Board work equipment and component mounting equipment

Abstract

To provide a substrate work device that images an imaging object by radiating a light from an illumination from the side similar to the imaging part against the imaging object, capable of easily measuring a light amount of the illumination.SOLUTION: In a component mounting device 100 (a substrate work device), a control part 8 is constructed so as to perform at least one of a first illumination measurement processing for measuring a light amount of a first illumination by imaging a first illumination by a substrate recognition imaging part 43 while radiating a light from the first illumination in a state where the first illumination (a main illumination 71, a side illumination 72, and a co-axial illumination 73) and the substrate recognition imaging part 43 are opposite to a vertical direction and a second illumination measurement processing for measuring the light amount of a second illumination by imaging the second illumination by a component recognition imaging part 7 while radiating the light from the second illumination in a state where the second illumination (a main illumination 431 and a co-axial illumination 432) and the component recognition imaging part 7 are opposite to the vertical direction.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a board working device and a component mounting device, and more particularly to a board working device and a component mounting device that are equipped with an imaging unit and lighting that irradiates light when photographing. [Background technology]

[0002] 2. Description of the Related Art Conventionally, component mounting devices that include an imaging unit and lighting that irradiates light during imaging are known (see, for example, Patent Document 1).

[0003] The above-mentioned Patent Document 1 discloses a component mounting device that includes a mounting head that mounts components on a board, an imaging unit that images the components held by the mounting head from below, and lighting that irradiates the components held by the mounting head with light from above when the imaging unit images them. In the component mounting device of Patent Document 1, before a component is placed between the imaging unit and the lighting, the lighting is imaged by the imaging unit to obtain luminance information of the lighting. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Publication No. 3-214695 Summary of the Invention [Problem to be solved by the invention]

[0005] In the component mounting device of the above Patent Document 1, the component is irradiated with light from above by illumination, the component is imaged from below by the imaging unit, and before the component is placed between the imaging unit and the illumination, the illumination is imaged by the imaging unit to obtain luminance information of the illumination. For this reason, when the component is imaged by irradiating the component with light from the same side (lower side) as the imaging unit, it is difficult to image the illumination by the imaging unit. Also, in the conventional device for irradiating the component with light from illumination from the same side as the imaging unit to image the component, it is known that in order to measure the amount of light of the illumination, the illumination irradiates light to a jig placed opposite the illumination, and the imaging unit images the jig on which the light of the illumination is irradiated, thereby measuring the amount of light of the illumination. In this case, it is necessary to use a jig for measuring the amount of light of the illumination, so that it is difficult to easily measure the amount of light of the illumination. Therefore, it is desired to easily measure the amount of light of the illumination in a device for irradiating the component (image target) with light from illumination from the same side as the imaging unit to image the component.

[0006] The present invention has been made to solve the above-mentioned problems, and one object of the present invention is to provide a board work device and a component mounting device that can easily measure the amount of light from an illumination in an apparatus that captures an image of an object by irradiating the object with light from an illumination unit from the same side as the imaging unit. [Means for solving the problem]

[0007] A board work apparatus according to a first aspect of the present invention includes a working unit that performs work on a board, a first imaging unit that images a first imaging target from below, a first illumination that irradiates the first imaging target with light from below when imaging by the first imaging unit, a second imaging unit that images a second imaging target from above, a second illumination that irradiates the second imaging target with light from above when imaging by the second imaging unit, and a control unit that controls imaging by the first imaging unit and the second imaging unit, wherein the control unit is configured to perform at least one of a first illumination measurement process in which the first illumination and the second imaging unit are opposed to each other in a vertical direction and the first illumination is imaged by the second imaging unit while irradiating light from the first illumination to measure the light amount of the first illumination, and a second illumination measurement process in which the second illumination and the first imaging unit are opposed to each other in a vertical direction and the second illumination is imaged by the first imaging unit while irradiating light from the second illumination to measure the light amount of the second illumination.

[0008] In the board working apparatus according to the first aspect of the present invention, as described above, a control unit is provided that performs at least one of a first lighting measurement process of measuring the light amount of the first lighting by imaging the first lighting with the second imaging unit while irradiating light from the first lighting with the first lighting and the second imaging unit facing each other in the vertical direction, and a second lighting measurement process of measuring the light amount of the second lighting by imaging the second lighting with the first imaging unit while irradiating light from the second lighting with the second lighting and the first imaging unit facing each other in the vertical direction. Thereby, when the light amount of the first lighting that irradiates light from the same downward direction as the first imaging unit to the first imaging target is measured by directly imaging with the second imaging unit, the light amount of the first lighting can be easily measured, unlike when the light amount is measured by irradiating light from the first lighting to a dedicated member such as a jig and imaging it with the first imaging unit. In addition, when the light amount of the second illumination that irradiates the second imaging target with light from the same downward side as the second imaging unit is measured by directly imaging the first imaging unit, the light amount of the second illumination can be easily measured, unlike when a dedicated member such as a jig is irradiated with light from the second illumination and imaged by the second imaging unit to measure the light amount. Also, in a device that irradiates the imaging target with light from the illumination from the same side as the imaging unit to image the imaging target, the light amount of the illumination can be easily measured. Also, since the worker does not need to visually check the light amount of the illumination, an increase in the workload of the worker can be suppressed.

[0009] In the board working apparatus according to the first aspect, the control unit is preferably configured to perform at least one of control to adjust the brightness of the first illumination based on the light quantity of the first illumination measured by the first illumination measurement process, and control to adjust the brightness of the second illumination based on the light quantity of the second illumination measured by the second illumination measurement process. With this configuration, the brightness of the illumination can be adjusted based on the light quantity of the illumination measured by capturing an image of the illumination by the imaging unit located opposite the illumination, so that the brightness of the illumination can be easily adjusted without using a dedicated member such as a jig.

[0010] In the board working apparatus according to the first aspect, the control unit is preferably configured to perform at least one of control for determining whether the brightness of the first lighting is appropriate based on the light quantity of the first lighting measured by the first lighting measurement process, and control for determining whether the brightness of the second lighting is appropriate based on the light quantity of the second lighting measured by the second lighting measurement process. With this configuration, the appropriateness of the brightness of the lighting can be determined based on the light quantity of the lighting measured by capturing an image by an imaging unit located opposite the lighting, so that the appropriateness of the brightness of the lighting can be easily determined without using a dedicated member such as a jig. In addition, since the worker does not need to visually determine the appropriateness of the brightness of the lighting, an increase in the workload of the worker can be suppressed.

[0011] In this case, the control unit is preferably configured to perform at least one of control for determining deterioration of the first illumination based on whether the brightness of the first illumination is appropriate and control for determining deterioration of the second illumination based on whether the brightness of the second illumination is appropriate. With this configuration, it is possible to accurately determine the deterioration state of the illumination from the suitability of the brightness of the illumination based on the image captured by the image capture unit located opposite the illumination.

[0012] In the configuration for performing the process of determining deterioration of the above-mentioned lighting, the control unit is preferably configured to perform at least one of control for determining deterioration of the first lighting based on the light amount of the first lighting and the cumulative amount of current supplied to the first lighting from the start of use, and control for determining deterioration of the second lighting based on the light amount of the second lighting and the cumulative amount of current supplied to the second lighting from the start of use. With this configuration, by determining deterioration based on the cumulative amount of electricity supplied to the lighting, it is possible to confirm deterioration of the lighting before deterioration due to use of the lighting reaches its limit.

[0013] In the configuration for performing the process of determining deterioration of the above-mentioned illumination, the control unit is preferably configured to perform at least one of control for issuing a notification to prompt replacement of the first illumination based on the determination of deterioration of the first illumination, and control for issuing a notification to prompt replacement of the second illumination based on the determination of deterioration of the second illumination. With this configuration, it is possible to prompt replacement of the illumination before the deterioration due to use of the illumination reaches its limit, and therefore it is possible to effectively suppress the occurrence of errors (problems) caused by capturing an image of an imaging target using a deteriorated illumination.

[0014] In the board working device according to the first aspect, the control unit is preferably configured to perform at least one of control to give a notification to encourage replacement of the first lighting based on the cumulative amount of current supplied to the first lighting from the start of use, and control to give a notification to encourage replacement of the second lighting based on the cumulative amount of current supplied to the second lighting from the start of use. With this configuration, deterioration of the lighting can be estimated based on the cumulative amount of current supplied to the lighting, and replacement of the lighting can be encouraged before deterioration due to use of the lighting reaches a limit.

[0015] In the board working apparatus according to the first aspect, the control unit is preferably configured to perform at least one of the following when the first illumination is imaged by the second imaging unit: turning on the first illumination and turning off the second illumination or turning on the second illumination with a light amount less than that at the time of imaging; and when the second illumination is imaged by the first imaging unit, turning on the second illumination and turning off the first illumination or turning on the first illumination with a light amount less than that at the time of imaging. With this configuration, it is possible to prevent disturbance light other than the illumination of the object of light amount measurement from being reflected in the imaging unit, and therefore it is possible to accurately measure the light amount of the illumination of the object.

[0016] In the board working apparatus according to the first aspect, the control unit is preferably configured to perform at least one of control to perform a first lighting measurement process when a cumulative amount of current supplied to the first lighting from the start of use exceeds a first threshold value, and control to perform a second lighting measurement process when a cumulative amount of current supplied to the second lighting from the start of use exceeds a second threshold value. With this configuration, a process to measure the light quantity of the lighting is performed when the cumulative amount of current supplied to the lighting exceeds the threshold value, so that the measurement of the light quantity of the lighting can be performed at an appropriate timing after a certain amount of time has passed since the start of use.

[0017] In the board working apparatus according to the first aspect, the control unit is preferably configured to perform at least one of control to perform a first illumination measurement process based on an instruction to end maintenance including cleaning of the first illumination or the second imaging unit, and control to perform a second illumination measurement process based on an instruction to end maintenance including cleaning of the second illumination or the first imaging unit. With this configuration, in a state in which the illumination and the imaging unit have been cleaned to remove fogging and dirt such as dust through maintenance, the imaging unit can capture an image of the illumination and measure the amount of light of the illumination, so that the amount of light of the illumination can be measured with high accuracy.

[0018] In the board working apparatus according to the first aspect, the control unit is preferably configured to perform at least one of control to perform a first illumination measurement process when a recognition error of the first imaging object occurs from an imaging result of the first imaging object by the first imaging unit, and control to perform a second illumination measurement process when a recognition error of the second imaging object occurs from an imaging result of the second imaging object by the second imaging unit. With this configuration, it is possible to determine whether or not the recognition error of the imaging object is caused by a decrease in the amount of light of the illumination, and therefore the cause of the recognition error can be accurately determined.

[0019] In the board working apparatus according to the first aspect, the control unit is preferably configured to perform at least one of the following: a control for comparing a predicted value of the light amount due to deterioration of the first illumination with a measured value of the light amount of the first illumination, and determining that the light amount of the first illumination has decreased due to a reason other than deterioration when the measured value is smaller than the predicted value and the difference between the predicted value and the measured value is larger than a third threshold value or when the rate of decrease in the measured value is larger than a fourth threshold value; and a control for comparing a predicted value of the light amount due to deterioration of the second illumination with a measured value of the light amount of the second illumination, and determining that the light amount of the second illumination has decreased due to a reason other than deterioration when the measured value is smaller than the predicted value and the difference between the predicted value and the measured value is larger than a fifth threshold value or when the rate of decrease in the measured value is larger than a sixth threshold value. With this configuration, it can be determined based on the threshold value whether the light amount of the illumination has decreased due to fogging or dirt such as dust on the illumination and the imaging unit or due to the illumination deterioration, so that the deterioration of the illumination can be easily and accurately determined.

[0020] A component mounting device according to a second aspect of the present invention includes a mounting head that mounts components on a board, a first imaging unit that images a first imaging object from below, the first imaging object including a component held by the mounting head and mounted on the board, a first illumination that irradiates light from below onto the first imaging object when imaging by the first imaging unit, a second imaging unit that images a second imaging object including the board from above, the second illumination that irradiates light from above onto the second imaging object when imaging by the second imaging unit, and a control unit that controls imaging by the first imaging unit and the second imaging unit, wherein the control unit is configured to perform at least one of a first illumination measurement process in which the first illumination and the second imaging unit are opposed to each other in the vertical direction and the first illumination is imaged by the second imaging unit while irradiating light from the first illumination to measure the light amount of the first illumination, and a second illumination measurement process in which the second illumination and the first imaging unit are opposed to each other in the vertical direction and the second illumination is imaged by the first imaging unit while irradiating light from the second illumination to measure the light amount of the second illumination.

[0021] In the component mounting device according to the second aspect of the present invention, as described above, a control unit is provided that performs at least one of a first lighting measurement process in which the first lighting and the second imaging unit are opposed to each other in the vertical direction, and the first lighting is imaged by the second imaging unit while irradiating light from the first lighting to measure the light amount of the first lighting, and a second lighting measurement process in which the second lighting and the first imaging unit are opposed to each other in the vertical direction, and the second lighting is imaged by the first imaging unit while irradiating light from the second lighting to measure the light amount of the second lighting. Thereby, when the light amount of the first lighting that irradiates light from the same downward direction as the first imaging unit to the first imaging target is measured by directly imaging the second imaging unit, the light amount of the first lighting can be easily measured, unlike when the light amount is measured by irradiating light from the first lighting to a dedicated member such as a jig and imaging the first imaging unit. Furthermore, when the light amount of the second illumination that irradiates the second imaging target with light from the same downward side as the second imaging unit is measured by directly imaging with the first imaging unit, the light amount of the second illumination can be easily measured, unlike when a dedicated member such as a jig is irradiated with light from the second illumination and imaged with the second imaging unit to measure the light amount. Furthermore, in a device that irradiates the imaging target with light from the illumination from the same side as the imaging unit to image the imaging target, it is possible to provide a component mounting device that can easily measure the light amount of the illumination.

[0022] In the component mounting device according to the second aspect, the control unit is preferably configured to, when capturing an image of the first illumination by the second imaging unit, divide the first illumination into a plurality of imaging regions in a plan view and capture images in the plurality of imaging regions while moving the second imaging unit in a horizontal direction relative to the first illumination. With this configuration, even if the horizontal size of the first illumination is larger than the imaging range of the second imaging unit, the first illumination can be divided into a plurality of imaging regions and captured, so that the light amount of the entire first illumination can be reliably measured.

[0023] In this case, the control unit is preferably configured to determine the number of divisions into the multiple imaging regions based on the imaging range of the second imaging unit and the size of the first illumination. With this configuration, the imaging region can be divided just enough, so that the entire first illumination can be efficiently imaged.

[0024] In the component mounting device according to the second aspect, the first illumination preferably includes a side illumination that irradiates the component with light from a side, a first coaxial illumination that irradiates light in a direction overlapping with the optical axis of the first imaging unit, and a first main illumination arranged around the first imaging unit, and the control unit is configured to, when imaging the first illumination with the second imaging unit, individually turn on the side illumination, the first coaxial illumination, and the first main illumination to capture images and measure the light intensity of each of the side illumination, the first coaxial illumination, and the first main illumination. With this configuration, the light intensities of the side illumination, the first coaxial illumination, and the first main illumination of the first illumination are individually measured, so that the light intensity of each of the side illumination, the first coaxial illumination, and the first main illumination can be accurately measured.

[0025] In the component mounting device according to the second aspect, the second illumination preferably includes a second coaxial illumination that irradiates light in a direction overlapping with the optical axis of the second imaging unit and a second main illumination arranged in the periphery of the second imaging unit, and the control unit is configured to, when imaging the second illumination by the first imaging unit, individually turn on the second coaxial illumination and the second main illumination to capture the image and measure the amount of light of each of the second coaxial illumination and the second main illumination. With this configuration, the amount of light of each of the second coaxial illumination and the second main illumination of the second illumination is individually measured, so that the amount of light of each of the second coaxial illumination and the second main illumination can be measured with high accuracy. Effect of the Invention

[0026] According to the present invention, as described above, in an apparatus that captures an image of an object by irradiating the object with light from an illumination device from the same side as the imaging unit, the amount of illumination light can be easily measured. [Brief description of the drawings]

[0027] [Figure 1] 1 is a plan view showing an outline of a component mounting apparatus according to an embodiment of the present invention; [Diagram 2]FIG. 2 is a block diagram showing a control configuration of the component mounting apparatus according to an embodiment of the present invention. [Diagram 3] 2 is a side view showing a component recognition imaging unit of the component mounting apparatus according to the embodiment of the present invention; FIG. [Figure 4] 2 is a plan view showing a component recognition imaging unit of the component mounting apparatus according to the embodiment of the present invention; FIG. [Diagram 5] 2 is a side view showing a board recognition imaging unit of the component mounting apparatus according to the embodiment of the present invention; FIG. [Figure 6] 5 is a diagram for explaining measurement of the amount of light of illumination of a component recognition imaging unit of a component mounting apparatus according to an embodiment of the present invention. FIG. [Figure 7] 11 is a diagram for explaining measurement of the amount of light of illumination of a board recognition imaging unit of a component mounting apparatus according to an embodiment of the present invention. FIG. [Figure 8] 10 is a diagram for explaining division of an imaging area when capturing an image of illumination of a component recognition imaging section of a component mounting apparatus according to an embodiment of the present invention. FIG. [Figure 9] 10A and 10B are diagrams for explaining a decrease in the amount of light due to deterioration of the illumination of the component mounting device according to an embodiment of the present invention. [Figure 10] 11A and 11B are diagrams for explaining a decrease in the amount of light due to reasons other than deterioration of the illumination of the component mounting device according to an embodiment of the present invention. [Figure 11] 5 is a flowchart for explaining a light amount adjustment process of the component mounting apparatus according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0028] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

[0029] The configuration of a component mounting apparatus 100 according to an embodiment of the present invention will be described with reference to FIGS.

[0030] As shown in FIG. 1, component mounting apparatus 100 is a component mounting apparatus that transports a board S in the X direction by a pair of conveyors 2 and mounts components 31 on the board S at a mounting position M.

[0031] The component mounting apparatus 100 includes a base 1, a pair of conveyors 2, a component supply unit 3, a head unit 4, a moving mechanism 5, a moving mechanism 6, a component recognition imaging unit 7, and a control unit 8. The component recognition imaging unit 7 is an example of a "first imaging unit" in the claims. The component mounting apparatus 100 is also an example of a "board working device" in the claims.

[0032] The pair of conveyors 2 are installed on a base 1 and configured to transport the board S in the X direction. The pair of conveyors 2 are provided with a holding mechanism that holds the board S during transportation in a stopped state at the mounting work position M. The pair of conveyors 2 are also configured so that the distance between them in the Y direction can be adjusted to match the dimensions of the board S.

[0033] The component supply unit 3 is disposed on the outer sides (Y1 side and Y2 side) of the pair of conveyors 2. Furthermore, the component supply unit 3 is provided with a tape feeder 30 that supplies components 31 to the mounting head 42. Furthermore, the component supply unit 3 is configured so that a plurality of tape feeders 30 can be disposed therein.

[0034] The tape feeder 30 supplies the components 31 while feeding out the component supply tape holding the components 31. Specifically, the tape feeder 30 holds a reel around which a component supply tape is wound, holding a plurality of components 31 at predetermined intervals. The tape feeder 30 is configured to feed the component supply tape on the reel toward the component supply position. The tape feeder 30 is configured to supply the components 31 from its leading end in the Y direction. Here, the components 31 include electronic components such as ICs, transistors, capacitors, resistors, and connectors.

[0035] 1, the head unit 4 is disposed above the pair of conveyors 2 and the component supply unit 3, and includes a plurality (five) of mounting heads 42 each having a nozzle 41 attached to its lower end, and a board recognition imaging unit 43. The board recognition imaging unit 43 is an example of the "second imaging unit" in the claims.

[0036] The mounting head 42 is configured to perform an operation on the board S. The mounting head 42 is configured to mount the components 31 on the board S. Specifically, the mounting head 42 is configured to pick up the components 31 supplied from the tape feeder 30 arranged in the component supply unit 3, and mount the picked up components 31 on the board S arranged at the mounting operation position M. The mounting head 42 is also configured to be capable of ascending and descending (moving in the Z direction). The mounting head 42 is also configured to pick up and hold the components 31 supplied from the tape feeder 30 by a negative pressure generated at the tip of the nozzle 41 by a negative pressure generator (not shown), and mount (mount) the components 31 at the mounting position on the board S. The mounting head 42 is an example of a "working unit" in the claims.

[0037] The board recognition imaging unit 43 images the board S as the second imaging target from above. The board recognition imaging unit 43 is configured to image the fiducial mark F of the board S in order to recognize the position and posture of the board S. Then, by imaging and recognizing the position of the fiducial mark F, it is possible to accurately obtain the mounting position of the component 31 on the board S.

[0038] The board recognition imaging unit 43 is provided with a second illumination that irradiates light from above onto the board S as a second imaging target when the board recognition imaging unit 43 captures an image. As shown in FIG. 2 and FIG. 5, the second illumination includes a coaxial illumination 432 that irradiates light in a direction overlapping with the optical axis of the board recognition imaging unit 43, and a main illumination 431 arranged around the board recognition imaging unit 43. The main illumination 431 and the coaxial illumination 432 each have a light source such as an LED (light emitting diode). The coaxial illumination 432 irradiates light onto the board S with light reflected by a half mirror 433. The board recognition imaging unit 43 captures an image of the board S with light transmitted through the half mirror 433. The main illumination 431 and the coaxial illumination 432 can be turned on individually. The main illumination 431 is an example of a "second main illumination" in the claims, and the coaxial illumination 432 is an example of a "second coaxial illumination" in the claims.

[0039] 1, the movement mechanism 5 includes a motor 51. The movement mechanism 5 is configured to move the head unit 4 in the X direction along the movement mechanism 5 by driving the motor 51. The movement mechanism 5 is supported at both ends by movement mechanisms 6.

[0040] The moving mechanism 6 is fixed on the base 1. The moving mechanism 6 on the X1 side includes a motor 61. The moving mechanism 6 is configured to move the moving mechanism 5 in the Y direction perpendicular to the X direction along the moving mechanism 6 by driving the motor 61. The head unit 4 is movable in the X direction along the moving mechanism 5, and the moving mechanism 5 is movable in the Y direction along the moving mechanism 6, so that the head unit 4 is movable in the horizontal direction (XY direction). In other words, the moving mechanisms 5 and 6 are configured to move the mounting head 42 in the horizontal direction.

[0041] The component recognition imaging unit 7 images the component 31 as the first imaging target from below. The component recognition imaging unit 7 is fixed on the upper surface of the base 1. The component recognition imaging unit 7 is disposed on the outer side (Y1 side and Y2 side) of the pair of conveyors 2. The component recognition imaging unit 7 is configured to image the component 31 picked up by the nozzle 41 of the mounting head 42 from the lower side (Z2 side) in order to image the component 31 prior to mounting the component 31 and recognize the suction state (suction posture) of the component 31. This allows the control unit 8 to acquire the suction state of the component 31 picked up by the nozzle 41 of the mounting head 42.

[0042] The component recognition imaging unit 7 is provided with a first illumination that irradiates light from below onto the component 31 as a first imaging target when the component recognition imaging unit 7 captures an image. As shown in FIG. 2 and FIG. 3, the first illumination includes a side illumination 72 that irradiates light from the side onto the component 31, a coaxial illumination 73 that irradiates light in a direction overlapping with the optical axis of the component recognition imaging unit 7, and a main illumination 71 arranged around the component recognition imaging unit 7. The main illumination 71, the side illumination 72, and the coaxial illumination 73 each have a light source such as an LED (light emitting diode). The coaxial illumination 73 irradiates light onto the component 31 with light reflected by a half mirror 731. The component recognition imaging unit 7 captures an image of the component 31 with light passing through the half mirror 731. The main illumination 71, the side illumination 72, and the coaxial illumination 73 can be turned on individually. The main illuminator 71 is an example of a "first main illuminator" in the claims, and the coaxial illuminator 73 is an example of a "first coaxial illuminator" in the claims.

[0043] The control unit 8 is configured to control the overall operation of the component mounting apparatus 100, such as the transport operation of the board S by the pair of conveyors 2, the mounting operation by the head unit 4, and the imaging operation by the component recognition imaging unit 7 and the board recognition imaging unit 43.

[0044] Specifically, the control unit 8 has, as its control configuration, a CPU (central processing unit) 81, a storage device 82, a memory 83, a display unit 84, an input device 85, a camera I / F 86, and a lighting controller 87.

[0045] The storage device 82 stores information on the board S, information on the components 31, a program for performing the mounting operation, etc. The storage device 82 includes, for example, an HDD (hard disk drive) or an SSD (solid state drive).

[0046] The memory 83 is configured to store information during operation of the CPU 81. The display unit 84 is configured to display the state of the component mounting apparatus 100, information on the boards S being produced, and the like. The input device 85 is configured to input operations by a user to the component mounting apparatus 100. The input device 85 includes, for example, a mouse, a keyboard, a switch, a touch panel, and the like.

[0047] The component recognition imaging unit 7 and the board recognition imaging unit 43 are connected to the camera I / F (interface) 86. The camera I / F 86 is also connected to the CPU 81. This is configured to connect the CPU 81 to the component recognition imaging unit 7 and the board recognition imaging unit 43, respectively.

[0048] The lighting controller 87 is configured to turn on each of the main lighting 431, the coaxial lighting 432, the main lighting 71, the side lighting 72, and the coaxial lighting 73 under the control of the CPU 81. The CPU 81 also controls the timing of turning on the main lighting 431, the coaxial lighting 432, the main lighting 71, the side lighting 72, and the coaxial lighting 73. The CPU 81 also controls the adjustment of the light intensity of the main lighting 431, the coaxial lighting 432, the main lighting 71, the side lighting 72, and the coaxial lighting 73. Specifically, the CPU 81 adjusts the current value supplied to the main lighting 431, the coaxial lighting 432, the main lighting 71, the side lighting 72, and the coaxial lighting 73 to adjust the light intensity. Alternatively, the CPU 81 adjusts the duty ratio (the ratio of the on / off time) of the current supplied to the main lighting 431, the coaxial lighting 432, the main lighting 71, the side lighting 72, and the coaxial lighting 73 to adjust the light intensity.

[0049] In this embodiment, the control unit 8 measures the amount of light from the first illuminators (main illuminator 71, side illuminator 72, coaxial illuminator 73) by imaging the first illuminators (main illuminator 71, side illuminator 72, coaxial illuminator 73) with the board recognition imaging unit 43 while irradiating light from the first illuminators (main illuminator 71, side illuminator 72, coaxial illuminator 73) in a state in which the first illuminators (main illuminator 71, side illuminator 72, coaxial illuminator 73) and the board recognition imaging unit 43 face each other in the vertical direction. At least one of a first lighting measurement process (see FIG. 6) and a second lighting measurement process (see FIG. 7) is performed in which the second lighting (main lighting 431, coaxial lighting 432) and the component recognition imaging unit 7 are opposed in the vertical direction, light is emitted from the second lighting (main lighting 431, coaxial lighting 432) while the second lighting (main lighting 431, coaxial lighting 432) is imaged by the component recognition imaging unit 7, and the amount of light of the second lighting (main lighting 431, coaxial lighting 432) is measured.

[0050] The control unit 8 is configured to perform at least one of control to adjust the brightness of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) based on the light amount of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) measured by the first lighting measurement process, and control to adjust the brightness of the second lighting (main lighting 431, coaxial lighting 432) based on the light amount of the second lighting (main lighting 431, coaxial lighting 432) measured by the second lighting measurement process.

[0051] The control unit 8 is configured to perform at least one of control to determine deterioration of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) based on the light intensity of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) measured by the first lighting measurement process, and control to determine deterioration of the second lighting (main lighting 431, coaxial lighting 432) based on the light intensity of the second lighting (main lighting 431, coaxial lighting 432) measured by the second lighting measurement process.

[0052] The control unit 8 is configured to perform at least one of the following: control to determine whether the brightness of the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) is appropriate based on the light quantity of the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) measured by the first illumination measurement process; and control to determine whether the brightness of the second illumination (main illumination 431, coaxial illumination 432) is appropriate based on the light quantity of the second illumination (main illumination 431, coaxial illumination 432) measured by the second illumination measurement process. The control unit 8 is also configured to perform at least one of the following: control to determine deterioration of the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) based on the suitability of the brightness of the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) and control to determine deterioration of the second illumination (main illumination 431, coaxial illumination 432) based on the suitability of the brightness of the second illumination (main illumination 431, coaxial illumination 432).

[0053] The control unit 8 is configured to perform at least one of control to determine deterioration of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) based on the light intensity of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) and the cumulative amount of current supplied to the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) from the start of use, and control to determine deterioration of the second lighting (main lighting 431, coaxial lighting 432) based on the light intensity of the second lighting (main lighting 431, coaxial lighting 432) and the cumulative amount of current supplied to the second lighting (main lighting 431, coaxial lighting 432) from the start of use.

[0054] Specifically, the control unit 8 stores the cumulative total of the current supplied to the first illumination (the main illumination 71, the side illumination 72, and the coaxial illumination 73) in the storage device 82. The control unit 8 also stores the cumulative total of the current supplied to the second illumination (the main illumination 431 and the coaxial illumination 432) in the storage device 82. Then, the control unit 8 determines the deterioration of the light-emitting elements (LEDs) of the first illumination and the second illumination based on the cumulative values ​​of the currents of the first illumination and the second illumination stored in the storage device 82.

[0055] In addition, when the cumulative value of the current of the first lighting (second lighting) stored in the memory device 82 exceeds a threshold value, the control unit 8 measures the light amount of the first lighting (second lighting) by a first lighting measurement process (second lighting measurement process).

[0056] In addition, the control unit 8 is configured to perform at least one of control to issue a notification to encourage replacement of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) based on a determination of deterioration of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73), and control to issue a notification to encourage replacement of the second lighting (main lighting 431, coaxial lighting 432) based on a determination of deterioration of the second lighting (main lighting 431, coaxial lighting 432).

[0057] When the light intensity of the first and second lights is lower than the replacement recommendation threshold value based on the determination of deterioration of the first and second lights, the control unit 8 issues a notification recommending replacement. The notification recommending replacement is sent to, for example, the display unit 84, an external control device, or a mobile terminal carried by the worker. The replacement recommendation threshold value is set higher than the light intensity at which replacement of the first and second lights is essential.

[0058] In addition, the control unit 8 is configured to perform at least one of control to issue a notification to encourage replacement of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) based on the cumulative amount of current supplied to the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) from the start of use, and control to issue a notification to encourage replacement of the second lighting (main lighting 431, coaxial lighting 432) based on the cumulative amount of current supplied to the second lighting (main lighting 431, coaxial lighting 432) from the start of use.

[0059] In addition, the control unit 8 is configured to perform at least one of the following controls: when the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) is imaged by the board recognition imaging unit 43, turning on the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) and turning off the second lighting (main lighting 431, coaxial lighting 432) or turning on the second lighting (main lighting 431, coaxial lighting 432) with a light intensity lower than that at the time of imaging; and when the second lighting (main lighting 431, coaxial lighting 432) is imaged by the component recognition imaging unit 7, turning on the second lighting (main lighting 431, coaxial lighting 432) and turning off the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) or turning on the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) with a light intensity lower than that at the time of imaging.

[0060] In addition, the control unit 8 is configured to perform at least one of control to perform a first lighting measurement process when the cumulative amount of current supplied to the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) from the start of use exceeds a first threshold value, and control to perform a second lighting measurement process when the cumulative amount of current supplied to the second lighting (main lighting 431, coaxial lighting 432) from the start of use exceeds a second threshold value.

[0061] As shown in Fig. 9, the control unit 8 issues a notification to encourage replacement of the first and second lights when the rate of decrease in the light intensity of the first and second lights increases and falls below a set threshold value after the cumulative lighting time of the first and second lights reaches the set time T1, or when the value of the correction current becomes equal to or greater than a set threshold value. The correction current is a current that is corrected to improve the light intensity when the light intensity of the first and second lights is decreased. In other words, when the light intensity of the first and second lights decreases, the correction current increases.

[0062] In addition, the control unit 8 is configured to perform at least one of control to perform a first lighting measurement process based on an instruction to end maintenance including cleaning of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73), the board recognition imaging unit 43, the optical system (lens, half mirror) or the cover (lighting cover), and control to perform a second lighting measurement process based on an instruction to end maintenance including cleaning of the second lighting (main lighting 431, coaxial lighting 432), the component recognition imaging unit 7, the optical system (lens, half mirror) or the cover (lighting cover).

[0063] In addition, the control unit 8 is configured to perform at least one of control to perform a first lighting measurement process when a recognition error occurs for the first imaging target (component 31) from the imaging result of the first imaging target (component 31) by the component recognition imaging unit 7, and control to perform a second lighting measurement process when a recognition error occurs for the second imaging target (board S) from the imaging result of the second imaging target (board S) by the board recognition imaging unit 43.

[0064] Furthermore, the control unit 8 compares the predicted value of the light amount due to deterioration of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) with the measured value of the light amount of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73), and when the measured value is smaller than the predicted value and the difference between the predicted value and the measured value is larger than a third threshold value, or when the rate of decrease in the measured value is larger than a fourth threshold value, the control unit 8 determines that the light amount of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) has decreased due to a reason other than deterioration. and comparing a predicted value of the light intensity due to deterioration of the second lighting (main lighting 431, coaxial lighting 432) with a measured value of the light intensity of the second lighting (main lighting 431, coaxial lighting 432), and determining that the light intensity of the second lighting (main lighting 431, coaxial lighting 432) has decreased for reasons other than deterioration if the measured value is smaller than the predicted value and the difference between the predicted value and the measured value is greater than a fifth threshold value or if the rate of decrease in the measured value is greater than a sixth threshold value.

[0065] 10, the control unit 8 compares the predicted change (reduction) in the amount of light due to deterioration of the first illumination and the second illumination with the actually measured change in the amount of light, and if the difference between the predicted change and the actual change in the amount of light is greater than a threshold value, the control unit 8 does not determine that the reduction in the amount of light is due to deterioration of the first illumination and the second illumination. In this case, the control unit 8 determines that the reduction in the amount of light of the first illumination and the second illumination is due to other causes (for example, adhesion of foreign matter (such as dust) to the first illumination, the second illumination, the component recognition imaging unit 7, or the board recognition imaging unit 43, a component falling off the component recognition imaging unit 7, or dirt on a lens provided in the component recognition imaging unit 7 or the board recognition imaging unit 43).

[0066] In addition, when the control unit 8 images the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) using the board recognition imaging unit 43, it is configured to divide it into multiple imaging areas in a planar view and capture images in the multiple imaging areas while moving the board recognition imaging unit 43 horizontally relative to the first lighting (main lighting 71, side lighting 72, coaxial lighting 73).

[0067] In addition, the control unit 8 is configured to determine the number of divisions into multiple imaging regions based on the imaging range of the board recognition imaging unit 43 and the size of the first illumination (main illumination 71, side illumination 72, coaxial illumination 73).

[0068] 8, the control unit 8 divides the imaging range of the board recognition imaging unit 43 into a plurality of imaging regions A1 to A9 and sequentially captures images. The imaging regions A1 to A9 are set so that their ends slightly overlap. The control unit 8 then obtains an image of the entire first illumination by combining the imaging results obtained by capturing images divided into the plurality of imaging regions A1 to A9.

[0069] In addition, when the control unit 8 captures an image of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) using the board recognition imaging unit 43, the control unit 8 is configured to turn on the side lighting 72, the coaxial lighting 73, and the main lighting 71 individually to capture an image, and to measure the amount of light of each of the side lighting 72, the coaxial lighting 73, and the main lighting 71.

[0070] In addition, when the control unit 8 captures an image of the second lighting (main lighting 431, coaxial lighting 432) using the part recognition imaging unit 7, the control unit 8 is configured to turn on the coaxial lighting 432 and the main lighting 431 individually to capture the image and measure the amount of light of each of the coaxial lighting 432 and the main lighting 431.

[0071] (Light intensity adjustment process) Next, the light amount adjustment process performed by the control unit 8 of the component mounting apparatus 100 will be described with reference to FIG.

[0072] 11, the control unit 8 moves the board recognition imaging unit 43 to make the board recognition imaging unit 43 and the component recognition imaging unit 7 face each other in the vertical direction. Specifically, the control unit 8 moves the head unit 4 in the XY directions to move the board recognition imaging unit 43. Then, the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) and the board recognition imaging unit 43 face each other in the vertical direction, and the second illumination (main illumination 431, coaxial illumination 432) and the component recognition imaging unit 7 face each other in the vertical direction.

[0073] In step S2, the control unit 8 captures images of the illuminations. Specifically, as shown in Fig. 6, the first illuminations (main illumination 71, side illumination 72, coaxial illumination 73) are imaged by the board recognition imaging unit 43 while emitting light from the first illuminations (main illumination 71, side illumination 72, coaxial illumination 73). Also, as shown in Fig. 7, the second illuminations (main illumination 431, coaxial illumination 432) are imaged by the component recognition imaging unit 7 while emitting light from the second illuminations (main illumination 431, coaxial illumination 432).

[0074] In step S3, the control unit 8 judges whether the imaging range of the imaging unit is larger than the size of the illumination of the imaging target. If the imaging range is larger, the process proceeds to step S7, and if the imaging range is smaller, the process proceeds to step S4. In step S4, the control unit 8 proceeds to a process of performing imaging multiple times. Specifically, the process proceeds to a process of dividing the area into multiple imaging regions in a planar view and performing imaging in the multiple imaging regions while moving the imaging unit horizontally relative to the illumination.

[0075] In step S5, the control unit 8 judges whether or not the entire illumination of the imaging target has been captured. If the entire illumination of the imaging target has been captured, the process proceeds to step S6, and if the entire illumination of the imaging target has not been captured, the process returns to step S1. In step S6, the control unit 8 combines the captured images. That is, the control unit 8 arranges and synthesizes the captured images captured by dividing the imaging area according to the imaging area.

[0076] In step S7, the control unit 8 checks the state of the lighting. In step S8, the control unit 8 judges whether the average luminance value of the designated lighting range is within the standard value. If the average luminance value of the designated lighting range is within the standard value, the light amount adjustment process is terminated. If the average luminance value of the designated lighting range is outside the standard value, the process proceeds to step S9.

[0077] In step S9, the control unit 8 judges whether or not it is possible to increase the current value for turning on the light. If the current value can be increased, the process proceeds to step S10, and if the current value cannot be increased, the process proceeds to step S11. In step S10, the control unit 8 changes the current value for turning on the light. Specifically, the control unit 8 increases the current value for turning on the light so as to brighten the light. Note that the control unit 8 may increase the duty ratio when supplying power to the light to turn it on so as to brighten the light. Then, the process returns to step S1.

[0078] In step S11, the control unit 8 notifies the user of an error. In step S12, the control unit 8 notifies the user to clean the light. After the user cleans the light, the process returns to step S1.

[0079] (Effects of this embodiment) In this embodiment, the following effects can be obtained.

[0080] In this embodiment, as described above, a control unit 8 is provided that performs at least one of a first lighting measurement process in which the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) and the board recognition imaging unit 43 are opposed in the vertical direction, light is irradiated from the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) and the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) is imaged by the board recognition imaging unit 43 to measure the amount of light of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73), and a second lighting measurement process in which the second lighting (main lighting 431, coaxial lighting 432) and the component recognition imaging unit 7 are opposed in the vertical direction, light is irradiated from the second lighting (main lighting 431, coaxial lighting 432) and the second lighting (main lighting 431, coaxial lighting 432) is imaged by the component recognition imaging unit 7 to measure the amount of light of the second lighting (main lighting 431, coaxial lighting 432). As a result, when the light amount of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) which irradiates light onto the first imaging target (component 31) from below in the same manner as the component recognition imaging unit 7 is measured by direct imaging using the board recognition imaging unit 43, the light amount of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) can be easily measured, unlike when light is irradiated from the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) onto a dedicated component such as a jig and then imaged using the component recognition imaging unit 7 to measure the light amount. In addition, when the light quantity of the second illumination (main illumination 431, coaxial illumination 432) that irradiates the second imaging target with light from the same upper side as the board recognition imaging unit 43 is measured by direct imaging by the component recognition imaging unit 7, the light quantity of the second illumination (main illumination 431, coaxial illumination 432) can be easily measured, unlike the case where light is irradiated from the second illumination (main illumination 431, coaxial illumination 432) to a dedicated member such as a jig and imaged by the board recognition imaging unit 43 to measure the light quantity. Also, in a device that irradiates light from the illumination to the imaging target from the same side as the imaging unit to image the imaging target, the light quantity of the illumination can be easily measured. Also, since the worker does not need to visually check the light quantity of the illumination, the workload of the worker can be suppressed from increasing.

[0081] In the present embodiment, as described above, the control unit 8 is configured to perform at least one of the following: control to adjust the brightness of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) based on the light amount of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) measured by the first lighting measurement process; and control to adjust the brightness of the second lighting (main lighting 431, coaxial lighting 432) based on the light amount of the second lighting (main lighting 431, coaxial lighting 432) measured by the second lighting measurement process. This allows the brightness of the lighting to be adjusted based on the light amount of the lighting measured by capturing an image of the lighting by the imaging unit located opposite the lighting, so that the brightness of the lighting can be easily adjusted without using a dedicated member such as a jig.

[0082] In addition, in this embodiment, as described above, the control unit 8 is configured to perform at least one of the following: control to determine the deterioration of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) based on the light quantity of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) measured by the first lighting measurement process; and control to determine the deterioration of the second lighting (main lighting 431, coaxial lighting 432) based on the light quantity of the second lighting (main lighting 431, coaxial lighting 432) measured by the second lighting measurement process. As a result, the deterioration of the lighting can be determined based on the light quantity of the lighting measured by imaging by the imaging unit at a position facing the lighting, so that the deterioration of the lighting can be easily determined without using a dedicated member such as a jig. In addition, since the worker does not need to determine the deterioration of the lighting by visual inspection, the increase in the workload of the worker can be suppressed.

[0083] In the present embodiment, as described above, the control unit 8 is configured to perform at least one of the following: control to determine deterioration of the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) based on whether the brightness of the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) is appropriate; and control to determine deterioration of the second illumination (main illumination 431, coaxial illumination 432) based on whether the brightness of the second illumination (main illumination 431, coaxial illumination 432) is appropriate. This makes it possible to accurately determine the deterioration state of the illumination from whether the brightness of the illumination is appropriate based on the image captured by the image capture unit positioned opposite the illumination.

[0084] In the present embodiment, as described above, the control unit 8 is configured to perform at least one of the following: control to determine deterioration of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) based on the light intensity of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) and the cumulative amount of current supplied to the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) from the start of use; and control to determine deterioration of the second lighting (main lighting 431, coaxial lighting 432) based on the light intensity of the second lighting (main lighting 431, coaxial lighting 432) and the cumulative amount of current supplied to the second lighting (main lighting 431, coaxial lighting 432) from the start of use. In this way, by determining deterioration based on the cumulative amount of electricity supplied to the lighting, deterioration of the lighting can be confirmed before deterioration due to use of the lighting reaches its limit.

[0085] In the present embodiment, as described above, the control unit 8 is configured to perform at least one of the following: control to give a notification to prompt replacement of the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) based on a determination of deterioration of the first illumination (main illumination 71, side illumination 72, coaxial illumination 73), and control to give a notification to prompt replacement of the second illumination (main illumination 431, coaxial illumination 432) based on a determination of deterioration of the second illumination (main illumination 431, coaxial illumination 432). This makes it possible to prompt replacement of the illumination before deterioration due to use of the illumination reaches its limit, thereby effectively suppressing the occurrence of errors (faults) caused by capturing an image of an imaging target using a deteriorated illumination.

[0086] In the present embodiment, as described above, the control unit 8 is configured to perform at least one of the following: control to give a notification to encourage replacement of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) based on the cumulative amount of current supplied to the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) from the start of use; and control to give a notification to encourage replacement of the second lighting (main lighting 431, coaxial lighting 432) based on the cumulative amount of current supplied to the second lighting (main lighting 431, coaxial lighting 432) from the start of use. This makes it possible to estimate deterioration of the lighting based on the cumulative amount of current supplied to the lighting, and to encourage replacement of the lighting before deterioration due to use of the lighting reaches its limit.

[0087] In the present embodiment, as described above, the control unit 8 is configured to perform at least one of the following controls: when the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) is imaged by the board recognition imaging unit 43, the control unit 8 turns on the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) and turns off the second illumination (main illumination 431, coaxial illumination 432) or turns on the second illumination (main illumination 431, coaxial illumination 432) with a light amount smaller than that at the time of imaging; and when the second illumination (main illumination 431, coaxial illumination 432) is imaged by the component recognition imaging unit 7, the control unit 8 turns on the second illumination (main illumination 431, coaxial illumination 432) and turns off the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) or turns on the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) with a light amount smaller than that at the time of imaging. This makes it possible to prevent ambient light other than the illumination of the object of light amount measurement from being reflected in the imaging unit, so that the light amount of the illumination of the object can be measured with high accuracy.

[0088] In this embodiment, as described above, the control unit 8 is configured to perform at least one of control to perform a first illumination measurement process when the cumulative amount of current supplied to the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) from the start of use exceeds a first threshold value, and control to perform a second illumination measurement process when the cumulative amount of current supplied to the second illumination (main illumination 431, coaxial illumination 432) from the start of use exceeds a second threshold value. As a result, a process to measure the light intensity of the illumination is performed when the cumulative amount of current supplied to the illumination exceeds the threshold value, so that the measurement of the light intensity of the illumination can be performed at an appropriate timing after a certain amount of time has passed since the start of use.

[0089] Furthermore, in this embodiment, as described above, the control unit 8 is configured to perform at least one of control to perform a first illumination measurement process based on an instruction to end maintenance including cleaning of the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) or the board recognition imaging unit 43, and control to perform a second illumination measurement process based on an instruction to end maintenance including cleaning of the second illumination (main illumination 431, coaxial illumination 432) or the component recognition imaging unit 7. As a result, in a state in which fogging and dirt such as dust on the illumination and imaging unit have been cleaned and removed by maintenance, the imaging unit can capture an image of the illumination and measure the light amount of the illumination, so that the light amount of the illumination can be measured with high accuracy.

[0090] Furthermore, in this embodiment, as described above, the control unit 8 is configured to perform at least one of control to perform a first illumination measurement process when a recognition error occurs for the first imaging target (component 31) from the imaging result of the first imaging target (component 31) by the component recognition imaging unit 7, and control to perform a second illumination measurement process when a recognition error occurs for the second imaging target (board S) from the imaging result of the second imaging target (board S) by the board recognition imaging unit 43. This makes it possible to determine whether or not the recognition error of the imaging target is caused by a decrease in the amount of illumination light, thereby making it possible to accurately determine the cause of the recognition error.

[0091] Furthermore, in this embodiment, as described above, the control unit 8 compares the predicted value of the light amount due to deterioration of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) with the measured value of the light amount of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73), and determines that the light amount of the first lighting (main lighting 71, side lighting 72, coaxial lighting 73) has decreased for reasons other than deterioration if the measured value is smaller than the predicted value and the difference between the predicted value and the measured value is greater than the third threshold value, or if the rate of decrease in the measured value is greater than the fourth threshold value. and a control for determining that the light amount of the second lighting (main lighting 431, coaxial lighting 432) has decreased due to reasons other than deterioration, by comparing a predicted value of the light amount due to deterioration of the second lighting (main lighting 431, coaxial lighting 432) with a measured value of the light amount of the second lighting (main lighting 431, coaxial lighting 432), and determining that the light amount of the second lighting (main lighting 431, coaxial lighting 432) has decreased due to reasons other than deterioration when the measured value is smaller than the predicted value and the difference between the predicted value and the measured value is greater than a fifth threshold value or when the rate of decrease in the measured value is greater than a sixth threshold value. This makes it possible to determine based on the threshold value whether the light amount of the lighting has decreased due to fogging or dirt such as dust on the lighting and imaging unit or due to deterioration of the lighting, and therefore it is possible to easily and accurately determine the deterioration of the lighting.

[0092] In the present embodiment, as described above, when the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) is imaged by the board recognition imaging unit 43, the control unit 8 is configured to divide the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) into a plurality of imaging regions in a plan view and image the plurality of imaging regions while moving the board recognition imaging unit 43 in the horizontal direction relative to the first illumination (main illumination 71, side illumination 72, coaxial illumination 73). As a result, even if the horizontal size of the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) is larger than the imaging range of the board recognition imaging unit 43, the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) can be divided into a plurality of imaging regions and imaged, so that the light amount of the entire first illumination (main illumination 71, side illumination 72, coaxial illumination 73) can be reliably measured.

[0093] In this embodiment, as described above, the control unit 8 is configured to determine the number of divisions into a plurality of imaging regions based on the imaging range of the board recognition imaging unit 43 and the size of the first illumination (main illumination 71, side illumination 72, coaxial illumination 73). This allows the imaging region to be divided without excess or deficiency, so that the entire first illumination (main illumination 71, side illumination 72, coaxial illumination 73) can be efficiently imaged.

[0094] Furthermore, in this embodiment, as described above, when the first illumination (main illumination 71, side illumination 72, coaxial illumination 73) is imaged by the board recognition imaging unit 43, the control unit 8 is configured to individually turn on the side illumination 72, the coaxial illumination 73, and the main illumination 71 to capture images and measure the light intensity of each of the side illumination 72, the coaxial illumination 73, and the main illumination 71. As a result, the light intensity of the side illumination 72, the coaxial illumination 73, and the main illumination 71 of the first illumination are individually measured, so that the light intensity of each of the side illumination 72, the coaxial illumination 73, and the main illumination 71 can be accurately measured.

[0095] Furthermore, in this embodiment, as described above, when the control unit 8 captures an image of the second illumination (main illumination 431, coaxial illumination 432) using the component recognition imaging unit 7, the control unit 8 is configured to individually turn on the coaxial illumination 432 and the main illumination 431 to capture the image and measure the light intensity of each of the coaxial illumination 432 and the main illumination 431. As a result, the light intensity of the coaxial illumination 432 and the main illumination 431 of the second illumination are individually measured, so that the light intensity of each of the coaxial illumination 432 and the main illumination 431 can be accurately measured.

[0096] (Modification) The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not by the description of the embodiments above, and further includes all modifications (variations) within the meaning and scope of the claims.

[0097] For example, in the above embodiment, an example was shown in which the board working device of the present invention is applied to a component mounting device, but the present invention is not limited to this. The board working device of the present invention may be applied to a printing device that prints solder on a board using a mask. In this case, the printing device includes a first imaging unit that captures an image of the mask as a first imaging target from below, a first illumination that irradiates light from below the mask when imaging by the first imaging unit, a second imaging unit that captures an image of the board as a second imaging target from above, and a second illumination that irradiates light from above the board when imaging by the second imaging unit.

[0098] In the above embodiment, the component recognition imaging unit (first imaging unit) that captures an image of the component from below is fixed and disposed on the base, but the present invention is not limited to this. In the present invention, the component recognition imaging unit (first imaging unit) may be disposed in the head unit and provided movably.

[0099] In the above embodiment, the illumination includes an LED, but the present invention is not limited to this. In the present invention, the illumination may include a light-emitting element other than an LED. For example, the illumination may include a semiconductor laser.

[0100] In addition, in the above embodiment, an example of a configuration in which one head unit is provided has been shown, but the present invention is not limited to this. In the present invention, a plurality of head units may be provided.

[0101] In the above embodiment, an example of a configuration in which a pair of conveyors for transporting a board is provided is shown, but the present invention is not limited to this. In the present invention, multiple pairs of conveyors for transporting a board may be provided. For example, the present invention may be applied to a component mounting device that can transport boards in parallel and mount components on the boards in parallel.

[0102] In the above embodiment, for convenience of explanation, the control process of the control unit is described using a flow-driven flowchart in which the process is performed in order according to the process flow, but the present invention is not limited to this. In the present invention, the control process of the control unit may be performed by an event-driven process in which the process is performed on an event-by-event basis. In this case, the control process may be performed completely event-driven, or may be performed in a combination of event-driven and flow-driven. [Explanation of symbols]

[0103] 7 Part recognition imaging unit (first imaging unit) 8. Control Unit 31 Parts (First Imaging Target) 42 Mounting head (working section) 43 Board recognition imaging unit (second imaging unit) 71 Main lighting (1st lighting, 1st main lighting) 72 Side lighting (first lighting) 73 Coaxial lighting (1st lighting, 1st coaxial lighting) 100 Component mounting equipment (substrate work equipment) 431 Main lighting (second lighting, second main lighting) 432 Coaxial lighting (2nd lighting, 2nd coaxial lighting) S board (second imaging target)

Claims

1. a working section that performs work on the substrate; A first imaging unit that captures an image of a first imaging target from below; a first illumination that irradiates light from below the first imaging target when imaging is performed by the first imaging unit; A second imaging unit that captures an image of a second imaging target from above; A second illumination that irradiates light from above onto the second imaging target when imaging is performed by the second imaging unit; a control unit that controls imaging by the first imaging unit and the second imaging unit, the control unit is configured to perform at least one of a first lighting measurement process in which the first lighting and the second imaging unit are opposed to each other in a vertical direction, and an image of the first lighting is captured by the second imaging unit while irradiating light from the first lighting, thereby measuring the amount of light of the first lighting, and a second lighting measurement process in which the second lighting and the first imaging unit are opposed to each other in a vertical direction, and an image of the second lighting is captured by the first imaging unit while irradiating light from the second lighting, thereby measuring the amount of light of the second lighting.

2. 2. The board working apparatus of claim 1, wherein the control unit is configured to perform at least one of control to adjust a brightness of the first illumination based on a light amount of the first illumination measured by the first illumination measurement process, and control to adjust a brightness of the second illumination based on a light amount of the second illumination measured by the second illumination measurement process.

3. 3. The board working apparatus of claim 1, wherein the control unit is configured to perform at least one of control for determining whether a brightness of the first illumination is appropriate based on the light amount of the first illumination measured by the first illumination measurement process, and control for determining whether a brightness of the second illumination is appropriate based on the light amount of the second illumination measured by the second illumination measurement process.

4. 4. The board working apparatus of claim 3, wherein the control unit is configured to perform at least one of control for determining deterioration of the first lighting based on whether a brightness of the first lighting is appropriate, and control for determining deterioration of the second lighting based on whether a brightness of the second lighting is appropriate.

5. 5. The board working device of claim 4, wherein the control unit is configured to perform at least one of control to determine deterioration of the first lighting based on an amount of light of the first lighting and a cumulative amount of current supplied to the first lighting since use began, and control to determine deterioration of the second lighting based on an amount of light of the second lighting and a cumulative amount of current supplied to the second lighting since use began.

6. The board working apparatus of claim 4 or 5, wherein the control unit is configured to perform at least one of control to send a notification to encourage replacement of the first lighting based on a determination of deterioration of the first lighting, and control to send a notification to encourage replacement of the second lighting based on a determination of deterioration of the second lighting.

7. The board work device of any one of claims 1 to 6, wherein the control unit is configured to perform at least one of control to send a notification to encourage replacement of the first lighting based on a cumulative amount of current supplied to the first lighting since use began, and control to send a notification to encourage replacement of the second lighting based on a cumulative amount of current supplied to the second lighting since use began.

8. The board working device according to any one of claims 1 to 7, wherein the control unit is configured to perform at least one of control of turning on the first lighting and turning off the second lighting or turning on the second lighting with a light amount lower than that during imaging when the first lighting is imaged by the second imaging unit, and control of turning on the second lighting and turning off the first lighting or turning on the first lighting with a light amount lower than that during imaging when the second lighting is imaged by the first imaging unit.

9. The board working device according to any one of claims 1 to 8, wherein the control unit is configured to perform at least one of control to perform the first lighting measurement processing when a cumulative amount of current supplied to the first lighting from the start of use exceeds a first threshold value, and control to perform the second lighting measurement processing when a cumulative amount of current supplied to the second lighting from the start of use exceeds a second threshold value.

10. The board working apparatus of any one of claims 1 to 9, wherein the control unit is configured to perform at least one of control to perform the first lighting measurement processing based on an instruction to end maintenance including cleaning of the first lighting or the second imaging unit, and control to perform the second lighting measurement processing based on an instruction to end maintenance including cleaning of the second lighting or the first imaging unit.

11. The control unit is configured to perform at least one of control to perform the first lighting measurement processing when a recognition error of the first imaging object occurs from the imaging result of the first imaging object by the first imaging unit, and control to perform the second lighting measurement processing when a recognition error of the second imaging object occurs from the imaging result of the second imaging object by the second imaging unit. The board working device of any one of claims 1 to 10.

12. 12. The board working device according to claim 1, wherein the control unit is configured to perform at least one of control of comparing a predicted value of an amount of light due to deterioration of the first illumination with a measured value of the amount of light of the first illumination, and determining that the amount of light of the first illumination has decreased for a reason other than deterioration if the measured value is smaller than the predicted value and a difference between the predicted value and the measured value is greater than a third threshold value or if a rate of decrease in the measured value is greater than a fourth threshold value; and control of comparing a predicted value of an amount of light due to deterioration of the second illumination with the measured value of the light of the second illumination, and determining that the amount of light of the second illumination has decreased for a reason other than deterioration if the measured value is smaller than the predicted value and a difference between the predicted value and the measured value is greater than a fifth threshold value or if a rate of decrease in the measured value is greater than a sixth threshold value.

13. a mounting head that mounts components on a board; a first imaging unit configured to image, from below, a first imaging target including the component held by the mounting head and mounted on the board; a first illumination that irradiates light from below the first imaging target when imaging is performed by the first imaging unit; A second imaging unit that captures an image of a second imaging target including the substrate from above; A second illumination that irradiates light from above onto the second imaging target when imaging is performed by the second imaging unit; a control unit that controls imaging by the first imaging unit and the second imaging unit, the control unit is configured to perform at least one of a first lighting measurement process in which the first lighting and the second imaging unit are opposed to each other in a vertical direction, and an image of the first lighting is captured by the second imaging unit while irradiating light from the first lighting, thereby measuring the amount of light of the first lighting, and a second lighting measurement process in which the second lighting and the first imaging unit are opposed to each other in a vertical direction, and an image of the second lighting is captured by the first imaging unit while irradiating light from the second lighting, thereby measuring the amount of light of the second lighting.

14. The component mounting device according to claim 13, wherein the control unit is configured, when imaging the first illumination with the second imaging unit, to divide the first illumination into a plurality of imaging areas in a planar view and to capture images in the plurality of imaging areas while moving the second imaging unit horizontally relative to the first illumination.

15. The component mounting device according to claim 14 , wherein the control unit is configured to determine the number of divisions into the plurality of imaging regions based on an imaging range of the second imaging unit and a size of the first illumination.

16. the first illumination includes a side illumination that irradiates the component with light from a side, a first coaxial illumination that irradiates light in a direction overlapping with an optical axis of the first imaging unit, and a first main illumination that is disposed in a periphery of the first imaging unit; The component mounting device according to any one of claims 13 to 15, wherein, when capturing an image of the first illumination by the second imaging unit, the control unit is configured to capture images by turning on the side illumination, the first coaxial illumination, and the first main illumination individually, and to measure the light intensity of each of the side illumination, the first coaxial illumination, and the first main illumination.

17. the second illumination includes a second coaxial illumination that emits light in a direction overlapping with an optical axis of the second image capture unit, and a second main illumination that is disposed around the second image capture unit, The component mounting device according to any one of claims 13 to 16, wherein when the second illumination is imaged by the first imaging unit, the control unit is configured to individually turn on the second coaxial illumination and the second main illumination to image the second illumination and measure the amount of light of each of the second coaxial illumination and the second main illumination.

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