Preparation device, mounting device, mounting system, and information processing method

Abstract

This preparation device comprises: a fixing unit that fixes a component feeding device to which a carrier member carrying a component is attached and that delivers the carrier member; a preparation image capture unit that captures an image of the carrier member fixed to the fixing unit; and a preparation control unit that causes a cueing process for the carrier member to be performed using a captured image captured by the preparation image capture unit, and causes a storage unit to store association information associating a captured image including a carrier member region in which a component captured by the preparation image capture unit is present and / or a feature amount with identification information of the component feeding device, and / or association information associating a captured image including a carrier member region in which a component captured by the preparation image capture unit is not present and / or a feature amount with the identification information of the component feeding device.

Description

[Technical Field]

[0001] This specification discloses a preparation device, an implementation device, an implementation system, and an information processing method. [Background technology]

[0002] Conventionally, a mounting device that mounts components on a processing object such as a circuit board has been proposed that, when a component stored in a component storage section of a carrier tape is picked up by a suction nozzle and transferred to a predetermined component mounting position, acquires an image including the current pickup position and the previous pickup position, and determines whether the component in the component storage section is upside down based on the acquired image (see, for example, Patent Document 1). This device is said to be able to quickly determine the state before picking up the component. Another proposed device for use in a mounting system is one that captures an image of the component storage section at the component pickup position on the component supply tape from above and determines the orientation of the components on the component supply tape using the image (see, for example, Patent Document 2). This device can determine the orientation of the components on the component supply tape when setting the component supply tape in a tape feeder. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-072409 [Patent Document 2] Japanese Patent Application Laid-Open No. 2014-241344 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned Patent Document 1, when determining whether or not components are present on a carrier tape serving as a holding member, an image showing either the presence of components or the absence of components is sometimes required. In a mounting device, the types of components held by a feeder serving as a component supply device may change depending on the mounting process, so it is necessary to prepare an image of the components before the mounting process is executed. Furthermore, when attempting to obtain this image at the start of a mounting process, there is a problem of reduced productivity due to the large number of feeders.

[0005] The present disclosure has been made in consideration of such problems, and its main purpose is to provide a preparation device, a mounting device, a mounting system, and an information processing method that can further suppress a decrease in efficiency of the mounting process. [Means for solving the problem]

[0006] The preparation device, mounting device, mounting system, and information processing method disclosed in this specification employ the following means to achieve the above-mentioned main object.

[0007] The preparation device of the present disclosure comprises: A preparation device used in a mounting system including a mounting device that mounts components on a processing object, a fixing portion for fixing a component supplying device to which a holding member holding a component is attached and which feeds the holding member; a preparatory imaging unit that images the holding member fixed to the fixing unit; a preparation control unit that causes the preparatory imaging unit to execute a cueing process for the holding member using the captured image captured by the preparatory imaging unit, and stores in a storage unit correspondence information associating the captured image and / or feature amount including the area of ​​the holding member where the component is present with identification information of the component supply device, and / or correspondence information associating the captured image and / or feature amount including the area of ​​the holding member where the component is not present with identification information of the component supply device; It is equipped with the following.

[0008] The preparation device performs a cueing process for the holding member using the captured image captured by the preparation imaging unit, thereby preparing the component supply device for use. The preparation device also stores correspondence information in a storage unit that associates captured images and feature values ​​including areas of the holding member where components are present with identification information for the component supply device. Alternatively, the preparation device stores correspondence information in a storage unit that associates captured images and feature values ​​including areas of the holding member where components are not present with identification information for the component supply device. The mounting device can then use the stored correspondence information to access the component-related images and feature values ​​associated with the identification information for the component supply device, thereby determining whether or not the corresponding component is present in the component supply device. Therefore, the preparation device can obtain component-related images and feature values ​​during the preparation stage of the component supply device without capturing images during the mounting process. As a result, the preparation device can further reduce a decrease in efficiency in the mounting process without reducing the cycle time of the demonstration process. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic explanatory diagram showing an example of the outline of the configuration of a mounting system 10. [Figure 2] FIG. 2 is an explanatory diagram showing an example of the outline of the configuration of a feeder 50. [Figure 3] FIG. 2 is an explanatory diagram showing an example of the schematic configuration of a mounting device 15 and a loader 18. [Figure 4] FIG. 2 is an explanatory diagram showing an example of the outline of the configuration of a preparation device 40. [Figure 5] FIG. 4 is an explanatory diagram of a feeder 50 and a preparatory imaging unit 45 attached to a fixed unit 44. [Figure 6] FIG. 4 is an explanatory diagram showing an example of correspondence information 43 stored in a preparation storage unit 42. [Figure 7] 10 is a flowchart showing an example of a feeder preparation processing routine. [Figure 8] FIG. 10 is an explanatory diagram showing how the holding member 55 is advanced to obtain a captured image and its feature amount. [Figure 9] 10 is a flowchart showing an example of a mounting processing routine. [Figure 10]FIG. 10 is an explanatory diagram for determining a captured image and its feature amount without feeding out the holding member 55. DETAILED DESCRIPTION OF THE INVENTION

[0010] This embodiment will be described below with reference to the drawings. FIG. 1 is a schematic explanatory diagram showing an example of a mounting system 10 according to the present disclosure. FIG. 2 is an explanatory diagram showing an example of the schematic configuration of a feeder 50. FIG. 3 is an explanatory diagram showing an example of the schematic configuration of a mounting device 15 and a loader 18, which is a mobile work device. FIG. 4 is an explanatory diagram showing an example of the schematic configuration of a preparation device 40. FIG. 5 is an explanatory diagram of the feeder 50 and preparation imaging unit 45 attached to a fixed portion 44. FIG. 6 is an explanatory diagram showing an example of correspondence information 43 stored in a preparation storage unit 42. In this embodiment, the left-right direction (X-axis), the front-back direction (Y-axis), and the up-down direction (Z-axis) are as shown in FIGS. 1 and 3 to 5.

[0011] The mounting system 10 is configured as a production line in which mounting devices 15, which mount components P on substrates S as processing objects, are arranged in the transport direction of the substrates S. Here, the processing object is described as a substrate S, but is not particularly limited as long as it is something on which components can be mounted, and it may also be a three-dimensional substrate. As shown in FIG. 1 , the mounting system 10 includes a printing device 11, a print inspection device 12, a storage device 13, an automated guided vehicle 14, a mounting device 15, a mounting inspection device 16, a preparation facility 17, a loader 18, and a supervisory device 19. The printing device 11 is a device that prints a viscous fluid such as solder paste on the substrates S. The print inspection device 12 is a device that inspects the printed solder and the condition of the substrates S. The storage device 13 is a storage location for temporarily storing feeders 50 used in the mounting device 15. The storage device 13 is provided adjacent to the transport device between the print inspection device 12 and the mounting device 15. The automated guided vehicle 14 automatically transports the feeder 50, components used in the mounting system 10, and the like between a storage device 13 arranged on the production line and a preparation facility 17. The automated guided vehicle 14 is configured as, for example, an AGV (Automatic Guided Vehicle) or an AMR (Autonomous Mobile Robot). The mounting inspection device 16 is a device that inspects the condition of the components P placed on the board S.

[0012] The loader 18 is a mobile work device that moves along an X-axis rail 29 arranged in front of the mounting system 10 and automatically retrieves and replenishes the feeders 50 of the mounting device 15. The loader 18 has a movement control unit that controls the entire device to retrieve the feeders 50 from the supply unit 27 or replenish the feeders 50 to the supply unit 27, and move the feeders 50 between the supply unit 27 and the storage device 13. The control device 19 is configured as a server that creates and manages information used by each device in the mounting system 10, such as production plan information. In this mounting system 10, each device exchanges information via a network 99, which is an electric communication line such as a LAN or the Internet.

[0013] The feeder 50 is a tape feeder configured as a cassette-type component supply device that accommodates a reel 54. As shown in FIG. 2, the feeder 50 includes a supply control unit 51, a supply storage unit 52, a reel 54, a connector 58, and a feed mechanism 59. The supply control unit 51 is a controller that controls the entire device. The supply storage unit 52 is a storage medium, such as a flash memory, to which information can be written and deleted. The supply storage unit 52 stores supply identification information 53 that identifies the feeder 50. The supply identification information 53 is an ID that identifies the feeder 50 and includes a unique character string assigned to each feeder in advance. The supply storage unit 52 stores information such as the type of component held in a holding member 55 and the remaining number of components, in association with the supply identification information 53. The reel 54 is a member around which a tape serving as the holding member 55 is wound and is removably attached to the feeder 50. Reel identification information 57 is affixed to the outer circumferential surface of the reel 54. The reel identification information 57 is an ID that identifies the reel 54 and is associated with the type of components P held therein. It includes a unique character string pre-assigned to each reel. The reel identification information 57 may be a barcode or a two-dimensional code. The holding member 55 has pocket-like storage compartments 56 formed at predetermined intervals, and the components P are held in these storage compartments 56. The holding member 55 also has feed holes 59a formed at equal intervals, into which the tips of the sprockets of the feed mechanism 59 are inserted. The connector 58 is a connecting member electrically attached to the attachment unit 28 of the supply unit 27 of the mounting device 15 or the attachment unit 44 of the fixing device 40. When the connector 58 is attached to the attachment unit, communication between the supply control unit 51 and an external device becomes possible. The feed mechanism 59 is a mechanism that feeds the holding member 55 along the feed direction F. The feed mechanism 59 includes a thin drive motor and a sprocket connected to the drive motor via a gear. The feeder 50 is prepared for use by the preparation device 40 and the worker W at the preparation facility 17 .

[0014] The mounting device 15 is a device that picks up components P and mounts them on a board S. As shown in FIG. 3 , the mounting device 15 includes a mounting control unit 20, a mounting memory unit 23, a board processing unit 26, a supply unit 27, a mounting unit 30, a part camera 35, and a communication unit 37. The mounting control unit 20 is configured as a microprocessor centered around a CPU 21 and controls the entire device. The mounting control unit 20 outputs control signals to the board processing unit 26, the supply unit 27, the mounting unit 30, the part camera 35, etc., and inputs signals from the board processing unit 26, the supply unit 27, the mounting unit 30, and the part camera 35. The mounting memory unit 23 stores mounting condition information 24, correspondence information 25, etc. The mounting condition information 24 is a production job and includes information on the components P, the arrangement order in which the components P are to be mounted on the board S, their arrangement positions, and the installation position of a feeder 50 that picks up the components. The mounting condition information 24 is created by the supervisory device 19, and includes a picking order and placement order that maximize mounting efficiency. The information is then transmitted from the supervisory device 19 and stored in the mounting storage unit 23. The correspondence information 25 includes correspondence information such as supply identification information 53 of the feeder 50 currently attached to the supply unit 27, reel identification information 57 of the reel 54 of the feeder 50, the component type and remaining number of components held by the holding member 55, a captured image of the holding member 55 without any components P and / or its feature values, and a captured image of the holding member 55 with any components P and / or its feature values. The correspondence information 25 includes the same content as the correspondence information 43 (see FIG. 6 ) created by the preparation device 40, and is transmitted from the preparation device 40 to the management PC 60, the supervisory device 19, and the mounting device 15, and is stored in each device.

[0015] The substrate processing unit 26 is a unit that loads, transports, fixes at the mounting position, and transports the substrate S. The substrate processing unit 26 has a pair of conveyor belts that are spaced apart in the front-to-rear direction and span the left-to-right direction. The substrate S is transported by these conveyor belts. The supply unit 27 is a unit that supplies components to the mounting unit 30. The supply unit 27 has feeders 50 as component supply devices attached to one or more attachment units. As shown in FIG. 3, the supply unit 27 has two attachment units, upper and lower, at the front, to which the feeders 50 can be attached. The upper unit is a mounting attachment unit 28 from which the mounting unit 30 can pick up components, and the lower unit is a buffer attachment unit from which the mounting unit 30 cannot pick up components. The feeders 50 from which the mounting head 32 picks up components are attached to the attachment unit 28. This supply unit 27 is provided with an attachment section having slots 38 arranged in the X direction at predetermined intervals and into which the rail members of the feeder 50 are inserted, and a connection section 39 into which a connector 58 provided at the tip of the feeder 50 is inserted.

[0016] The mounting unit 30 is a unit that performs mounting processing by picking up components P from a feeder 50 attached to the attachment unit 28 of the supply unit 27 and placing the components P on a board S fixed to the board processing unit 26. The mounting unit 30 includes a head moving unit 31, a mounting head 32, a picking member 33, and a mounting imaging unit 34. The head moving unit 31 includes a slider that moves in the X and Y directions along a guide rail, and a motor that drives the slider. The mounting head 32 picks up one or more components P and moves it in the X and Y directions by the head moving unit 31. The mounting head 32 is removably attached to the slider. One or more nozzles serving as picking members 33 are removably attached to the underside of the mounting head 32. The nozzles pick up the components P using negative pressure. Note that the picking members 33 that pick up the components P may be, in addition to nozzles, a mechanical chuck that mechanically holds the components P. A mounting imaging unit 34 is disposed on the underside of the mounting head 32. The mounting imaging unit 34 is a mark camera that moves in the X and Y directions in accordance with the movement of the mounting head 32 and captures images of marks formed on the board S. In addition to capturing images of the marks on the board S, the mounting imaging unit 34 also captures images of the holding member 55 attached to the attachment unit 28 as the pick-up position for the components P of the supply unit 27.

[0017] The part camera 35 is a device that captures images of one or more components P picked up and held by the mounting head 32 from below. The part camera 35 captures images of the components P when the mounting head 32 that picked up the components P passes above the part camera 35 and outputs the captured images to the mounting control unit 20. The mounting control unit 20 uses these images to detect the picking status of the components P. The operation panel 36 is a unit that exchanges information with the worker W and has a display unit that displays a screen and an operation unit that the worker W operates. The communication unit 37 is an interface that exchanges information with external devices such as the preparation device 40, the control device 19, and the management PC 60. The mounting device 15 is connected to external devices such as the preparation device 40 and the control device 19 via a network 99, which serves as an electrical communication line connected to the communication unit 37.

[0018] The preparation facility 17 is an area where replaceable components, such as consumables, used in the mounting system 10 are prepared. The preparation facility 17 is a warehouse where reels 54, feeders 50, and the like are stored. In the preparation facility 17, a worker W loads the reel 54 onto the feeder 50 before using it in the mounting device 15, and prepares the feeder 50 for use using the preparation device 40. As shown in FIG. 1 , the preparation facility 17 is equipped with the preparation device 40 and a management PC 60. The management PC 60 manages the work performed in the preparation facility 17 and includes a management control unit 61, a management memory unit 62, a display unit 66, an input device 67, and a communication unit 68. The management control unit 61 is configured as a microprocessor centered on a CPU and controls the entire device. The management memory unit 62 stores correspondence information 63, which is similar to the correspondence information 43 created by the preparation device 40. The display unit 66 is an LCD screen that displays various information. The input device 67 includes a keyboard, a mouse, etc., through which the worker W inputs various commands. The communication unit 68 is an interface for communicating with external devices. The worker W attaches the reel 54 to the empty feeder 50 based on the information displayed on the display unit 66. The worker W also attaches the feeder 50 with the attached reel 54 to the fixing unit 44 of the preparation device 40. The preparation device 40 performs preparation work to make the feeder 50 available for use by the mounting device 15.

[0019] The preparation device 40 is a device used in the mounting system 10 including the mounting device 15. The preparation device 40 is configured as a kitting stand to which the feeders 50 are attached and which performs processes of associating supply identification information 53 with reel identification information 57 and locating components P. The preparation device 40 also acquires and stores captured images of the presence or absence of components P for each feeder 50 and their feature quantities. As shown in FIG. 4 , the preparation device 40 includes a preparation control unit 41, a preparation storage unit 42, a fixing unit 44, a preparation image capturing unit 45, a driving unit 46, an acquisition unit 47, a communication unit 48, and a preparation table 49. The preparation control unit 41 is a controller that controls the entire device. The preparation storage unit 42 is a large-capacity storage medium that can be written and deleted, such as a flash memory. The preparation storage unit 42 stores correspondence information 43. As shown in FIG. 6, the correspondence information 43 associates supply identification information 53, reel identification information 57, a captured image without components and its feature values, and a captured image with components and its feature values. The feature values ​​of the captured images include, for example, brightness values ​​and their variances. The fixing unit 44 fixes the feeder 50, which serves as a component supply device, to which a holding member 55 holding components P is attached and which feeds out the holding member 55. The fixing unit 44 is electrically connectable to the feeder 50 and has a configuration similar to the mounting unit 28 described above. The preparatory imaging unit 45 is a camera that captures an image of the holding member 55 fixed to the fixing unit 44. The preparatory imaging unit 45 is configured to be movable back and forth along a guide in the feed direction F. As shown in FIG. 5, the preparatory imaging unit 45 captures an image of the holding member 55 at the tip of the feeder 50. The driving unit 46 is a motor externally connected to the feed mechanism 59 of the feeder 50. The drive unit 46 rotates the feed mechanism 59 from the outside, and feeds out the holding member 55 along the feed direction F. The acquisition unit 47 is configured as a code reader that reads and acquires the reel identification information 57 affixed to the reel 54. The acquisition unit 47 is disposed on the side of the main body of the preparation device 40, and reads the reel identification information 57 disposed on the side of the feeder 50. The preparation device 40 may be provided with the acquisition unit 47 as a movable handheld scanner, and the worker W may read the reel identification information 57 using the handheld scanner.The communication unit 48 is an interface for exchanging information with external devices such as the management PC 60, the control device 19, and the mounting device 15. The preparation table 49 is a table on which the feeder 50 is placed and slid. The preparation table 49 is configured so that feeders 50 of various thicknesses can be placed thereon.

[0020] Next, the operation of the mounting system 10 of this embodiment configured as described above will be described. First, the preparation process for making the feeder 50 available for use by the mounting device 15 will be described. Based on the mounting condition information 24 executed by the mounting device 15, the supervisory device 19 outputs information regarding the component type and feeder 50 currently being used by the mounting device 15 to the management PC 60. In the preparation facility 17, based on instructions displayed on the display unit 66 of the management PC 60, the worker W attaches the corresponding reel 54 to the empty feeder 50. The worker W then attaches the feeder 50 to the fixing unit 44 of the preparation device 40. FIG. 7 is a flowchart illustrating an example of a feeder preparation process routine executed by the preparation control unit 41 of the preparation device 40. This routine is stored in the preparation memory unit 42 of the preparation device 40 and executed before the start of production processing by the mounting device 15.

[0021] When this routine starts, the preparation control unit 41 first determines whether the feeder 50 is attached to the fixing unit 44 (S100). When the feeder 50 is not attached to the fixing unit 44, the preparation control unit 41 remains in standby. On the other hand, when the feeder 50 is attached to the fixing unit 44, the preparation control unit 41 acquires the supply identification information 53 stored in the supply storage unit 52 (S110). When the feeder 50 is attached to the fixing unit 44 and the supply control unit 51 receives a request from the preparation control unit 41, the supply control unit 51 reads the supply identification information 53 from the supply storage unit 52 and outputs it to the preparation device 40. Next, the preparation control unit 41 causes the acquisition unit 47 to read and acquire the reel identification information 57 (S120). Next, the preparation control unit 41 associates the acquired supply identification information 53 with the reel identification information 57 and stores the association information 43 in the preparation storage unit 42 (S130). This correspondence information 43 is later sent to the mounting device 15 and is used to identify the feeder 50 attached to the attachment unit 28 and the component type.

[0022] Next, the preparation control unit 41 executes a cueing process for the feeder 50 (S10, S140 to S210). Specifically, the preparation control unit 41 moves the preparation imaging unit 45 above the holding member 55 at the tip of the feeder 50, causes the preparation imaging unit 45 to capture an initial image, and acquires the feature values ​​of the image (S140). At the tip of the holding member 55, some of the storage compartments 56 are empty. The preparation control unit 41 stores the captured image, including the area of ​​the holding member 55 where no component P is present, and the feature values ​​in the preparation storage unit 42 as component-absence information (S150). Next, the preparation control unit 41 causes the drive unit 46 to execute a process for feeding the holding member 55 (S160), causes the preparation imaging unit 45 to capture an image, and acquires the feature values ​​of the image (S170). Next, the preparation control unit 41 determines whether there has been a change from the previous feature values ​​(S180). The preparation control unit 41 determines whether the feature amount has changed beyond a predetermined threshold empirically determined based on the presence or absence of a component P. If there is no change from the previous feature amount, it determines that the storage unit 56 is empty, and repeats the processing from S160 onwards. On the other hand, if there is a change from the previous feature amount in S180, the preparation control unit 41 stores the captured image including the area of ​​the holding member 55 where the component P is present and the feature amount as component presence information in the preparation storage unit 42 (S190). The preparation control unit 41 associates the component absence information and component presence information in the correspondence information 43 (see FIG. 6).

[0023] FIG. 8 is an explanatory diagram illustrating how the holding member 55 is fed to obtain captured images and their features. FIG. 8A is an explanatory diagram illustrating a non-component image 70 without a component and its features, and FIG. 8B is an explanatory diagram illustrating a component-containing image 71 with a component and its features. Here, a case where a component P has a surface with a low brightness value and an empty container 56 has a high brightness value will be described as an example. As shown in FIG. 8 , when moving from a container 56 without a component P to a container 56 with a component P, the brightness value pattern changes. Based on this change in the features, the preparation control unit 41 obtains the non-component image 70 and its features, and the component-containing image 71 and its features, and stores them in the preparation storage unit 42.

[0024] After S190, the preparation control unit 41 outputs the stored correspondence information 43 to the management PC 60 (S200). The management PC 60 saves the correspondence information 43 as correspondence information 63 and then outputs it to the supervisory device 19 and the mounting device 15. Next, the preparation control unit 41 determines that the process of locating components P on the feeder 50 is complete, and outputs information to the management PC 60 that the preparation of the feeder 50 attached to the fixing unit 44 is complete, thereby notifying the worker W (S210). At this time, the preparation device 40 may cut off unnecessary portions of the delivered holding member 55 with a cutter (not shown). The management PC 60 displays a screen on the display unit 66 indicating that the preparation of the feeder 50 is complete. The worker W checks this screen and releases the feeder 50 from the preparation device 40. After S210, the preparation control unit 41 determines whether preparation of all feeders 50 is complete (S220), and if preparation of all feeders 50 is not complete, executes the processing from S100 onwards. On the other hand, if preparation of all feeders 50 is complete in S220, this routine ends. In this way, the preparation facility 17 performs preparation work for the feeder 50 to be used next.

[0025] Next, a mounting process in which the mounting device 15 places components P on the board S will be described. The mounting device 15 acquires correspondence information 43 from the management PC 60 or the like and stores it in the mounting memory unit 23 as correspondence information 25. Furthermore, the feeders 50 prepared in the preparation facility 17 are transported by the automated guided vehicles 14 and loaders 18 and mounted on the mounting units 28, respectively, based on the mounting condition information 24. The mounting control unit 20 of the mounting device 15 acquires the supply identification information 53 stored in the supply memory unit 52 from the feeders 50 via the mounting units 28, and identifies the mounted feeders 50 and their component types. FIG. 9 is a flowchart showing an example of a mounting process routine executed by the CPU 21 of the mounting control unit 20. This routine is stored in the mounting memory unit 23 and executed when a mounting process start command is issued by the worker W.

[0026] When this routine starts, first, the CPU 21 reads and acquires the mounting condition information 24 for the board S to be produced this time (S300). The CPU 21 reads the mounting condition information 24 acquired from the supervising device 19 and stored in the mounting memory unit 23. Next, the CPU 21 causes the board processing unit 26 to transport and fix the board S to the mounting position (S310). Next, the CPU 21 causes the mounting head 32 to pick up components P (S320). Next, the CPU 21 updates the number of components P to be used, which is included in the correspondence information 25, and outputs the updated correspondence information 25 to the supervising device 19 (S330). Note that when the remaining number of components P in a feeder 50 falls below a predetermined preparation start number, the supervising device 19 outputs information to the management PC 60 prompting the preparation of the next feeder 50.

[0027] Next, CPU 21 causes part camera 35 to capture an image of component P being picked up by mounting head 32, and acquires the pickup status of component P (S340). CPU 21 can acquire the pickup status of component P by analyzing the captured image. Next, CPU 21 determines whether or not a pickup error occurred, meaning that component P could not be picked up (S350). If no pickup error occurred, CPU 21 performs position correction according to the pickup status acquired in S340, and places component P on board S (S440). Then, CPU 21 determines whether or not there is a next component to be picked up based on mounting condition information 24 (S450). If there is a next component P to be picked up, CPU 21 repeatedly executes the processes from S320 onwards. That is, CPU 21 causes mounting head 32 to pick up component P, and while determining whether or not there is a pickup error of component P, performs position correction and places component P on board S.

[0028] On the other hand, if a picking error is detected in S350, the CPU 21 increments the number of errors for the feeder 50 corresponding to the picking error by one (S360) and determines whether the number of errors is within the allowable range (S370). This allowable range is determined as the number of retries for picking a component P, and may be set to, for example, three or five times. If the number of errors is within the allowable range, the CPU 21 treats the error as an accidental picking error and executes the processing from S320 onwards. On the other hand, if the number of errors is outside the allowable range in S370, the CPU 21 determines that the feeder 50 is out of components or that the picking error is due to an error in the feeder 50 or the mounting unit 30, and causes the mounting imaging unit 34 to capture an image of the picking position of the feeder 50 where the picking error occurred (S380). Next, CPU 21 reads and acquires correspondence information 25 of the corresponding feeder 50 from mounting storage unit 23 (S390), and determines whether or not a component P remains on holding member 55 based on the captured image and correspondence information 25 (S400). CPU 21 determines whether the image and / or feature amount of the collection area of ​​the captured image corresponds to either component absence information or component presence information (see FIG. 6) stored in correspondence information 25. Because CPU 21 uses correspondence information 25 including an actual captured image of holding member 55, it can more accurately determine whether or not a component P remains.

[0029] If there are no components P on the holding member 55 in S400, the CPU 21 outputs information to the control device 19 and the operation panel 36 indicating that an out-of-component error has occurred (S410). In the mounting device 15, an out-of-component error may occur if a reel 54 containing a different number of components is used during the preparation stage. When the control device 19 detects this out-of-component error, it automatically replaces the feeder 50 in the storage device 13 or the buffer mounting unit 28. If there is no alternative feeder 50 in the storage device 13, the control device 19 outputs information to the management PC 60 to prepare the next feeder 50. If there are components P on the holding member 55 in S400, the CPU 21 outputs information to the operation panel 36 indicating that a component-present pickup error has occurred (S420). The operator W checks the operation panel 36 to determine whether any malfunctions have occurred in the mounting unit 30 or the feeder 50. In the mounting device 15, a picking error in a component-present state may occur due to, for example, a mounting problem with the feeder 50 or the picking member 33. If a problem occurs, the worker W takes action.

[0030] After S420 or S410, CPU 21 determines whether the error has been resolved (S430). If the error has not been resolved, CPU 21 waits as is, and if the error has been resolved, CPU 21 executes the processing from S320 onwards. That is, CPU 21 returns to normal processing. Then, if there is no next component P to be placed on this board S in S450, CPU 21 determines whether production of the board S has been completed (S460). If production has not been completed, CPU 21 executes the processing from S310 onwards, that is, ejects the board S, transports and fixes the next board S, and executes the mounting processing. On the other hand, if production has been completed in S460, this routine ends. In this way, mounting device 15 executes the mounting processing of component P while determining the presence of component P based on the captured image when an error occurs.

[0031] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. In this embodiment, preparation device 40 corresponds to the preparation device, fixing unit 44 corresponds to the fixing unit, preparation imaging unit 45 corresponds to the preparation imaging unit, mounting memory unit 23, preparation memory unit 42, and management memory unit 62 correspond to the memory unit, and preparation control unit 41 corresponds to the preparation control unit. Also, mounting device 15 corresponds to the mounting device, mounting control unit 20 corresponds to the mounting control unit, attachment unit 28 corresponds to the attachment unit, mounting unit 30 corresponds to the mounting unit, and mounting imaging unit 34 corresponds to the mounting imaging unit. Furthermore, component P corresponds to a component, substrate S corresponds to an object to be processed, holding member 55 corresponds to a holding member, feeder 50 corresponds to a component supply device, mounting system 10 corresponds to a mounting system, component-uncaptured image 70 and component-captured image 71 correspond to captured images, correspondence information 25, correspondence information 43, and correspondence information 63 correspond to correspondence information, supply storage unit 52 corresponds to a supply storage unit, and network 99 corresponds to a telecommunications line. Note that in this embodiment, an example of the information processing method of the present disclosure is also clarified by explaining the operation of preparation device 40 and mounting device 15.

[0032] The preparation device 40 described above includes a fixing unit 44 that fixes a feeder 50 serving as a component supply device to which a holding member 55 holding a component P is attached and which feeds the holding member 55; a preparatory imaging unit 45 that images the holding member 55 fixed to the fixing unit 44; and a preparation control unit 41 that executes a cueing process for the holding member 55 using the captured image captured by the preparatory imaging unit 45 and stores in the preparation storage unit 42 correspondence information 43 that associates the captured image and / or feature amount including the area of ​​the holding member 55 where the component P is present, captured by the preparatory imaging unit 45, with the supply identification information 53. The preparation control unit 41 also stores in the preparation storage unit 42 correspondence information 43 that associates the captured image and / or feature amount including the area of ​​the holding member 55 where the component P is not present, captured by the preparatory imaging unit 45, with the supply identification information 53. The preparation device 40 executes a cueing process for the holding member 55 using the captured image captured by the preparatory imaging unit 45, thereby preparing the feeder 50 for use. Furthermore, in this preparation device 40, correspondence information 43, which associates captured images of holding members 55 with supply identification information 53, is stored in the preparation storage unit 42, management storage unit 62, mounting storage unit 23, etc. Then, using the correspondence information 25 stored in this manner, mounting device 15 can utilize the captured images and feature amounts related to components P associated with supply identification information 53 of feeders 50, and determine the presence or absence of components P in the corresponding feeders 50. Therefore, in this preparation device 40, captured images and feature amounts related to components P can be obtained in the preparation stage of feeders 50, without performing image capture to determine the presence or absence of components P during the mounting process. Therefore, in this preparation device 40, the cycle time of the mounting process is not shortened, and a decrease in efficiency in the mounting process can be further suppressed.

[0033] The preparation control unit 41 also stores the captured image captured by the preparation imaging unit 45 in the preparation storage unit 42 or the like as a captured image including an area of ​​the holding member 55 where no component P is present, and also stores the captured image, in which the feature amount of the captured image has changed after the holding member 55 is advanced, in the preparation storage unit 42 as a captured image including an area of ​​the holding member 55 where the component P is present. The preparation device 40 can acquire captured images and feature amounts indicating whether or not a component P is present in the holding member 55 based on the change in feature amount. Furthermore, the feeder 50 includes a supply storage unit 52 that stores supply identification information 53 of the feeder 50. The fixing unit 44 is electrically connectable to the feeder 50, and the preparation control unit 41 acquires the supply identification information 53 output from the supply storage unit 52. The preparation device 40 can more reliably acquire the supply identification information 53. Furthermore, the preparation control unit 41 acquires the reel identification information 57 of the holding member 55 and the supply identification information 53 of the feeder 50, associates them, and stores them in the preparation storage unit 42 as correspondence information 43. In this preparation device 40, by associating the identification information of the holding member 55 with the feeder 50, the feeder 50 can be prepared for use.

[0034] The mounting device 15 is also connected to the preparation device 40 via a network 99 serving as an electrical communication line and includes a mounting unit 28 for mounting a feeder 50, a mounting imaging unit 34 for capturing an image of the holding member 55 mounted on the mounting unit 28, a mounting unit 30 for performing a mounting process in which components P are collected from the feeder 50 mounted on the mounting unit 28 and placed on a board S serving as a processing target, and a mounting control unit 20 for acquiring correspondence information 25 corresponding to the feeder 50 mounted on the mounting unit 28 from the mounting storage unit 23 and determining whether components P remain in the feeder 50 based on the acquired correspondence information 25 and the captured image captured by the mounting imaging unit 34. The mounting device 15 can use the correspondence information 25 stored by the preparation device 40 and the captured image and feature values ​​related to the components P associated with the supply identification information 53 of the feeder 50 to determine whether the components P are present in the corresponding feeder 50. Therefore, the mounting device 15 does not need to capture an image to determine whether the components P are present in the corresponding feeder 50 during the mounting process, thereby further suppressing a decrease in efficiency in the mounting process. Furthermore, after a component P picking error occurs in the mounting unit 30, the mounting control unit 20 determines whether or not components P remain in the feeder 50 in which the picking error occurred. This mounting device 15 can determine whether or not the feeder 50 has components P after the picking error. For example, in a mounting device 15 equipped with a loader 18, a feeder 50 in which a picking error occurred is sometimes moved to the storage device 13 regardless of whether or not components P are present. This mounting device 15 can use a feeder 50 in which a picking error occurred without recovering it.

[0035] The mounting system 10 also includes the above-described preparation device 40 and the above-described mounting device 15. Since the mounting system 10 includes the above-described preparation device 40 and the above-described mounting device 15, it is possible to further suppress a decrease in efficiency in the mounting process.

[0036] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be embodied in various forms as long as they fall within the technical scope of the present invention.

[0037] For example, in the above-described embodiment, the preparation device 40 sends out the holding member 55 to acquire an image in which the component P is not present and an image in which the component P is present, but this is not particularly limited. FIG. 10 is an explanatory diagram showing how to obtain an image and feature values ​​without sending out the holding member 55. For example, if there is no component above the storage section 56, the preparation device 40 can move the preparatory imaging unit 45 to capture an image of the holding member 55. In this case, the preparation control unit 41 can obtain an image in which the component P is not present on the tip side in the sending direction F. The preparation control unit 41 can determine that the area after this feature value has changed is an image in which the component P is present.

[0038] In the above-described embodiment, the captured image in which component P is not present, the feature amount in which component P is not present, the captured image in which component P is present, and the feature amount in which component P is present are stored as correspondence information 43 in which they are associated with supply identification information 53, but one or more of these may be omitted. The mounting device 15 can determine the presence or absence of component P based on whether the image captured by the mounting imaging unit 34 matches one of these.

[0039] In the above-described embodiment, the captured image captured in the cueing process of the holding member 55 is stored in the correspondence information 43, but this is not particularly limited, and the captured image may be obtained separately from the cueing process. Note that, in the preparation device 40, it is preferable to use the captured image captured in the cueing process, as this improves work efficiency.

[0040] In the above-described embodiment, the preparation device 40 has correspondence information 43 that associates the captured image and / or feature value with the supply identification information 53 in addition to the correspondence relationship between the supply identification information 53 and the reel identification information 57, but this is not particularly limited to this, and these may also be managed as separate information.

[0041] In the above-described embodiment, the mounting device 15 determines whether or not components P remain in the feeder 50 after a collection error based on the correspondence information 25 and the image captured by the mounting imaging unit 34, but this is not particularly limited to this, and this determination may be made at times other than when a collection error occurs. This mounting device 15 also uses an image captured directly of the feeder 50, so it can more reliably determine whether or not components P remain in the feeder 50.

[0042] In the above-described embodiment, the present disclosure has been described as being applied to the implementation system 10, the preparation device 40, and the implementation device 15, but the present disclosure may also be an information processing method, or may be a program that causes a computer to execute each step of this information processing method.

[0043] Here, the information processing method of the present disclosure may be configured as follows. For example, the information processing method of the present disclosure includes: An information processing method used in a mounting system including a mounting device that mounts components on a processing target, the information processing method being executed by a preparation device that includes a fixing unit that fixes a component supply device to which a holding member that holds a component is attached and that feeds out the holding member, and a preparation image capturing unit that captures an image of the holding member fixed to the fixing unit, (a) performing a cueing process for the holding member using an image captured by the preparatory imaging unit; (b) storing in a storage unit correspondence information associating an image and / or feature amount including an area of ​​the holding member where the component is present, which is imaged by the preparatory imaging unit, with identification information of the component supply device, and / or storing in a storage unit correspondence information associating an image and / or feature amount including an area of ​​the holding member where the component is not present, which is imaged by the preparatory imaging unit, with identification information of the component supply device; It includes:

[0044] This information processing method can obtain images and feature quantities related to components in the preparation stage of the component supply device without taking images during the mounting process of the mounting device, thereby further suppressing a decrease in efficiency in the mounting process. Note that this information processing method may employ various aspects of the preparation device and / or mounting device described above, or may include additional steps that realize the respective functions of the preparation device and / or mounting device described above. [Industrial Applicability]

[0045] The present disclosure is applicable to the technical field of devices for picking up and mounting components. [Explanation of symbols]

[0046] 10 Mounting system, 11 Printing device, 12 Printing inspection device, 13 Storage device, 14 Automatic guided vehicle, 15 Mounting device, 16 Mounting inspection device, 17 Preparation facility, 18 Loader, 19 Supervising device, 20 Mounting control unit, 21 CPU, 23 Mounting memory unit, 24 Mounting condition information, 25 Correspondence information, 26 Board processing unit, 27 Supply unit, 28 Mounting unit, 29 X-axis rail, 30 Mounting unit, 31 Head moving unit, 32 Mounting head, 33 Picking member, 34 Mounting imaging unit, 35 Parts camera, 36 Operation panel, 37 Communication unit, 38 Slot, 39 Connection unit, 40 Preparation device, 41 Preparation control unit, 42 Preparation memory unit, 43 Correspondence information, 44 Fixing unit, 45 Preparation imaging unit, 46 Drive unit, 47 Acquisition unit, 48 Communication unit, 49 Preparation table, 50 Feeder (component supply device), 51 supply control unit, 52 supply memory unit, 53 supply identification information, 54 reel, 55 holding member, 56 storage unit, 57 reel identification information, 58 connector, 59 feed mechanism, 59a feed hole, 60 management PC, 61 management control unit, 62 management memory unit, 63 correspondence information, 66 display unit, 67 input device, 68 communication unit, 70 component-uncaptured image, 71 component-captured image, 99 network, F feed direction, P component, S board, W worker.

Claims

1. A preparation device used in a mounting system including a mounting device that mounts components on a processing object, a fixing portion for fixing a component supplying device to which a holding member holding a component is attached and which feeds the holding member; a preparatory imaging unit that images the holding member fixed to the fixing unit; a preparation control unit that causes the preparatory imaging unit to execute a cueing process for the holding member using the captured image captured by the preparatory imaging unit, and stores in a storage unit correspondence information associating the captured image and / or feature amount including the area of ​​the holding member where the component is present with identification information of the component supply device, and / or correspondence information associating the captured image and / or feature amount including the area of ​​the holding member where the component is not present with identification information of the component supply device; A preparation device comprising:

2. The preparation control unit stores the image captured by the preparation imaging unit in a memory unit as an image including an area of ​​the holding member where the component is not present, and stores the image captured by sending out the holding member and having changed features in the image in the memory unit as an image including the area of ​​the holding member where the component is present.

3. the component supply device includes a supply storage unit that stores identification information of the component supply device; the fixing portion is electrically connectable to the component supply device, The preparation device according to claim 1 , wherein the preparation control unit acquires the identification information output from the supply storage unit.

4. A preparation device described in any one of claims 1 to 3, wherein the preparation control unit acquires identification information of the holding member and identification information of the component supply device, and stores the identification information of the holding member and the identification information of the component supply device in correspondence with each other in a memory unit.

5. A mounting device connected to the preparation device according to any one of claims 1 to 4 via a telecommunications line, a mounting section to which the component supply device is mounted; an imaging unit for imaging the holding member attached to the attachment unit; a mounting unit that performs a mounting process of picking up the component from the component supply device mounted on the mounting unit and placing the component on the processing object; a mounting control unit that acquires, from the storage unit, the correspondence information corresponding to the component supply device mounted in the mounting unit, and determines whether or not the component remains in the component supply device based on the acquired correspondence information and the captured image captured by the mounting imaging unit; A mounting device comprising:

6. The mounting device according to claim 5 , wherein the mounting control unit determines, after an error in picking up the component by the mounting unit, whether or not any components remain in the component supply device in which the error occurred.

7. A preparation device according to any one of claims 1 to 4; A mounting system comprising: the mounting device according to claim 5 or 6.

8. An information processing method used in a mounting system including a mounting device that mounts components on a processing target, the information processing method being executed by a preparation device that includes a fixing unit that fixes a component supply device to which a holding member that holds a component is attached and that feeds out the holding member, and a preparation image capturing unit that captures an image of the holding member fixed to the fixing unit, (a) performing a cueing process for the holding member using an image captured by the preparatory imaging unit; (b) storing in a storage unit correspondence information associating an image and / or feature amount including an area of ​​the holding member where the component is present, which is imaged by the preparatory imaging unit, with identification information of the component supply device, and / or storing in a storage unit correspondence information associating an image and / or feature amount including an area of ​​the holding member where the component is not present, which is imaged by the preparatory imaging unit, with identification information of the component supply device; An information processing method including:

Images