Component mounting machine and method for determining presence / absence of foreign matter

Abstract

To further improve determination accuracy of presence / absence of a foreign matter in a suction surface of a suction nozzle.SOLUTION: A component mounting machine includes: a suction nozzle; an imaging part arranged on a side of the suction nozzle; and a control part for controlling the imaging part so as to image a suction surface of the suction nozzle from the side and determining presence / absence of a foreign matter in the suction surface on the basis of an image obtained by imaging. The control part can execute center specification processing for, in the image, scanning a scanning line along a width direction crossing an axial direction of the suction nozzle, to detect an edge corresponding to a boundary between a background region of the suction nozzle and an object region not corresponding to a background in each of one side and the other side in the width direction and to specify an intermediate position between two edges as a central position of the suction nozzle in the width direction, range specification processing for specifying a range of the suction surface in the width direction in the image on the basis of the central position and a width value of the suction surface, and first determination processing for determining the presence / absence of the foreign matter on the basis of a plurality of edges detected in the range of the suction surface.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The technology disclosed in this specification relates to a component mounter and a method for determining the presence or absence of foreign matter. [Background technology]

[0002] Patent Document 1 discloses a component mounter that includes a suction nozzle having a suction surface for suctioning components, a camera positioned to the side of the suction nozzle for acquiring nozzle image data of the tip of the suction nozzle, and a control device that uses the nozzle image data to determine whether the suction surface of the suction nozzle is good or bad. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2017 / 017788 Summary of the Invention [Problem to be solved by the invention]

[0004] The technology disclosed in Patent Document 1 has the advantage that the quality of the suction surface is determined using only the nozzle image data, and therefore there is no need to store image data to compare with the nozzle image data. In this situation, the inventor presents a technology that is useful for further improving the accuracy of determining the quality of the suction surface, that is, the accuracy of determining whether or not there is a foreign object on the suction surface. [Means for solving the problem]

[0005] This specification discloses a component mounter including a suction nozzle having a suction surface capable of suctioning components, an imaging unit disposed on a side of the suction nozzle, and a control unit that controls the imaging unit to capture an image of the suction surface of the suction nozzle from the side and determines the presence or absence of a foreign object on the suction surface based on the captured image. The control unit is capable of performing a center identification process that scans the image along a width direction intersecting the axial direction of the suction nozzle to detect edges on each side of the width direction that correspond to the boundary between a background region corresponding to the background of the suction nozzle and an object region that does not correspond to the background, and identifies the midpoint between the two edges as the center position of the suction nozzle in the width direction. Furthermore, the control unit is capable of performing a range identification process that identifies the widthwise extent of the suction surface in the image based on the center position and a preset width value of the suction surface, and a first determination process that determines the presence or absence of the foreign object based on the edges detected within the suction surface.

[0006] According to the above configuration, the control unit identifies the center position of the suction nozzle in the image obtained by capturing an image of the suction nozzle, identifies the range of the suction surface based on this center position and the width value of the suction surface, and determines the presence or absence of a foreign object based on the edge of the range of the suction surface, thereby enabling the presence or absence of a foreign object to be determined with higher accuracy than conventional methods. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a perspective view showing a schematic configuration of a component mounter. [Figure 2] FIG. 2 is a perspective view showing a schematic configuration of a head unit. [Figure 3] FIG. 2 is a simplified block diagram showing a component mounter including a control unit. [Figure 4] 10 is a flowchart showing a foreign matter presence determination process. [Figure 5] FIG. 10 is a diagram showing an example of a side image for explaining steps S110 and S120. [Figure 6]FIG. 10 is a diagram showing an example of a side image for explaining steps S130 to S180. [Figure 7] 5 is a flowchart showing a foreign matter presence determination process different from that in FIG. 4; [Figure 8] FIG. 10 is a diagram showing an example of a side image for explaining step S400. DETAILED DESCRIPTION OF THE INVENTION

[0008] The main features of the embodiments described below are listed below. Note that the technical elements described below are independent technical elements that exhibit technical utility alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing.

[0009] According to the component mounter disclosed in this specification, in the first determination process, the control unit may detect the edge for each of a plurality of division lines that divide the range of the suction surface at predetermined intervals in the width direction. According to this configuration, the control unit can detect a plurality of edges within the range of the attraction surface without bias and grasp changes in the edges in detail.

[0010] According to the component mounting machine disclosed in this specification, the control unit may calculate the difference between the edges in the axial direction for each combination of the edges of adjacent dividing lines, and if the calculated difference is greater than or equal to a predetermined threshold value, determine that the foreign matter is present. According to the above configuration, the control unit can appropriately determine the presence or absence of a foreign substance by evaluating the difference between the edges of adjacent parting lines.

[0011] The plurality of situations in which the imaging unit is caused to capture the image and the presence or absence of the foreign matter is determined can be divided into a predetermined first situation and a second situation in which time constraints are stricter than those of the first situation. The control unit may execute a first process including the center identification process, the range identification process, and the first determination process in the first situation, and execute a second process capable of determining the presence or absence of the foreign matter more quickly than the first process in the second situation. According to the above configuration, the control unit executes the first process in the first situation, thereby being able to determine with high accuracy the presence or absence of foreign matter within a range that does not reduce the productivity of the component mounter.

[0012] The second process may include a bottom end identification process that identifies a bottom end position of the object region in the axial direction based on detection of the edge in the image; a difference calculation process that calculates a first difference that is the difference in the axial direction between the edge at a first position that is a first set distance or more away from the bottom end position on one side in the width direction from the bottom end position and the bottom end position; and a second difference that is the difference in the axial direction between the edge at a second position that is a second set distance or more away from the bottom end position on the other side in the width direction and the bottom end position; and a second determination process that determines the presence or absence of the foreign matter based on the smaller of the first difference and the second difference. According to this second process, the control unit can determine the presence or absence of a foreign object in the second situation with a relatively small amount of processing.

[0013] The first situation is, for example, a situation after the suction nozzle of the movable head of the component mounter has been replaced. The first situation is, for example, a situation after a disposal process for disposing of the component that the suction nozzle had picked up has been completed. The second situation is, for example, a situation in which it is confirmed that the component is no longer picked up by the suction nozzle that has completed the mounting process of the component on the board.

[0014] The category of the technology disclosed in this specification is not limited to component mounters, and various other technologies, such as methods that can be executed by component mounters, can be understood according to this specification. A method for determining the presence or absence of a foreign object on a suction surface of a suction nozzle capable of suctioning a component includes an imaging step of controlling an imaging unit disposed on a side of the suction nozzle to image the suction surface of the suction nozzle from the side. The method further includes a center identification step of detecting edges corresponding to boundaries between a background region corresponding to a background of the suction nozzle and an object region not corresponding to the background on each side of the width direction by scanning a scanning line along a width direction intersecting an axial direction of the suction nozzle in the image obtained by the imaging step, and identifying the midpoint between the two edges as the center position of the suction nozzle in the width direction. The method further includes a range identification step of identifying the width direction of the suction surface in the image based on the center position and a preset width value of the suction surface, and a first determination step of determining the presence or absence of the foreign object based on the edges detected within the suction surface range. [Example]

[0015] The embodiments will be described with reference to the drawings. Each drawing is merely an example, and the present embodiment is not limited to the contents shown in the drawings. Also, since each drawing is an example, some parts may be omitted.

[0016] FIG. 1 is a perspective view showing the schematic configuration of a component mounter 10, and FIG. 2 is a perspective view showing the schematic configuration of a head unit 60. 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 that mounts electronic components (hereinafter referred to as components) on a board 12. 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. According to FIG. 1, the component mounter 10 generally includes a component supply device 20 equipped with reels that store components, a board transport device 30 that transports the board 12, a head unit 60 that uses suction nozzles 71 to pick up components and mount them on the board 12, and a movement mechanism 50 that moves the head unit 60. The head unit 60 has one or more suction nozzles 71.

[0017] The movement mechanism 50 includes a guide rail 56 provided on the top of the device along the Y-axis direction, a Y-axis slider 58 that is movable along the guide rail 56, a guide rail 52 provided in front of the Y-axis slider 58 along the X-axis direction, and an X-axis slider 54 that is movable along the guide rail 52 and has a head unit 60 attached thereto. The control unit 40 controls the movement of the Y-axis slider 58 and the X-axis slider 54 via actuators (not shown), thereby allowing the head unit 60 to be moved to any position on the XY plane.

[0018] As shown in FIG. 2 , the head unit 60 includes a rotary head 70 with multiple shaft-shaped suction nozzles 71 arranged at predetermined angular intervals in the circumferential direction (on a circle coaxial with the rotation axis), and a side camera 80 that captures images of the suction nozzles 71 from the side. The suction nozzles 71 have suction surfaces capable of picking up components. The side camera 80 is an example of an "imaging unit" located to the side of the suction nozzles 71. The rotary head 70 can rotate intermittently by a predetermined angle. As the rotary head 70 rotates intermittently, each suction nozzle 71 moves to a different position on the circumference by the predetermined angle. The head unit 60 also includes an actuator 78 that moves the suction nozzles 71 in the Z-axis direction. An electromagnetic valve 79 connects and disconnects the suction nozzles 71 to a suction pump (not shown), enabling them to pick up components by applying negative pressure from the suction pump. The control unit 40 also controls the rotation of the rotary head 70, the movement of the suction nozzles 71 along the Z-axis, and the suction of components by the suction nozzles 71.

[0019] The side camera 80 is composed of, for example, a camera main body 82 attached to the bottom of the head unit 60 and an optical system unit 84 that forms an optical path to the camera main body 82. The optical system unit 84 is equipped with an irradiation unit (not shown) that irradiates ultraviolet light from the irradiation unit toward a cylindrical fluorescent member (not shown) that is attached to the center of the bottom of the rotary head 70. When the fluorescent member emits light upon receiving the ultraviolet light, the light, excluding light blocked by the suction nozzle 71 or component at a predetermined imaging position, enters the optical system unit 84 and is guided to the camera main body 82 via the optical path of the optical system unit 84. This enables the camera main body 82 to capture an image of the suction nozzle 71 or component at the predetermined imaging position.

[0020] 2 shows only one side camera 80, the head unit 60 may be configured to have, for example, a plurality of side cameras 80 around the rotary head 70. In other words, 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 capturing images.

[0021] Alternatively, although details will be omitted, the side camera 80 may be configured, like the imaging means disclosed in Japanese Patent Application Laid-Open No. 2012-212947, to be capable of simultaneously capturing, with a single camera, an image of the suction nozzle 71 immediately before mounting a component on the board 12, and an image of the suction nozzle 71 immediately after mounting. In any case, the control unit 40 can determine the presence or absence of a component on the suction nozzle 71, detect the inclination of the component picked up by the suction nozzle 71, and determine the presence or absence of foreign matter on the suction surface of the suction nozzle 71, based on the images captured by the side camera 80.

[0022] The control unit 40 has a processor such as a CPU, memory, and other storage media, and controls the mounter 10 by the processor executing arithmetic processing in accordance with programs stored in the memory or external commands. As shown in FIG. 3, the mounter 10 may also include an operation reception unit 88 that can receive operations from an operator and a display unit 90 for displaying visual information. The operation reception unit 88 is, for example, a keyboard, a mouse, and various switches. If the display unit 90 also functions as a touch panel, the display unit 90 corresponds to an example of the operation reception unit 88.

[0023] The flow of component mounting processing by the component mounter 10 will be briefly explained. The control unit 40 controls the board transport device 30 to transport the board 12 to a predetermined position. Next, the control unit 40 controls the movement mechanism 50 to move the head unit 60 to a predetermined supply position of the component supply device 20. Next, the control unit 40 controls the head unit 60 to pick up the components supplied to the supply position by the component supply device 20 onto each suction nozzle 71. Next, the control unit 40 controls the movement mechanism 50 to move the head unit 60 above the board 12, and controls the head unit 60 to mount each component picked up by each suction nozzle 71 onto the respective mounting position on the board 12.

[0024] 4 is a flowchart showing the foreign matter presence determination process executed by the control unit 40. The explanation of this flowchart corresponds to an example of the explanation of the method for determining the presence or absence of foreign matter on the suction surface of the suction nozzle 71. Foreign matter includes, for example, solder, dust, other debris, etc.

[0025] In step S100, the control unit 40 controls the side camera 80 to capture an image of the suction nozzle 71 from the side, and acquires an image as the image capture result (hereinafter referred to as the side image) from the side camera 80. The side image acquired as the result of step S100 is an image of the suction nozzle 71 in a state where it is not picking up a component. Furthermore, the side camera 80 and the suction nozzle 71 to be imaged are adjusted in a positional relationship such that the suction surface of the suction nozzle 71 is imaged. Therefore, step S100 corresponds to an example of an "imaging process" in which an imaging unit arranged on the side of the suction nozzle 71 is controlled to capture an image of the suction surface of the suction nozzle 71 from the side.

[0026] In step S110, the control unit 40 identifies the center position of the suction nozzle 71 in the side image. Step S110 corresponds to an example of a "center identifying step (process)". 5 is a diagram for explaining steps S110 and S120, showing an example of a side image 86. In the side image 86, the control unit 40 detects edges on both sides in the width direction by scanning a scanning line L1 along the width direction that intersects with the axial direction of the suction nozzle 71. The axial direction of the suction nozzle 71 may be interpreted as the Z-axis direction, i.e., the up-down direction. Furthermore, the width direction that intersects with the axial direction of the suction nozzle 71 may be interpreted as the horizontal direction.

[0027] The side image 86 is an image capturing an area including the suction surface of the suction nozzle 71. The suction surface is the lower end of the suction nozzle 71. Therefore, the control unit 40 sets a scanning line L1 in the side image 86 above the lower end of the suction nozzle 71, i.e., at a predetermined position where the suction nozzle 71 is expected to pass. The control unit 40 scans this scanning line L1 to detect edges. The edge corresponds to the boundary between a background region corresponding to the background of the suction nozzle 71 and an object region that does not correspond to the background. The object region refers to an area that does not correspond to the background, specifically, an area where the suction nozzle 71, a component, or a foreign object is captured. In the side image 86, there is a large difference in brightness between the background region and the object region. Therefore, the control unit 40 can detect edges by determining whether or not there is a brightness difference greater than a predetermined value. The edges may also be referred to as edge pixels. In FIG. 5, the edges on one side and the other side of the scanning line L1 in the width direction are indicated by symbols P1a and P1b, respectively. The edges P1a and P1b can be considered to be examples of both ends in the width direction of the suction nozzle 71. The control unit 40 identifies the middle position between the two detected edges P1a and P1b as the center position C of the suction nozzle 71 in the width direction.

[0028] In step S120, the control unit 40 determines the range of the suction surface in the width direction in the side image 86 based on the center position C determined in step S110 and a preset width value of the suction surface. Step S120 corresponds to an example of a "range determination step (process)." Because the size of the suction nozzle 71 including the suction surface is determined by design, the control unit 40 has information in advance about the width value, which is the length of the suction surface in the width direction in the side image 86. The control unit 40 determines the range occupied by the width value when the middle position of the width value is aligned with the center position C in the width direction as the range W of the suction surface in the width direction.

[0029] Steps S130 to S180 correspond to an example of a "first determination step (process)" for determining the presence or absence of a foreign substance based on a plurality of edges detected in range W of the suction surface. In step S130, the control unit 40 detects a plurality of edges in the range W of the attraction surface of the side image 86. For example, the control unit 40 detects an edge for each of a plurality of division lines that divide the range W of the attraction surface at predetermined intervals in the width direction.

[0030] FIG. 6 is a diagram for explaining steps S130 to S180, and similarly to FIG. 5, shows an example of a side image 86. However, FIG. 6 shows a side image 86 obtained by capturing an image of a state in which a foreign object 72 is attached to the lower end of the suction nozzle 71, i.e., the suction surface. According to FIG. 6, the range W of the suction surface is divided at predetermined intervals in the width direction by division lines L2 to L9. The control unit 40 scans each of the division lines L2 to L9 from bottom to top along the Z-axis direction, and detects edges P2 to P9 for each of the division lines L2 to L9.

[0031] In step S140, the control unit 40 calculates the difference between the edges in the Z-axis direction for each combination of edges of adjacent dividing lines. For example, the control unit 40 extracts combinations of two adjacent dividing lines one by one from one side to the other in the width direction, and calculates the difference between the edges for each extracted combination. Referring to Fig. 6, in the first step S140, the control unit 40 calculates the difference in the Z-axis direction between edge P2 of dividing line L2 and edge P3 of dividing line L3 in the side image 86.

[0032] In step S150, the control unit 40 determines whether the difference calculated in step S140 is equal to or greater than a predetermined threshold. If the difference calculated in step S140 is equal to or greater than the threshold, the process proceeds to step S180 with a "Yes" determination. On the other hand, if the difference calculated in step S140 is less than the threshold, the process proceeds to step S160 with a "No" determination. The threshold used in step S150 is a threshold that is optimized in advance for determining whether a foreign object exists. In step S180, the control unit 40 determines that a foreign object is present on the suction surface of the suction nozzle 71, and ends the flowchart of FIG. 4.

[0033] In step S160, the control unit 40 determines whether or not all difference calculations in step S140 have been completed. If the control unit 40 has completed calculating the differences between edges for all combinations of widthwise adjacent parting lines in step S140, the control unit 40 determines "Yes" in step S160 and proceeds to step S170. On the other hand, if the differences between edges have not yet been calculated in step S140 for one or more combinations of widthwise adjacent parting lines, the control unit 40 determines "No" in step S160 and proceeds to step S140, and repeats step S140 and subsequent steps. In step S170, the control unit 40 determines that there is "no foreign matter" on the suction surface of the suction nozzle 71, and ends the flowchart of FIG. 4.

[0034] 6, for example, the difference in the Z-axis direction between edge P5 of dividing line L5 and edge P6 of dividing line L6 is determined to be equal to or greater than a threshold value in step S150. When the flow chart of FIG. 4 is completed after step S180, the control unit 40 may notify the operator that a foreign object is attached to the suction surface of the suction nozzle 71, for example, by displaying an alert on the display unit 90. According to this first determination step (processing), it can be said that the control unit 40 determines that a foreign object is present when the difference calculated in step S140 is equal to or greater than a predetermined threshold value.

[0035] As described above, according to this embodiment, the control unit 40 identifies the center position of the suction nozzle 71 in the side image 86, and then identifies the range W of the suction surface based on this center position and the width value of the suction surface. In other words, since the range W of the suction surface of the suction nozzle 71 can be accurately identified in the side image 86, the presence or absence of a foreign object can be determined based on the edge within the range W of the suction surface, and it is possible to determine with higher accuracy than conventional methods whether a foreign object is attached to the suction surface.

[0036] The first determination step (processing) is not limited to the above example. The first determination step (processing) is a process for determining the presence or absence of foreign matter by evaluating the flatness of the suction surface of the suction nozzle 71 based on multiple edges detected within the range W of the suction surface. For example, in the first determination step (processing), the control unit 40 may calculate an approximate straight line that approximates the position of each edge detected for each division line as described above, and identify an edge that protrudes downward from this approximate straight line. Then, for the identified edge, the difference in the Z-axis direction between it and nearby edges, including edges of adjacent division lines, may be compared with a threshold value to determine whether the suction surface is flat, i.e., whether a foreign matter is present.

[0037] FIG. 7 is a flowchart illustrating a foreign matter presence / absence determination process executed by the control unit 40, which is different from that shown in FIG. 4. Regarding FIG. 7, differences from the content described above in this embodiment will be described. As described above, multiple situations are conceivable in which the imaging unit captures an image of the suction nozzle 71 and determines whether a foreign matter is present on the suction surface. These multiple situations can be divided into a predetermined first situation and a second situation with stricter time constraints than the first situation. Therefore, in this embodiment, the control unit 40 may execute a "first process" including a center identification process, a range identification process, and a first determination process in the first situation. Furthermore, the control unit 40 may execute a "second process" in the second situation that can determine whether a foreign matter is present or absent more quickly than the first process.

[0038] The first situation is, for example, a situation after the suction nozzle 71 of the movable head (rotary head 70) of the component mounter 10 has been replaced. Also, the situation after the disposal process of discarding the component that was picked up by the suction nozzle 71 has been completed also falls under the first situation. In other words, when the replacement work of the suction nozzle 71 of the rotary head 70 has been performed or when the disposal process has been performed, the control unit 40 captures an image of the suction nozzle 71 with the side camera 80, and determines the presence or absence of a foreign object on the suction surface of the suction nozzle 71 based on the side image 86 obtained by the image capture.

[0039] On the other hand, the second situation is, for example, a situation in which it is confirmed that no component has been picked up by the suction nozzle 71 that has finished mounting a component on the board 12. That is, the control unit 40 uses the side camera 80 to capture an image of the suction nozzle 71 immediately after mounting a component on the board 12, and confirms that no component has been picked up by the suction nozzle 71 based on the side image 86 obtained by the image capture. At this time, if a component is detected in the side image 86, mounting has failed. On the other hand, if no component is detected in the side image 86, mounting has been successful, and the control unit 40 determines whether or not there is a foreign object on the suction surface of the suction nozzle 71. In this second situation, the suction nozzle 71 is about to pick up the next component, so time constraints are relatively strict.

[0040] Therefore, as shown in Fig. 7, the control unit 40 determines whether the current situation is the first situation, and if it is the first situation ("Yes" in step S200), proceeds to step S300 and executes the first process. Here, the processes from step S110 onwards in Fig. 4 are simply referred to as the first process. On the other hand, if the current situation is not the first situation but the second situation ("No" in step S200), the control unit 40 proceeds to step S400 and executes the second process. The second process includes a bottom edge identification process (step S402), a difference calculation process (step S404), and a second determination process (step S406).

[0041] FIG. 8 is a diagram illustrating step S400, showing an example of a side image 86. The second process will be briefly described below. Patent Document 1 may be referenced as appropriate for the second process. In step S402, the control unit 40 determines the bottom edge position of the object area in the axial direction (Z-axis direction) of the suction nozzle 71 based on edge detection in the side image 86. The control unit 40 detects multiple edges in the width direction in the side image 86 that correspond to the bottom edge of the object area, and determines the lowest edge among the multiple edges thus detected as the bottom edge position. FIG. 8 illustrates an example of edge Q0 that corresponds to the bottom edge position.

[0042] In step S404, the control unit 40 calculates a first difference H1, which is the difference in the Z-axis direction between the edge Q1 at a first position that is at least a first set distance D1 away from the lowest edge position (edge ​​Q0) on one side in the width direction, and the lowest edge position (edge ​​Q0). Similarly, the control unit 40 calculates a second difference H2, which is the difference in the Z-axis direction between the edge Q2 at a second position that is at least a second set distance D2 away from the lowest edge position (edge ​​Q0) on the other side in the width direction, and the lowest edge position (edge ​​Q0). In the example of FIG. 8, the first position that is at least the first set distance D1 and the second position that is at least the second set distance D2 are simply regarded as the first position that is at the first set distance D1 and the second position that is at the second set distance D2, respectively. Furthermore, the first set distance D1 and the second set distance D2 may be equal.

[0043] In step S406, the control unit 40 determines whether or not a foreign object is present based on the smaller of the first difference H1 and the second difference H2. In the example of Fig. 8, the second difference H2 is smaller than the first difference H1. Therefore, the control unit 40 compares the second difference H2 with a predetermined threshold value, and if the second difference H2 is equal to or greater than the threshold value, determines that a foreign object is present on the suction surface of the suction nozzle 71, and if the second difference H2 is less than the threshold value, determines that no foreign object is present on the suction surface of the suction nozzle 71.

[0044] Comparing the first and second processes, the spacing between the dividing lines in the width direction when detecting multiple edges from the range W in step S130 of the first process is shorter than the first set distance D1 and the second set distance D2. Therefore, the first process detects edges more frequently on the suction surface of the suction nozzle 71 and on the lower edge of the object area containing foreign matter than the second process, thereby improving the accuracy of evaluating the flatness of the suction surface, i.e., the accuracy of determining the presence or absence of foreign matter. On the other hand, the second process basically determines the presence or absence of foreign matter based on the detection of three edges Q0, Q1, and Q2. Therefore, the computational complexity is smaller than that of the first process, enabling rapid determination of the presence or absence of foreign matter even under strict time constraints. Thus, according to the embodiment shown in FIG. 7 , the control unit 40 selectively uses the first process and the second process depending on the situation, such as the first or second situation. This allows the presence or absence of foreign matter to be determined with high accuracy without reducing the productivity of the component mounter 10.

[0045] Although specific examples of the technology disclosed in this specification have been described in detail above, these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and variations of the specific examples exemplified above. Furthermore, the technical elements described in this specification or 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. Furthermore, the technology exemplified in this specification or drawings simultaneously achieves multiple objectives, and achieving one of those objectives itself has technical utility. [Explanation of symbols]

[0046] 10: Component mounter 12: Circuit board 20: Parts supply device 30: Substrate transport device 40: Control unit 50 Moving mechanism 60: Head unit 70: Rotary head 71: Suction nozzle 72: Foreign matter 80: Side camera 86: Lateral image

Claims

1. a suction nozzle having a suction surface capable of suctioning a component; an imaging unit disposed on the side of the suction nozzle; a control unit that controls the imaging unit to image the suction surface of the suction nozzle from a side, and determines whether or not there is a foreign object on the suction surface based on the image obtained by the imaging, The control unit a center identification process for detecting an edge corresponding to a boundary between a background region corresponding to a background of the suction nozzle and an object region not corresponding to the background on each of one side and the other side in the width direction by scanning a scanning line along a width direction intersecting the axial direction of the suction nozzle in the image, and identifying the midpoint between the two edges as the center position of the suction nozzle in the width direction; a range specifying process for specifying a range of the suction surface in the width direction in the image based on the center position and a preset width value of the suction surface; a first determination process for determining whether or not the foreign matter is present based on the plurality of edges detected within the range of the suction surface.

2. The mounter according to claim 1 , wherein the control unit, in the first determination process, detects the edge for each of a plurality of division lines that divide the range of the suction surface at predetermined intervals in the width direction.

3. 3. The component mounter according to claim 2, wherein the control unit calculates a difference between the edges in the axial direction for each combination of the edges of adjacent parting lines, and determines that the foreign matter is present when the calculated difference is equal to or greater than a predetermined threshold value.

4. When a plurality of situations in which the imaging unit is caused to perform the imaging and the presence or absence of the foreign matter is determined are divided into a predetermined first situation and a second situation in which time constraints are stricter than those of the first situation, The control unit executing a first process including the center identification process, the range identification process, and the first determination process in the first situation; The mounter according to claim 1 , wherein in the second situation, a second process is executed that can determine the presence or absence of the foreign matter faster than the first process.

5. The second process includes: a bottom edge identification process for identifying the bottom edge position of the object region in the axial direction based on the detection of the edge in the image; a difference calculation process that calculates a first difference, which is a difference in the axial direction between the edge at a first position that is a first set distance or more away from the lowest end position on one side in the width direction, and the lowest end position, and a second difference, which is a difference in the axial direction between the edge at a second position that is a second set distance or more away from the lowest end position on the other side in the width direction, and the lowest end position; The mounter according to claim 4 , further comprising: a second determination process for determining the presence or absence of the foreign matter based on a smaller difference between the first difference and the second difference.

6. 5. The component mounter according to claim 4, wherein the first state is a state after the suction nozzle of a movable head of the component mounter has been replaced.

7. 5. The component mounter according to claim 4, wherein the first situation is a situation after a disposal process for disposing of the component that was picked up by the suction nozzle has been completed.

8. 5. The component mounter according to claim 4, wherein the second situation is a situation in which it is confirmed that the component has not been picked up by the suction nozzle that has finished mounting the component on the board.

9. A method for determining whether or not a foreign object is present on a suction surface of a suction nozzle that has a suction surface capable of suctioning a component, the method comprising: an imaging step of controlling an imaging unit disposed on a side of the suction nozzle to image the suction surface of the suction nozzle from the side; a center specifying step of detecting an edge corresponding to a boundary between a background region corresponding to a background of the suction nozzle and an object region not corresponding to the background on each of one side and the other side in the width direction by scanning a scanning line along a width direction intersecting an axial direction of the suction nozzle in the image obtained by the imaging, and specifying a midpoint between the two edges as a center position of the suction nozzle in the width direction; a range specifying step of specifying a range of the suction surface in the width direction in the image based on the center position and a preset width value of the suction surface; a first determination step of determining whether or not the foreign matter is present based on the plurality of edges detected within the range of the attraction surface.

Images