin detection processing shown in Fig. 6.

[0068] FIG. 7A shows a state in which the support pin 42A to be detected is properly attached, and FIG. 7B shows a state in which the support pin 42A to be detected is not erroneously attached.

[0069] 6, the control unit 36 ​​moves the image capturing and lighting unit 32 to above the support pin 42A to be detected (S21). Specifically, the head moving device 12 shown in FIG. 1 is operated to move the image capturing and lighting unit 32 of the mounting head 10 to above the support pin 42A that is not supporting the board 3 (see FIGS. 7A and 7B). The support pin 42 that is not supporting the board 3 may be at the mounting work position or at a position different from the mounting work position.

[0070] The control unit 36 ​​turns on the spot illumination (S22). Specifically, as shown in Figures 7A and 7B, the spot illumination device 56 is operated to irradiate spot light L1 toward the tip surface 48A of the support pin 42A that is not supporting the board 3. The position of the mounting head 10 in the XY directions is determined in advance so that the spot light L1 hits the tip surface 48A of the support pin 42A.

[0071] The control unit 36 ​​captures an image with the imaging device 52 (S23). Specifically, as shown in FIGS. 7A and 7B, the imaging device 52 captures an image in a state where spot light L1 is irradiated from the spot lighting device 56.

[0072] By executing step S23, if support pin 42A is properly attached, an image is acquired in which tip surface 48A of support pin 42A is illuminated, as shown in Fig. 7A. If support pin 42A is not properly attached, an image is acquired in which support pin 42A is not present, as shown in Fig. 7B.

[0073] In steps S22 and S23, the operation of the wide-area lighting device 54 is stopped, and wide-area lighting is not emitted.

[0074] The control unit 36 ​​determines whether or not the support pin 42A is present (S24). Specifically, by performing predetermined image processing on the captured image acquired in step S23, it is determined whether or not the support pin 42A to be detected is present.

[0075] Fig. 8A is a plan view showing the imaging area B1 when the support pin 42A to be detected is present, and Fig. 8B is a plan view showing the imaging area B1 when the support pin 42A to be detected is not present. In Fig. 8B, the position of the absent support pin 42A is shown by a dotted line.

[0076] As shown in FIGS. 8A and 8B, the range of imaging region B1 is set to a range that includes one support pin 42A to be detected, but does not include support pin 42B adjacent to support pin 42A.

[0077] 8A, tip surface 48A of support pin 42A is illuminated, allowing the presence of support pin 42A to be detected with high accuracy. By using spot light L1, areas other than support pin 42A, including tip surface 48A, are not illuminated.

[0078] 8B, in a state in which the support pin 42A is not present, the spot light L1 is incident on the surface of the base portion 40. As described above, the spot light L1 is irradiated in a direction inclined at a predetermined angle θ1 with respect to the imaging direction A1, and therefore the incident position P1 of the spot light L1 can be set outside the imaging area B1 captured by the imaging device 52 (see FIGS. 7B and 8B).

[0079] In this way, when the support pin 42A is not present, the spot light L1 is incident outside the field of view of the imaging device 52 so that the spot light L1 does not appear in the image captured by the imaging device 52, which makes it easier to create a greater difference in brightness depending on the presence or absence of the support pin 42A. This makes it possible to detect the presence or absence of the support pin 42A with greater accuracy.

[0080] In particular, by using spot light L1, when support pin 42A is not present, it is possible to avoid illuminating the attachment point of support pin 42A and its surroundings on the surface of base portion 40. This makes it possible to reduce the occurrence of erroneous recognition, whereby a non-existent support pin 42A is mistakenly determined to be present, compared to when wide-area lighting device 54 is used, even if the surface of base portion 40 is scratched or discolored due to use or the like.

[0081] By setting the specified angle θ1 within a specified range (for example, 15 degrees or more and 45 degrees or less), it is possible to easily set the incident position P1 of the spot light L1 outside the imaging area B1 when the support pin 42A is not present, and it is also possible to expect an improvement in the brightness of the captured image due to the reflection of the spot light L1 when the support pin 42A is present.

[0082] If the control unit 36 ​​determines that the support pin 42A is not present (NO in S24), it turns on the error flag (S25).

[0083] When the control unit 36 ​​determines that a support pin 42A is present (YES in S24) and turns on the error flag (S25), it determines whether or not there is a next support pin 42A to be inspected (S26). Specifically, information about the support pin 42 to be inspected is stored in advance in the control unit 36, and it determines whether or not there is a next support pin 42 to be inspected depending on whether or not there is a support pin to be inspected next to the support pin 42A.

[0084] If it is determined that there is a next support pin 42 to be inspected (YES in S26), the control unit 36 ​​executes steps S21 to S26 again. As a result, the support pin detection process using the imaging device 52 and the spot illumination device 56 is executed again for the next support pin 42 to be inspected. As long as there is a next support pin 42 to be inspected (YES in S26), steps S21 to S26 are repeatedly executed, thereby executing the support pin detection process for all support pins 42 to be inspected.

[0085] If it is determined that there is no support pin 42 to be inspected next (NO in S26), the control unit 36 ​​causes the notification unit 34 to issue a notification depending on the presence or absence of an error flag (S27). Specifically, if step S25 has never been executed, there will be no error flag. In this case, it has been determined that all of the support pins 42 to be inspected are present (YES in S24), so the notification unit 34 is caused to notify that all of the support pins 42 to be inspected are present. On the other hand, if step S25 has been executed at least once, there will be an error flag. In this case, it has been determined that at least one of the support pins 42 to be inspected is missing (NO in S24), so the notification unit 34 is caused to notify that the support pin 42 is not properly attached, along with information identifying the support pin 42 determined to be missing.

[0086] One method for performing the above-described support pin detection process with higher accuracy is to capture images multiple times while finely adjusting the position of the spot light L1, and detect the presence or absence of the support pin 42 based on information obtained from the multiple captured images.

[0087] FIG. 9 is a graph schematically showing an example of changes in the position of the spot light L1 (horizontal axis) and the luminance of the captured image (vertical axis) when capturing an image multiple times while finely adjusting the position of the spot light L1.

[0088] In the example shown in Figure 9, with regard to the Y direction position, the position where the center of the spot light L1 and the center of the tip surface 48A coincide is set as the reference position (0 mm), and images are taken by the imaging device 52 at positions where the spot light L1 is moved in the Y direction by +0.5 mm, +1 mm, -0.5 mm, and -1 mm relative to the reference position.

[0089] 9, the brightness is relatively high when the Y-direction position of the spot light L1 is 0 mm, +0.5 mm, and -0.5 mm, and the brightness is relatively low when the Y-direction position is +1 mm and -1 mm. This change in brightness makes it possible to accurately identify that the support pin 42 to be detected is located at a position where the Y-direction position of the spot light L1 corresponds to 0 mm.

[0090] 9 shows an example of a graph in which a support pin 42 to be detected is present, but in the case where a support pin 42 to be detected is not present, the brightness shows a value close to 0 regardless of the position of the spot light L1 in the Y direction. This makes it possible to accurately identify the absence of a support pin 42 to be detected.

[0091] (Actions and Effects) As described above, the component mounting apparatus 1 (working apparatus) of the embodiment includes a base portion 40 to which multiple support pins 42 are detachably attached, a mounting head 10 (working head) that performs work on a board 3 (work object) supported by the multiple support pins 42, an imaging and lighting unit 32 that is integral with the mounting head 10, and a control unit 36. The imaging and lighting unit 32 includes an imaging device 52 and a spot lighting device 56 (first lighting device) that irradiates light in a direction inclined at a predetermined angle θ1 with respect to the imaging direction A1 of the imaging device 52. The control unit 36 ​​irradiates light from the spot lighting device 56 toward the tip surface 48 of the support pin 42 attached to the base portion 40, while causing the imaging device 52 to image an area including the tip surface 48.

[0092] With this configuration, if a support pin 42 is present, the tip surface 48 of the support pin 42 is illuminated, and if a support pin 42 is not present, the light emitted obliquely from the spot lighting device 56 can reach the outside of the field of view of the imaging device 52. This makes it possible to create a large difference in brightness depending on whether or not the support pin 42 is present, and allows support pin detection processing based on the captured image to be performed with greater accuracy.

[0093] Furthermore, in the component mounting apparatus 1 (working apparatus) of the embodiment, the spot lighting device 56 (first lighting device) emits spot light L1. With this configuration, the presence or absence of each support pin 42 can be detected one by one by illuminating the tip surface 48 of each support pin 42, and it is possible to prevent the erroneous determination that a support pin 42 is present when it is not.

[0094] Furthermore, in the component mounting apparatus 1 (working apparatus) of the embodiment, the size of the spot light L1 is the same as or larger than the tip surface 48 of the support pin 42, and smaller than the pitch between the multiple support pins 42. With this configuration, by making the size of the spot light L1 equal to or larger than the tip surface 48 of the support pin 42, it is possible to more reliably illuminate the tip surface 48 of the support pin 42. Furthermore, by making the size of the spot light L1 smaller than the pitch between the support pins 42, it is possible to make it difficult for the spot light L1 of the spot illumination device 56 to enter the imaging region B1 of the imaging device 52 when there are no support pins 42.

[0095] Furthermore, in the component mounting apparatus 1 (working apparatus) of the embodiment, the size of the spot light L1 is between one and two times the diameter of the tip surface 48 of the support pin 42. With this configuration, when the support pin 42 is present, the tip surface 48 of the support pin 42 is more reliably illuminated, and when the support pin 42 is not present, the spot light L1 of the spot illumination device 56 is less likely to enter the imaging area B1 of the imaging device 52.

[0096] Furthermore, in the component mounting apparatus 1 (working apparatus) of the embodiment, the predetermined angle θ1 is equal to or greater than 15 degrees and equal to or less than 45 degrees. With this configuration, the support pin detection process can be performed with higher accuracy.

[0097] Moreover, the component mounting apparatus 1 (working apparatus) of the embodiment further includes a notification unit 34, and the control unit 36 ​​causes the notification unit 34 to issue a notification in accordance with the image capturing results obtained using the spot lighting device 56 and the image capturing device 52. With this configuration, the presence or absence of the support pin 42 can be notified to the worker.

[0098] Furthermore, in the component mounting apparatus 1 (working apparatus) of the embodiment, the imaging and lighting unit 32 further includes a wide-area lighting device 54 (second lighting device) separate from the spot lighting device 56 (first lighting device), and the control unit 36 ​​causes the imaging device 52 to capture an image of the board 3 (working object) supported by the support pins 42 while irradiating the board 3 (working object) with light from the wide-area lighting device 54 (second lighting device). With this configuration, by using different lighting devices 54, 56 depending on the object to be imaged, it becomes possible to accurately perform the board recognition process and the support pin detection process.

[0099] In the component mounting apparatus 1 (working apparatus) of the embodiment, the spot lighting device 56 (first lighting device) has only one light source, and the wide area lighting device 54 (second lighting device) has multiple light sources. With this configuration, the spot lighting device 56 with only one light source is suitable for illuminating the tip surface 48 of the support pin 42, and the wide area lighting device 54 with multiple light sources is suitable for widely illuminating the surface of the board 3.

[0100] In the component mounting apparatus 1 (working apparatus) of the embodiment, the work object is a board 3, and the working head is a mounting head 10 that mounts components on the board. With this configuration, it is possible to execute a detection process for the support pins 42 that support the board 3.

[0101] As described above, the control method for the component mounting apparatus 1 (working apparatus) of the embodiment is a control method for the component mounting apparatus 1, which comprises a base portion 40 to which a plurality of support pins 42 are detachably attached, a mounting head 10 (working head) that performs work on a board 3 (work object) supported by the plurality of support pins 42, an imaging and lighting unit 32 that is integral with the mounting head 10, and a control unit 36, wherein the imaging and lighting unit 32 comprises an imaging device 52 and a spot lighting device 56 (first lighting device) that irradiates light in a direction inclined at a predetermined angle θ1 with respect to the imaging direction of the imaging device 52, and the control unit 36 ​​causes the imaging device 52 to image an area including the tip surface 48 while irradiating light from the spot lighting device 56 toward the tip surface 48 of the support pin 42 attached to the base portion 40.

[0102] According to this method, the detection process for the support pins 42 can be performed with higher accuracy.

[0103] (others) Although the present invention has been described above using the above-mentioned embodiments, the present invention is not limited to the above-mentioned embodiments. For example, in the embodiments, the case where the working device is the component mounting device 1 has been described, but the present invention is not limited to such a case. For example, the present invention may be applied to any working device that works on a work object, such as a printing device that performs printing work on a print object, as long as it has support pins that support the print object.

[0104] Furthermore, in the embodiment, a case has been described in which spot lighting device 56 is used to irradiate tip surface 48 of one support pin 42 with spot light L1 for the support pin detection process, and detection process is performed for each support pin 42, but this is not the only possible case. For example, a linear illumination light may be irradiated toward tip surfaces 48 of multiple support pins 42, and detection process for multiple support pins 42 may be performed collectively. In this case, the linear illumination light may be irradiated in a direction inclined at a predetermined angle θ1 with respect to imaging direction A1 of imaging device 52.

[0105] Furthermore, in the embodiment, a case has been described in which the mounting head 10 moves relative to the board 3 positioned at the mounting work position, but the present invention is not limited to such a case, and the board 3 may move relative to the positioned mounting head 10. In other words, it is sufficient if the work object (board 3) and the work head (mounting head 10) move relatively to each other.

[0106] Although the present disclosure has been fully described in connection with the preferred embodiments with reference to the accompanying drawings, various variations and modifications will be apparent to those skilled in the art. Such variations and modifications should be understood to be included within the scope of the present disclosure as defined by the appended claims, unless they depart therefrom. Furthermore, changes in the combination and order of elements in each embodiment may be made without departing from the scope and spirit of the present disclosure.

[0107] It should be noted that, by appropriately combining any of the above-described embodiments and various modifications, it is possible to achieve the effects of each of them. [Industrial Applicability]

[0108] The present invention is applicable to any working device and a method for controlling the working device. [Explanation of symbols]

[0109] 1. Component mounting equipment (working equipment) 3. Circuit board (workpiece) 10 Mounting head (working head) 32 Imaging lighting unit 36 Control Unit 40 Base 42 support pin 48 Tip surface 52 Imaging device 54 Wide-area lighting device (second lighting device) 56 Spot lighting device (first lighting device) A1 Imaging direction L1 Spot light θ1 Predetermined angle

Claims

1. a base portion to which a plurality of support pins are detachably attached; a work head that performs work on a work object supported by the plurality of support pins; an imaging and lighting unit provided integrally with the working head; a control unit, the imaging illumination unit includes an imaging device and a first illumination device that emits light in a direction inclined at a predetermined angle with respect to an imaging direction of the imaging device; The control unit A working device that causes the imaging device to capture an image of a region including the tip surface of the support pin attached to the base portion while irradiating light from the first lighting device toward the tip surface of the support pin attached to the base portion.

2. The work apparatus according to claim 1 , wherein the first lighting device emits spot light.

3. The working device according to claim 2 , wherein the size of the spot light is equal to or larger than the tip end surface of the support pin and smaller than the pitch between the plurality of support pins.

4. 3. The working device according to claim 2, wherein the size of the spot light is equal to or larger than the diameter of the tip end surface of the support pin and is equal to or smaller than twice the diameter.

5. The work device according to claim 1 , wherein the predetermined angle is equal to or greater than 15 degrees and equal to or less than 45 degrees.

6. Further provided with a notification unit, The control unit The working apparatus according to claim 1 , wherein the notification unit issues a notification in accordance with an image capturing result obtained using the first lighting device and the image capturing device.

7. the imaging illumination unit further includes a second illumination device separate from the first illumination device; The control unit The work apparatus according to claim 1 , wherein the image capturing device captures an image of the work object supported by the support pin while irradiating the work object with light from the second lighting device.

8. The work device according to claim 7 , wherein the first lighting device has only one light source, and the second lighting device has a plurality of light sources.

9. The working device according to claim 1 , wherein the work object is a circuit board, and the working head is a mounting head that mounts components on the circuit board.

10. a base portion to which a plurality of support pins are detachably attached; a work head that performs work on a work object supported by the plurality of support pins; an imaging and lighting unit provided integrally with the working head; A control method for a work implement, comprising: the imaging illumination unit includes an imaging device and a first illumination device that emits light in a direction inclined at a predetermined angle with respect to an imaging direction of the imaging device; The control unit A control method for a working device, comprising: irradiating light from the first lighting device toward a tip surface of the support pin attached to the base portion while causing the imaging device to capture an image of an area including the tip surface.

Images