Component mounting device and component suction state inspection method

Abstract

To inspect the adsorption state of a component using a captured image of a side imaging camera in a component mounting device when the dimension of the component in the long side direction is larger than the field of view of the side imaging camera.SOLUTION: A component mounting device includes a mounting head on which a nozzle 34 for sucking a component P is mounted on the axis, a rotation mechanism that rotates the nozzle 34 around the axis, a side imaging camera 40 that images the nozzle 34 from an imaging direction perpendicular to the axial direction of the axis, and a control unit, and when the component P is a horizontally long component 60 whose longitudinal dimension is larger than the field of view of the side imaging camera 40, the control unit executes angle adjustment processing that brings both longitudinal ends of the horizontally long component 60 within the field of view of the side imaging camera 40 by rotating the nozzle 34 that has attracted the horizontally long unit 60 using a rotation mechanism, imaging processing of imaging the horizontally long component 60 with the side imaging camera 40, and suction state inspection processing of inspecting the suction state of the horizontally long component 60 on the basis of the captured image obtained by the imaging processing.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to a component mounting apparatus and a method for inspecting the suction state of a component. [Background technology]

[0002] A surface mounter described in Japanese Patent No. 4331054 (Patent Document 1 below) has been known. This surface mounter includes a suction nozzle for suctioning an electronic component and a side-view imaging camera for capturing an image of the suction nozzle from the side. The suction nozzle has a characteristic portion formed a predetermined height above its bottom end. This characteristic portion is formed in a shape that protrudes horizontally, and the location where the characteristic portion is formed serves as a mark that allows the user to recognize that the suction nozzle is at a predetermined height above the bottom end of the suction nozzle. According to the surface mounter described in Patent Document 1, the suction nozzle that has suctioned an electronic component is captured by the side-view imaging camera. By comparing the height positions of the characteristic portion, the bottom end of the electronic component, and the bottom end of the suction nozzle in the obtained image, it is possible to more accurately measure the thickness of the electronic component and inspect the suction state. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 4331054 Summary of the Invention [Problem to be solved by the invention]

[0004] However, Patent Document 1 does not describe inspecting the pickup state of electronic components whose horizontal dimensions are larger than the field of view of the side-image capturing camera. If both ends of the long side of the electronic component are not captured in the image captured by the side-image capturing camera, it may be impossible to measure the thickness of the electronic component or determine whether it is front or back, for example. [Means for solving the problem]

[0005] The component mounting device disclosed herein is a component mounting device that mounts components on a board, and includes: a mounting head having a nozzle attached on an axis that adsorbs the component; a rotation mechanism that rotates the nozzle around the axis; a side imaging camera that images the nozzle from an imaging direction perpendicular to the axial direction of the axis; and a control unit; when the component is a horizontally elongated component whose longitudinal dimension is larger than the field of view of the side imaging camera, the control unit performs an angle adjustment process in which the nozzle that adsorbs the horizontally elongated component is rotated by the rotation mechanism to bring both longitudinal end portions of the horizontally elongated component within the field of view of the side imaging camera; an imaging process in which the horizontally elongated component is imaged by the side imaging camera; and an suction state inspection process in which the suction state of the horizontally elongated component is inspected based on the image obtained by the imaging process.

[0006] Further, a component suction state inspection method according to the present disclosure is a component suction state inspection method in a component mounting device that mounts components on a board, the component mounting device including a mounting head having a nozzle attached on an axis that suctions the component, a rotation mechanism that rotates the nozzle about the axis, and a side imaging camera that images the nozzle from an imaging direction perpendicular to the axial direction of the axis, and when the component is a horizontally elongated component whose longitudinal dimension is larger than the field of view of the side imaging camera, the component suction state inspection method includes: an angle adjustment step of rotating the nozzle that has sucked up the horizontally elongated component with the rotation mechanism to bring both longitudinal end portions of the horizontally elongated component within the field of view of the side imaging camera; an imaging step of imaging the horizontally elongated component with the side imaging camera; and a suction state inspection step of inspecting the suction state of the horizontally elongated component based on the image obtained in the imaging step. [Effects of the Invention]

[0007] According to the present disclosure, in a component mounting device, when the dimension of the long side of a component is larger than the field of view of the side imaging camera, the suction state of the component can be inspected using the image captured by the side imaging camera. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a plan view of a component mounting apparatus according to a first embodiment. [Figure 2] FIG. 2 is a diagram showing components stored in a component supply tape. [Figure 3] FIG. 3 is a diagram showing the positional relationship between the nozzle, the part, the side image capturing camera, and the first light. [Figure 4] FIG. 4 is a diagram showing the electrical configuration of the component mounting apparatus. [Figure 5] Fig. 5 is a conceptual diagram illustrating the imaging of a horizontally elongated part by a side-image capturing camera. Fig. 5(A) is a plan view showing the positional relationship between the horizontally elongated part and the side-image capturing camera when the part is not rotated around its axis, and the field of view of the side-image capturing camera. Fig. 5(B) is a diagram of an image captured by the side-image capturing camera in the positional relationship between the horizontally elongated part and the side-image capturing camera shown in Fig. 5(A). Fig. 5(C) is a plan view showing the positional relationship between the horizontally elongated part and the side-image capturing camera when the part is rotated around its axis by a rotation angle, and the field of view of the side-image capturing camera. Fig. 5(D) is a diagram of an image captured by the side-image capturing camera in the positional relationship between the horizontally elongated part and the side-image capturing camera shown in Fig. 5(C). [Figure 6] FIG. 6 is a plan view showing the positional relationship between the horizontally elongated component and the field of view of the side image capturing camera, and the maximum amount of suction deviation. [Figure 7] FIG. 7 is a plan view showing a state in which the horizontally elongated part is rotated by a first rotation angle. [Figure 8] FIG. 8 is a plan view showing a state in which the horizontally elongated part is rotated by a second rotation angle. [Figure 9] FIG. 9 is a plan view showing a state in which the horizontally elongated part is rotated counterclockwise by the magnitude of the first rotation angle. [Figure 10] FIG. 10 is a flowchart showing the angle adjustment process according to the first embodiment. [Figure 11]11A and 11B are conceptual diagrams illustrating recognition of a captured image. Fig. 11A is a diagram showing a target range for processing in a captured image. Fig. 11B is a diagram showing the protrusion amount of a protruding portion in a silhouette. [Figure 12] Fig. 12 is a conceptual diagram for explaining the determination of the front and back of a horizontally elongated component using a captured image. Fig. 12(A) is a plan view showing a state in which the horizontally elongated component is in an upside-down suction posture. Fig. 12(B) is a diagram showing a captured image captured in the state of Fig. 12(A). Fig. 12(C) is a plan view showing a state in which the horizontally elongated component has rotated by an excessive rotation angle. Fig. 12(D) is a diagram showing a captured image captured in the state of Fig. 12(C). [Figure 13] Fig. 13 is a conceptual diagram illustrating the angle adjustment process of the second embodiment. Fig. 13(A) is a plan view showing the initial pickup posture of the horizontally elongated component. Fig. 13(B) is a diagram showing a captured image captured in the state of Fig. 13(A). Fig. 13(C) is a plan view showing a state in which the horizontally elongated component has rotated by a rotation angle increment from the state of Fig. 13(A). Fig. 13(D) is a diagram showing a captured image captured in the state of Fig. 13(C). Fig. 13(E) is a plan view showing a state in which the horizontally elongated component has rotated by a rotation angle increment from the state of Fig. 13(C). Fig. 13(F) is a diagram showing a captured image captured in the state of Fig. 13(E). [Figure 14] FIG. 14 is a flowchart showing the angle adjustment process according to the second embodiment. [Figure 15] FIG. 15 is a diagram showing the positional relationship between the nozzle, the horizontally elongated part, the side image capturing camera, and the first lighting according to the third embodiment, and shows a state in which the horizontally elongated part is rotated around its axis. [Figure 16] FIG. 16 is a plan view showing the positional relationship between the horizontally elongated component and the first lighting, and shows a state in which the horizontally elongated component has been rotated by a rotation angle. [Figure 17] FIG. 17 is a flowchart showing the angle adjustment process in the third and fourth embodiments. DETAILED DESCRIPTION OF THE INVENTION

[0009] [Description of the embodiments of the present disclosure] First, embodiments of the present disclosure will be listed and described.

[0010] (1) A component mounting device disclosed herein is a component mounting device that mounts components on a board, and includes a mounting head having a nozzle attached on an axis that picks up the component, a rotation mechanism that rotates the nozzle around the axis, a side imaging camera that images the nozzle from an imaging direction perpendicular to the axial direction of the axis, and a control unit. When the component is a horizontally elongated component whose longitudinal dimension is larger than the field of view of the side imaging camera, the control unit performs an angle adjustment process in which the nozzle that picks up the horizontally elongated component is rotated by the rotation mechanism to bring both ends of the horizontally elongated component in the field of view of the side imaging camera, an imaging process in which the horizontally elongated component is imaged by the side imaging camera, and an suction state inspection process in which the suction state of the horizontally elongated component is inspected based on the image obtained by the imaging process.

[0011] According to this configuration, the angle adjustment process is performed, so that the horizontally elongated component can be accommodated within the field of view of the side image capturing camera, thereby enabling more accurate inspection of the suction state.

[0012] (2) Preferably, the component mounting device further includes a memory unit that stores component data, and in the angle adjustment process, the control unit calculates the rotation angle required to fit both longitudinal ends of the horizontally elongated component within the field of view of the side-image capturing camera based on the width of the field of view of the side-image capturing camera and the component size included in the component data.

[0013] With this configuration, the rotation angle is calculated, so that the horizontally elongated part can be placed within the field of view of the side image capturing camera.

[0014] (3) When the suction posture of the horizontally elongated component is unknown, in the angle adjustment process, it is preferable that the control unit calculates the rotation angle based on the maximum suction deviation amount included in the component data, and rotates the horizontally elongated component by the rotation angle having the largest absolute value among the obtained rotation angles.

[0015] With this configuration, even if the pickup posture of the horizontally elongated component is unknown, the rotation angle can be calculated based on the maximum pickup deviation amount, and the horizontally elongated component can be rotated by the rotation angle having the larger absolute value, thereby keeping the horizontally elongated component within the field of view of the side imaging camera.

[0016] (4) When the suction posture of the horizontally elongated component is recognized, in the angle adjustment process, it is preferable that the control unit calculates the rotation angle based on the suction deviation amount obtained from the suction posture, and rotates the horizontally elongated component by the rotation angle having the smaller absolute value among the obtained rotation angles.

[0017] With this configuration, when the suction posture of the horizontally elongated component is recognized, the rotation angle is calculated based on the amount of suction deviation, and the horizontally elongated component is rotated by the rotation angle having the smaller absolute value, thereby making it possible to bring the horizontally elongated component within the field of view of the side imaging camera with minimal rotation.

[0018] (5) In the angle adjustment process, it is preferable that the control unit performs a stepwise rotation process one or more times to rotate the horizontally elongated component by a preset rotation angle increment, capture an image of the horizontally elongated component using the side-image capturing camera to obtain a test image, and determine whether both longitudinal ends of the horizontally elongated component are within the field of view of the side-image capturing camera based on the test image.

[0019] With this configuration, even if the component data does not include the component size, the horizontally elongated component can be placed within the field of view of the side-image capturing camera by performing a stepwise rotation process to rotate the horizontally elongated component in steps one or more times.

[0020] (6) The component mounting device preferably further includes a proximity section arranged adjacent to the nozzle, and in the angle adjustment process, the control section calculates the rotation angle and then performs an interference determination process to determine whether the horizontally elongated component will interfere with the proximity section when rotated by the rotation angle, and if the interference determination process determines that the horizontally elongated component will not interfere with the proximity section, the control section rotates the horizontally elongated component by the rotation angle.

[0021] With this configuration, when the horizontally elongated component is rotated, it is possible to prevent the horizontally elongated component from interfering with the adjacent portion, thereby preventing the horizontally elongated component from falling and damage to the horizontally elongated component and the adjacent portion.

[0022] (7) The component mounting device preferably further includes a proximity section arranged close to the nozzle, and in the angle adjustment process, the control section calculates a rotation angle required to fit both longitudinal ends of the horizontally elongated component within the field of view of the side-image capturing camera based on the width of the field of view of the side-image capturing camera and the estimated component size of the horizontally elongated component, performs an interference determination process to determine whether the horizontally elongated component will interfere with the proximity section when rotated by the rotation angle, and if it is determined as a result of the interference determination process that the horizontally elongated component will not interfere with the proximity section, rotates the horizontally elongated component by the rotation angle.

[0023] With this configuration, even if the component size is not included in the component data, interference between the horizontally elongated component and adjacent parts can be suppressed by using the estimated component size of the horizontally elongated component.

[0024] (8) The horizontally elongated component has a first surface that is adsorbed to the nozzle in a normal adsorption position, a second surface that is arranged on the substrate side and is in a front-back relationship with the first surface, and a characteristic portion that is arranged asymmetrically with respect to the first surface and the second surface in the axial direction of the axis, and in the adsorption state inspection process, it is preferable that the control unit determines whether the adsorption position of the horizontally elongated component is front or back by recognizing the position of the characteristic portion in the captured image.

[0025] With this configuration, by recognizing the position of the characteristic portion, it is possible to determine whether the pickup posture of the horizontally elongated component is upside down.

[0026] (9) A component suction state inspection method disclosed herein is a component suction state inspection method in a component mounting device that mounts components on a board, the component mounting device including a mounting head having a nozzle attached on an axis that suctions the component, a rotation mechanism that rotates the nozzle around the axis, and a side imaging camera that images the nozzle from an imaging direction perpendicular to the axial direction of the axis, and when the component is a horizontally elongated component whose longitudinal dimension is larger than the field of view of the side imaging camera, the component suction inspection method includes an angle adjustment step of rotating the nozzle that has suctioned the horizontally elongated component with the rotation mechanism to bring both longitudinal ends of the horizontally elongated component within the field of view of the side imaging camera, an imaging step of imaging the horizontally elongated component with the side imaging camera, and an suction state inspection step of inspecting the suction state of the horizontally elongated component based on the image obtained by the imaging step.

[0027] (10) It is preferable that the component mounting device further includes a memory unit that stores component data, and that in the angle adjustment process, the rotation angle required to fit both longitudinal ends of the horizontally elongated component within the field of view of the side-image capturing camera is calculated based on the width of the field of view of the side-image capturing camera and the component size included in the component data.

[0028] (11) When the pickup posture of the horizontally elongated component is unknown, it is preferable that in the angle adjustment process, the rotation angle is calculated based on the maximum pickup deviation amount included in the component data, and the horizontally elongated component is rotated by the rotation angle having the largest absolute value among the obtained rotation angles.

[0029] (12) When the suction posture of the horizontally elongated component is recognized, it is preferable that in the angle adjustment process, the rotation angle is calculated based on the suction deviation amount obtained from the suction posture, and the horizontally elongated component is rotated by the rotation angle having the smaller absolute value among the obtained rotation angles.

[0030] (13) In the angle adjustment process, it is preferable to perform a stepwise rotation process one or more times, in which the horizontally elongated component is rotated by a preset rotation angle increment, the horizontally elongated component is imaged by the side-image capturing camera to obtain a test image, and it is determined based on the test image whether both longitudinal ends of the horizontally elongated component are within the field of view of the side-image capturing camera.

[0031] (14) Preferably, the component mounting device further includes a proximity portion arranged adjacent to the nozzle, and in the angle adjustment process, after calculating the rotation angle, an interference determination process is performed to determine whether the horizontally elongated component will interfere with the proximity portion when rotated by the rotation angle, and if it is determined as a result of the interference determination process that the horizontally elongated component will not interfere with the proximity portion, the horizontally elongated component is rotated by the rotation angle.

[0032] (15) The component mounting device preferably further includes a proximity section arranged close to the nozzle, and in the angle adjustment step, a rotation angle required to bring both longitudinal ends of the horizontally elongated component within the field of view of the side-image capturing camera is calculated based on the width of the field of view of the side-image capturing camera and the estimated component size of the horizontally elongated component, and an interference determination step is performed to determine whether the horizontally elongated component will interfere with the proximity section when rotated by the rotation angle, and if it is determined as a result of the interference determination step that the horizontally elongated component will not interfere with the proximity section, the horizontally elongated component is rotated by the rotation angle.

[0033] (16) The horizontally elongated component preferably has a first surface that is adsorbed to the nozzle in a normal adsorption position, a second surface that is positioned on the substrate side and is opposite to the first surface, and a characteristic portion that is arranged asymmetrically in the axial direction of the axis relative to the first surface and the second surface, and in the adsorption state inspection process, it is preferable to determine whether the adsorption position of the horizontally elongated component is opposite to the first surface by recognizing the position of the characteristic portion in the captured image.

[0034] [Details of the embodiments of the present disclosure] The present disclosure will be described below with reference to exemplary embodiments. The present disclosure is not limited to these examples, but is defined by the scope of the claims, and is intended to include all modifications within the meaning and scope of the claims.

[0035] <Embodiment 1> A first embodiment of the present disclosure will be described with reference to Figures 1 to 12. Hereinafter, when multiple identical components are used, only some of the components may be designated by reference numerals, and the reference numerals of the other components may be omitted. As shown in Figure 1, a component mounting apparatus 10 according to the first embodiment mounts a component P (see Figures 2 and 3) such as an electronic component on a board B such as a printed circuit board.

[0036] [Overall configuration of component mounting equipment] 1, the component mounting apparatus 10 includes a base 11, a transport conveyor 14 that transports the board B, a head unit 30, and a drive device 20 that moves the head unit 30 on the base 11. In the following description, the longitudinal direction of the base 11 (the left-right direction in FIG. 1) is referred to as the left-right direction, the depth direction of the base 11 (the up-down direction in FIG. 1) is referred to as the front-rear direction, and the direction perpendicular to the plane of the paper in FIG. 1 is referred to as the up-down direction. In each figure, the X direction indicates the right, the Y direction indicates the front, and the Z direction indicates the up.

[0037] The transport conveyor 14 is disposed in the center of the base 11. The transport conveyor 14 is equipped with a pair of transport belts 15 that are driven to rotate in the left-right direction, and transports the board B on the transport belts 15 to the right by friction with the transport belts 15. In this embodiment, the board B is carried into the component mounting device 10 from the left side through the transport conveyor 14. The carried-in board B is carried by the transport conveyor 14 to a working position in the center of the base 11 and stopped there.

[0038] Four component supply units 12 are provided on the base 11 so as to surround the periphery of the work position. Each component supply unit 12 has a number of feeders 13 for supplying components P installed adjacent to each other in the left-right direction.

[0039] As shown in FIG. 2, the components P supplied by the feeder 13 are contained in a component supply tape 16. The component supply tape 16 is composed of a carrier tape 16A and a top tape 16B attached thereto. The carrier tape 16A and the top tape 16B are made of, for example, synthetic resin. The carrier tape 16A has hollow component storage compartments 16C that open upward at regular intervals, and each component storage compartment 16C stores a component P. Also, engagement holes 16D are formed at regular intervals along one side of the carrier tape 16A. The inner walls of the engagement holes 16D engage with sprocket teeth (not shown) provided on the feeder 13, thereby winding up the component supply tape 16 and transporting the components P. The component supply tape 16 is wound around and supported on a reel (not shown) outside the feeder 13.

[0040] Feeder 13 peels top tape 16B of component supply tape 16 from carrier tape 16A and transports component P to the component supply position. Component P transported to the component supply position is picked up by mounting head 32 of head unit 30. Component P picked up by mounting head 32 is mounted on board B at the work position. Then, board B on which component P is mounted is transported to the right via transport conveyor 14 and taken out of component mounting apparatus 10.

[0041] The driving device 20 transports the head unit 30 in the X and Y directions within a predetermined movable range. As shown in Fig. 1, the driving device 20 includes an X-axis beam 21, a Y-axis frame 22, an X-axis servo motor 23, and a Y-axis servo motor 24. The head unit 30 is supported by the X-axis beam 21 and can be moved back and forth in the X direction by the X-axis servo motor 23. The X-axis beam 21 is supported by the Y-axis frame 22 and can be moved back and forth in the Y direction by the Y-axis servo motor 24.

[0042] As shown in Figures 1 and 3, the head unit 30 has a box-shaped head unit main body 31, three mounting heads 32 that perform mounting operations for components P, and a side imaging camera 40 for capturing images of each mounting head 32.

[0043] The mounting head 32 protrudes downward from the head unit main body 31. As shown in Fig. 3, the mounting head 32 has a shaft 33 extending in the vertical direction, and a nozzle 34 that is detachably attached to the lower end of the shaft 33. A line that passes through the center of the mounting head 32 and extends in the vertical direction (an example of the axial direction) is defined as an axis L, and the nozzle 34 is attached to the axis L of the mounting head 32. A negative pressure is supplied to the mounting head 32 from an air supply device (not shown), which generates a suction force at the tip of the nozzle 34. This enables the nozzle 34 to pick up and mount the component P.

[0044] A Z-axis servo motor 35 (see FIG. 4) provided inside the head unit main body 31 is attached to the shaft 33. The Z-axis servo motor 35 enables the shaft 33 (and the nozzle 34) to move up and down in the vertical direction.

[0045] The component mounting apparatus 10 is equipped with an R-axis servo motor 36 (an example of a rotation mechanism, see FIG. 4) that rotates the three mounting heads 32 (shafts 33) of the head unit 30 around their respective axes L.

[0046] In this embodiment, as shown in Fig. 1, one side imaging camera 40 is provided for each of the three mounting heads 32. As shown in Fig. 3, a first illuminator 41 is provided on the opposite side of the mounting head 32 from the side imaging camera 40. The side imaging camera 40 and the first illuminator 41 are arranged to sandwich the mounting head 32 in the front-to-rear direction. The side imaging camera 40 can capture images of the area around the lower end of the mounting head 32, i.e., the nozzles 34 and the components P picked up by the nozzles 34, from the front-to-rear direction (an example of an imaging direction).

[0047] The light emitted from the first illuminator 41 passes through the object and enters the lens of the side image capturing camera 40. That is, the side image capturing camera 40 captures the transmitted light. Therefore, the object appears as a silhouette in the captured image.

[0048] As shown in FIG. 1, a board imaging camera 42 is disposed in the head unit 30 with its imaging surface facing downward. The board imaging camera 42 is configured to capture an image of a fiducial mark (not shown) on the board B in order to recognize the position and orientation of the board B. A second illuminator (not shown) is also provided near the board imaging camera 42. The second illuminator is configured to irradiate the board B with visible light when the board imaging camera 42 captures an image. This allows the board B to be clearly imaged by the board imaging camera 42.

[0049] As shown in FIG. 1, a component imaging camera 43 is disposed on the base 11 with its imaging surface facing upward. The component imaging camera 43 captures an image (bottom surface image) of the component P picked up by the nozzle 34, and detects the orientation of the component P picked up by the nozzle 34. A third illuminator (not shown) is also provided near the component imaging camera 43. The third illuminator is configured to irradiate the component P picked up by the nozzle 34 with visible light when the component imaging camera 43 captures an image. This allows the component imaging camera 43 to clearly capture an image of the component P picked up by the nozzle 34.

[0050] [Electrical configuration of component mounting equipment] Next, the electrical configuration of the component mounting apparatus 10 will be described with reference to Fig. 4. The component mounting apparatus 10 includes a control unit 50 and an operation unit 51. The control unit 50 includes an arithmetic processing unit 52, a motor control unit 53, a storage unit 54, an image processing unit 55, an external input / output unit 56, a communication unit 57, etc.

[0051] The arithmetic processing unit 52 includes a CPU, a ROM, a RAM, etc., and controls each unit of the component mounting apparatus 10 by executing a control program stored in the ROM.

[0052] Under the control of the arithmetic processing unit 52, the motor control unit 53 rotates each motor such as the X-axis servo motor 23, the Y-axis servo motor 24, the Z-axis servo motor 35, the R-axis servo motor 36, and the conveyor drive motor 17.

[0053] The storage unit 54 stores various data including data (component data) related to the components P. The various data includes information related to the number and variety of boards B to be produced, information related to the number and type of components P to be mounted on the board B, information related to the mounting position of each component P on the board B, information related to the mounting sequence of the components P, shape data indicating the component size and outer peripheral shape of the components P, and the like.

[0054] The image processing unit 55 is configured to take in image signals output from the side image capturing camera 40, the board image capturing camera 42, and the component image capturing camera 43, and generates a digital image based on the output image signals.

[0055] The external input / output unit 56 is a so-called interface, and is configured to receive detection signals output from various sensors 45 provided in the main body of the component mounting apparatus 10. The external input / output unit 56 is also configured to control the operation of the various actuators 46 based on control signals output from the arithmetic processing unit 52.

[0056] The communication unit 57 allows the control unit 50 to communicate with the feeder 13 .

[0057] The operation unit 51 includes a display device such as a liquid crystal display, and input devices such as a touch panel, a keyboard, a mouse, etc. An operator can operate the operation unit 51 to perform various settings and the like.

[0058] [Imaging parts using a side-view camera] In this embodiment, the component P picked up by the nozzle 34 is first imaged from the side by the side imaging camera 40. The suction state of the component P is inspected based on the image picked up by the side imaging camera 40. This inspection of the suction state of the component P includes, for example, measuring the thickness (vertical dimension) of the component P and / or determining the suction posture. When capturing an image using the side imaging camera 40, the component P and the side imaging camera 40 are typically positioned so that the longitudinal direction of the component P and the imaging direction of the side imaging camera 40 are approximately perpendicular to each other.

[0059] Next, the component P picked up by the nozzle 34 is imaged from below by the component imaging camera 43. Based on the image picked up by the component imaging camera 43, the suction posture is determined, the amount of suction deviation is evaluated, and so on. Thereafter, before mounting the component P on the board B, the component P picked up by the nozzle 34 is imaged again by the side image capturing camera 40. The image captured by this side image capturing camera 40 is used to confirm the final pickup posture, etc.

[0060] [Horizontal part] As shown in FIG. 5A, a component P having a horizontally elongated shape may not fit within the field of view (image capture range, boundary indicated by a dashed line) of the side-image capturing camera 40. Hereinafter, a component P whose longitudinal dimension is larger than the width (width in the left-right direction) of the field of view of the side-image capturing camera 40 is referred to as a horizontally elongated component 60. When the horizontally elongated component 60 is captured by the side-image capturing camera 40, an image such as that shown in FIG. 5B is obtained. In the image captured by the side-image capturing camera 40, the nozzle 34 and the horizontally elongated component 60 appear as silhouettes. The image captured in FIG. 5B does not include the entire horizontally elongated component 60. Specifically, both longitudinal ends of the horizontally elongated component 60 are not captured in the image. Therefore, it may be difficult to accurately measure the thickness of the horizontally elongated component 60 or determine the suction posture based on the image captured in FIG. 5B.

[0061] In this embodiment, as shown in Fig. 5(C), before the horizontally elongated component 60 is imaged by the side image capturing camera 40, the horizontally elongated component 60 is rotated around the axis L by the R-axis servo motor 36 so that the horizontally elongated component 60 falls within the field of view of the side image capturing camera 40 (angle adjustment process). By capturing an image of the horizontally elongated component 60 with the side image capturing camera 40 in the positional relationship between the horizontally elongated component 60 and the side image capturing camera 40 shown in Fig. 5(C), an image captured by the side image capturing camera 40 showing the entire horizontally elongated component 60 can be obtained, as shown in Fig. 5(D). This makes it easier to measure the thickness of the horizontally elongated component 60 and determine the suction posture more accurately.

[0062] Rotation Angle In the angle adjustment process of this embodiment, the control unit 50 calculates the rotation angle that must be achieved by rotating the horizontally elongated component 60 to fit within the field of view of the side image capturing camera 40, based on the width of the field of view of the side image capturing camera 40 and the component size of the horizontally elongated component 60, and controls the R-axis servo motor 36 to rotate the horizontally elongated component 60 by that rotation angle. The width of the field of view of the side image capturing camera 40 and the component size of the horizontally elongated component 60 are stored in advance in the storage unit 54.

[0063] [Angle adjustment process when the pickup orientation of a horizontally long part is unknown] Below, we will first explain how to calculate the rotation angle when the pickup posture of the horizontally elongated component 60 is unknown. This assumes, for example, the timing before the first image capture by the side imaging camera 40 described above. At this stage, no image capture by the component imaging camera 43 has been taken, so there is no information regarding the pickup posture of the horizontally elongated component 60 or the amount of pickup deviation that can be obtained from the image captured by the component imaging camera 43. Therefore, it is necessary to appropriately set the initial pickup posture of the horizontally elongated component 60 before rotation.

[0064] In this embodiment, in order to set the initial adsorption posture of the horizontally long component 60, the assumed maximum adsorption deviation amount is used. The adsorption deviation here is caused by, for example, the positional deviation and angular deviation of the horizontally long component 60 with respect to the component storage portion 16C of the component supply tape 16, the positional deviation when the nozzle 34 adsorbs the horizontally long component 60, and the like. The maximum adsorption deviation amount may be appropriately determined based on the component size of the horizontally long component 60 or the like, or the horizontally long component 60 actually adsorbed by the nozzle 34 may be imaged by the component imaging camera 43 to collect preliminary data, etc., and it may be determined experimentally. The maximum adsorption deviation amount is stored in advance in the component data of the storage portion 54.

[0065] FIGS. 6 to 9 are views of the horizontally long component 60 in a plan view and are conceptual diagrams for explaining the rotation of the horizontally long component 60 about the axis L. For simplicity, the horizontally long component 60 is illustrated as having a simple rectangular parallelepiped shape. As shown in FIG. 6, the dimension in the long side direction of this horizontally long component 60 is Wp, and the dimension in the short side direction is Hp. Wp and Hp are included in the component size. The two chain double-dashed lines extending in the X direction indicate the boundaries of the viewing range of the side imaging camera 40, and the distance between the two chain double-dashed lines indicates the horizontal width Ws (<Wp) of the viewing range of the side imaging camera 40.

[0066] In FIGS. 6 to 9, the intersection of the X-axis and the Y-axis is taken as the origin (0, 0) and is the position of the nozzle 34 that adsorbs the horizontally long component 60. That is, the rotation axis (axis L) of the horizontally long component 60 extends vertically through the origin. When there is no adsorption deviation of the horizontally long component 60, the horizontally long component 60 is arranged at the position represented by the chain double-dashed line in FIG. 6.

[0067] As shown in FIG. 6, here, the maximum adsorption deviation amount of the horizontally long component 60 is Xm in the X direction, Ym in the Y direction, and θm in the counterclockwise direction. That is, as the initial adsorption posture of the horizontally long component 60, it is assumed that the coordinates of the center of the horizontally long component 60 are (Xm, Ym), and the axis extending in the longitudinal direction of the horizontally long component 60 is rotated by θm counterclockwise with respect to the X-axis. In FIG. 6, the maximum adsorption deviation amount is exaggerated for easy viewing. Also, the angle for rotating the horizontally long component 60 is defined with the counterclockwise direction as positive.

[0068] When the horizontally elongated component 60 in its initial posture is rotated by the R-axis servo motor 36, the two vertices of the horizontally elongated component 60 that are outside the field of view of the side imaging camera 40 trace a trajectory like a dashed line with the origin as the center. Of the two vertices of the horizontally elongated component 60 that are outside the field of view of the side imaging camera 40 in the initial pickup posture, the vertex located at the top in the figure is designated as the first vertex (Xc1, Yc1), and the vertex located at the bottom in the figure is designated as the second vertex (Xc2, Yc2). Here, Xc1, Yc1, Xc2, and Yc2 can be expressed as follows using Hp, Wp, Xm, Ym, and θm.

[0069] Xc1=(Wp / 2)×cos(θm)-(Hp / 2)×sin(θm)+Xm...Equation (1) Yc1=(Wp / 2)×sin(θm)+(Hp / 2)×cos(θm)+Ym...Equation (2)

[0070] Xc2=(Wp / 2)×cos(θm)+(Hp / 2)×sin(θm)+Xm...Equation (3) Yc2=(Wp / 2)×sin(θm)-(Hp / 2)×cos(θm)+Ym...Equation (4)

[0071] To rotate the horizontally elongated component 60 so that it fits within the field of view of the side-image capturing camera 40, two rotation angles are possible, depending on whether the rotation direction is clockwise or counterclockwise. When rotating the horizontally elongated component 60 clockwise, the rotation angle is set so that the first vertex falls within the field of view of the side-image capturing camera 40, as shown in FIG. 7. Here, the angle at which the X coordinate of the first vertex coincides with the right-hand boundary of the field of view of the side-image capturing camera 40 in the figure is defined as the first rotation angle θa. The horizontally elongated component 60 represented by the two-dot chain line in FIG. 7 is obtained by rotating the horizontally elongated component 60 in the initial pickup posture represented by the solid line by the first rotation angle θa. If the X coordinate of the first vertex of the horizontally elongated component 60 after rotation is defined as Xc1', then the following equations (5), (6), and (7) are satisfied.

[0072] -90°<θa<0°...Equation (5) Xc1'=Ws / 2...Equation (6) Xc1'=Xc1×cos(θa)-Yc1×sin(θa)...Equation (7)

[0073] Therefore, the first rotation angle θa can be calculated from equations (1), (2), (5), (6), and (7).

[0074] Furthermore, when rotating the horizontally elongated component 60 counterclockwise, the rotation angle can be set so that the second vertex falls within the field of view of the side-image capturing camera 40, as shown in Fig. 8. Here, the angle at which the X coordinate of the second vertex coincides with the right-hand boundary of the field of view of the side-image capturing camera 40 is defined as the second rotation angle θb. The horizontally elongated component 60 represented by the two-dot chain line in Fig. 8 is obtained by rotating the horizontally elongated component 60 in the initial pickup posture represented by the solid line by the second rotation angle θb. If the X coordinate of the second vertex of the horizontally elongated component 60 after rotation is defined as Xc2', then the following equations (8), (9), and (10) are satisfied.

[0075] 0°<θb<90°...Equation (8) Xc2'=Ws / 2...Equation (9) Xc2'=Xc2×cos(θb)-Yc2×sin(θb)...Equation (10)

[0076] Therefore, the second rotation angle θb can be calculated from equations (3), (4), (8), (9), and (10).

[0077] In this case, since the initial pickup posture of the horizontally elongated component 60 is unknown, the control unit 50 rotates the horizontally elongated component 60 according to a rotation angle with a larger absolute value, thereby more reliably placing the horizontally elongated component 60 within the field of view of the side image capturing camera 40. Since the direction of the angular deviation from the initial pickup posture is unknown, the direction in which the horizontally elongated component 60 is rotated may be either clockwise or counterclockwise. 7 and 8, the absolute value |θa| of the first rotation angle θa is greater than the absolute value |θb| of the second rotation angle θb. Therefore, for example, as shown in FIG. 9, the control unit 50 rotates the horizontally elongated element 60 counterclockwise by |θa|. Although not shown, the control unit 50 may also rotate the horizontally elongated element 60 clockwise by |θa|. This allows the horizontally elongated element 60 to be within the field of view of the side imaging camera 40.

[0078] [Angle adjustment process when the pickup posture of a horizontally long part is recognized] Next, calculation of the rotation angle when the pickup posture of the horizontally elongated component 60 is known will be described. Here, for example, the timing is assumed to be before the second image capture by the side imaging camera 40. At this stage, imaging is performed by the component imaging camera 43, and information about the pickup posture and the amount of pickup deviation of the horizontally elongated component 60 is obtained from the image captured by the component imaging camera 43. Therefore, the first rotation angle θa and the second rotation angle θb can be calculated in the same manner as above based on the known amount of pickup deviation. For simplicity's sake, here, it is assumed that the initial pickup posture of the horizontally elongated component 60 is such that the coordinates of the center of the horizontally elongated component 60 are (Xm, Ym) and the axis extending in the longitudinal direction of the horizontally elongated component 60 is rotated counterclockwise by θm with respect to the Y axis, as in the above-mentioned assumed value (maximum amount of pickup deviation) (see FIGS. 6 to 8).

[0079] 7 and 8, the absolute value |θb| of the second rotation angle θb is smaller than the absolute value |θa| of the first rotation angle θa, and therefore, as shown in FIG. 8, the control unit 50 rotates the horizontally elongated component 60 by the second rotation angle θb. Note that since θb>0, the direction of rotation is counterclockwise. In this way, when the actual pickup posture is known, by rotating the horizontally elongated component 60 by the rotation angle with the smaller absolute value, the time required for the angle adjustment process can be reduced and the productivity of the component mounting apparatus 10 can be improved.

[0080] The procedure for the angle adjustment process of this embodiment will be described below with reference to the flowchart in Fig. 10. The angle adjustment process is performed when the component P picked up by the nozzle 34 is a horizontally elongated component 60. For example, the angle adjustment process may be performed when the horizontally elongated component 60 is recognized by the operator specifying in advance in the production program the feeder 13 that supplies the horizontally elongated component 60. Alternatively, the angle adjustment process may be performed when the entire component P is not included in an image captured by the side image capturing camera 40 and the component P is determined to be a horizontally elongated component 60.

[0081] In the angle adjustment process, if the pickup posture of the horizontally elongated component 60 is unknown (S10: No), the control unit 50 calculates the rotation angle based on the maximum pickup deviation amount of the component data (S20). Then, the control unit 50 rotates the horizontally elongated component 60 by the magnitude of the rotation angle with the larger absolute value of the rotation angles using the R-axis servo motor 36 (S30). In S30, the rotation direction of the horizontally elongated component 60 may be either clockwise or counterclockwise.

[0082] On the other hand, if the pickup posture of the horizontally elongated component 60 is known (S10: Yes), the control unit 50 calculates the rotation angle based on the actual pickup deviation amount obtained from the pickup posture (S40). Then, the control unit 50 rotates the horizontally elongated component 60 by the rotation angle with the smaller absolute value using the R-axis servo motor 36 (S50). In S50, the direction of rotation of the horizontally elongated component 60 is set to the sign of the rotation angle with the smaller absolute value. For example, in the cases illustrated in FIGS. 6 to 8, the sign of the second rotation angle θb, which is the rotation angle with the smaller absolute value, is positive (see FIG. 8), and here, the counterclockwise direction is defined as positive. Therefore, the horizontally elongated component 60 is rotated counterclockwise by the angle |θb|.

[0083] This completes the angle adjustment process, and the horizontally elongated component 60 is now within the field of view of the side image capturing camera 40.

[0084] [Image processing] When the angle adjustment process is completed, the control unit 50 causes the side image capturing camera 40 to capture an image of the horizontally elongated component 60 from the side (image capturing process).

[0085] [Adsorption status inspection process] Next, the suction state of the oblong component 60 is inspected using the captured image obtained by the imaging process (suction state inspection process). 3 and 5, the elongated component 60 of this embodiment has a rectangular parallelepiped main body 61 and leads 62 (an example of a characteristic portion) that protrude outward in the longitudinal direction from the main body 61. As shown in Fig. 3, the main body 61 has a first surface 63 (the upper surface in Fig. 3) that is picked up by the nozzle 34 in the normal pick-up position, and a second surface 64 (the lower surface in Fig. 3) that is opposite the first surface 63 and is disposed on the board side. The leads 62 extend outward in the longitudinal direction from the second surface 64 of the main body 61.

[0086] In this embodiment, the area below the tip of the nozzle 34, indicated by the dashed-dotted line frame, in the captured image in Fig. 11(A) is the processing target range, and edge detection and the like of the silhouette corresponding to the horizontally elongated component 60 is performed. This allows the thickness of the horizontally elongated component 60 to be measured. In detail, the vertical dimension of the main body 61 and the distance between the first surface 63 of the main body 61 and the bottom surface of the lead 62 are measured.

[0087] [Front and back determination] Furthermore, since the leads 62 of the horizontally elongated component 60 extend in the longitudinal direction from the second surface 64 of the main body 61, it may be possible to determine whether the pickup posture of the horizontally elongated component 60 is front or back by recognizing the positions of the leads 62 from the silhouette. More specifically, as shown in FIG. 11B, protrusion amounts D1 and D2 of the protruding portion in the silhouette are calculated by, for example, detecting edges in the left and right directions. If these protrusion amounts D1 and D2 are greater than a threshold value included in the component data in advance, the control unit 50 determines that this protruding portion is the lead 62. The threshold value may be set, for example, to half the length of the lead 62 that protrudes in the longitudinal direction from the main body 61, taking into account the component size of the horizontally elongated component 60, etc.

[0088] When the leads 62 are recognized, the control unit 50 determines the positional relationship between the leads 62 and the main body 61, and determines whether the oblong component 60 is upside down. From the captured image of FIG. 11(B), the control unit 50 determines that the second surface 64 on which the leads 62 are provided is disposed on the substrate B side (bottom side), and that the first surface 63, which is spaced apart from the leads 62, is being picked up by the nozzle 34. Therefore, the control unit 50 determines that the oblong component 60 is in the correct pickup position.

[0089] As shown in Fig. 12(A), when the horizontally elongated component 60 is picked up upside down by the nozzle 34, a captured image such as that shown in Fig. 12(B) is obtained. From the position of the protruding part of the silhouette in the captured image of Fig. 12(B), the control unit 50 determines that the second surface 64 on which the leads 62 are provided is picked up by the nozzle 34, and that the first surface 63, which is spaced apart from the leads 62, is disposed on the side of the board B. Therefore, the control unit 50 determines that the horizontally elongated component 60 is in an incorrect pickup position, i.e., upside down.

[0090] Depending on the rotation angle during the angle adjustment process, the lead 62 may not be recognized in the captured image. In particular, during the angle adjustment process when the pickup orientation of the horizontally elongated component 60 is unknown, the rotation angle of the horizontally elongated component 60 may be excessive, as shown in FIG. 12(C). In such a case, a captured image such as that shown in FIG. 12(D) may be obtained, in which no protruding portion appears in the silhouette, or even if it does, the protrusion amounts D1 and D2 may be below the threshold, making it impossible for the control unit 50 to recognize the position of the lead 62 from the captured image. If the lead 62 cannot be recognized, the control unit 50 may not determine whether the horizontally elongated component 60 is front or back. For example, the front or back determination may be temporarily suspended, and the pickup orientation of the horizontally elongated component 60 may be confirmed by component recognition using the component imaging camera 43, and then the angle adjustment process and imaging process may be performed again to determine whether the lead is front or back.

[0091] [Effects of the First Embodiment] As described above, the component mounting apparatus 10 according to the first embodiment is a component mounting apparatus 10 that mounts a component P on a board B, and includes a mounting head 32 having a nozzle 34 that picks up the component P attached on an axis L, a rotation mechanism (R-axis servo motor 36) that rotates the nozzle 34 about the axis L, a side imaging camera 40 that images the nozzle 34 from an imaging direction perpendicular to the axial direction of the axis L, and a control unit 50. When the component P is a horizontally elongated component 60 whose longitudinal dimension is larger than the field of view of the side imaging camera 40, the control unit 50 performs the following operations: an angle adjustment process that rotates the nozzle 34 that picks up the horizontally elongated component 60 using the rotation mechanism to bring both longitudinal ends of the horizontally elongated component 60 within the field of view of the side imaging camera 40; an imaging process that images the horizontally elongated component 60 using the side imaging camera 40; and an suction state inspection process that inspects the suction state of the horizontally elongated component 60 based on the image obtained by the imaging process.

[0092] According to this configuration, the angle adjustment process is performed so that the oblong component 60 can be accommodated within the field of view of the side image capturing camera 40, thereby enabling more accurate inspection of the suction state.

[0093] The component mounting apparatus 10 according to the first embodiment further includes a memory unit 54 that stores component data. In the angle adjustment process, the control unit 50 calculates the rotation angle required to fit both longitudinal ends of the horizontally elongated component 60 within the field of view of the side-image capturing camera 40, based on the width Ws of the field of view of the side-image capturing camera 40 and the component size included in the component data.

[0094] With this configuration, the rotation angle is calculated, so that the horizontally elongated component 60 can be placed within the field of view of the side image capturing camera 40.

[0095] In the first embodiment, when the suction posture of the horizontally elongated component 60 is unknown, in the angle adjustment process, the control unit 50 calculates the rotation angle based on the maximum suction deviation amount included in the component data, and rotates the horizontally elongated component 60 by the rotation angle having the largest absolute value among the obtained rotation angles.

[0096] With this configuration, even if the suction posture of the horizontally elongated component 60 is unknown, the rotation angle can be calculated based on the maximum suction deviation amount, and the horizontally elongated component 60 can be rotated by the rotation angle having the larger absolute value, thereby making it possible to bring the horizontally elongated component 60 within the field of view of the side imaging camera 40.

[0097] In embodiment 1, when the suction posture of the horizontally elongated component 60 is recognized, in the angle adjustment process, the control unit 50 calculates the rotation angle based on the suction deviation amount obtained from the suction posture, and rotates the horizontally elongated component 60 by the rotation angle having the smaller absolute value among the obtained rotation angles.

[0098] With this configuration, when the suction posture of the horizontally elongated component 60 is recognized, the rotation angle is calculated based on the amount of suction deviation, and the horizontally elongated component 60 is rotated by the rotation angle having the smaller absolute value, thereby making it possible to bring the horizontally elongated component 60 within the field of view of the side imaging camera 40 with minimal rotation.

[0099] In embodiment 1, the horizontally elongated component 60 has a first surface 63 that is adsorbed by the nozzle 34 in a normal adsorption posture, a second surface 64 that is arranged on the substrate B side in a front-back relationship with the first surface 63, and a characteristic portion (lead 62) that is arranged asymmetrically in the axial direction of the axis L relative to the first surface 63 and the second surface 64. In the adsorption state inspection process, the control unit 50 recognizes the position of the characteristic portion in the captured image to determine whether the adsorption posture of the horizontally elongated component 60 is front or back.

[0100] With this configuration, it is possible to determine whether the pickup posture of the oblong component 60 is upside down by recognizing the position of the characteristic portion.

[0101] The method for inspecting the suction state of a component P according to the first embodiment is a method for inspecting the suction state of a component P in a component mounting device 10 that mounts a component P on a board B. The component mounting device 10 includes a mounting head 32 having a nozzle 34 that picks up the component P attached on an axis L, a rotation mechanism that rotates the nozzle 34 about the axis L, and a side imaging camera 40 that images the nozzle 34 from an imaging direction perpendicular to the axial direction of the axis L. When the component P is a horizontally elongated component 60 whose longitudinal dimension is larger than the field of view of the side imaging camera 40, the method for inspecting the suction state of the component P includes an angle adjustment step of rotating the nozzle 34 that picks up the horizontally elongated component 60 with the rotation mechanism to bring both longitudinal ends of the horizontally elongated component 60 within the field of view of the side imaging camera 40, an imaging step of imaging the horizontally elongated component 60 with the side imaging camera 40, and an suction state inspection step of inspecting the suction state of the horizontally elongated component 60 based on the image obtained in the imaging step.

[0102] In the first embodiment, the component mounting apparatus 10 further includes a storage unit 54 that stores component data, and in the angle adjustment process, the rotation angle required to fit both longitudinal ends of the horizontally elongated component 60 within the field of view of the side-image capturing camera 40 is calculated based on the width Ws of the field of view of the side-image capturing camera 40 and the component size included in the component data.

[0103] In embodiment 1, when the suction posture of the horizontally elongated component 60 is unknown, the angle adjustment process calculates the rotation angle based on the maximum suction deviation amount included in the component data, and rotates the horizontally elongated component 60 by the rotation angle having the largest absolute value among the obtained rotation angles.

[0104] In embodiment 1, when the suction posture of the horizontally elongated component 60 is recognized, the angle adjustment process calculates the rotation angle based on the suction deviation amount obtained from the suction posture, and rotates the horizontally elongated component 60 by the rotation angle having the smaller absolute value among the obtained rotation angles.

[0105] In embodiment 1, the horizontally elongated component 60 has a first surface 63 that is adsorbed to the nozzle 34 in a normal adsorption position, a second surface 64 that is arranged on the substrate B side in a front-back relationship with the first surface 63, and a characteristic portion that is arranged asymmetrically with respect to the first surface 63 and the second surface 64 in the axial direction of the axis L. In the adsorption state inspection process, the position of the characteristic portion in the captured image is recognized to determine whether the adsorption position of the horizontally elongated component 60 is front or back.

[0106] <Embodiment 2> A second embodiment of the present disclosure will be described with reference to Figures 13 and 14. Note that the configuration of the second embodiment is the same as that of the first embodiment except that the component size of the horizontally elongated component 60 is not included in the component data, and therefore a duplicated description will be omitted.

[0107] In this embodiment, the component size of the horizontally elongated component 60 is unknown, and therefore the rotation angle cannot be calculated from the component size as in embodiment 1. Note that the case where the component size of the horizontally elongated component 60 is unknown may be, for example, when a preliminary recognition operation for the horizontally elongated component 60 is performed to create a production program before component data is stored.

[0108] In the angle adjustment process of this embodiment, as shown in FIG. 14 , the control unit 50 performs a stepwise rotation process one or more times, which includes a set of steps: a process (S110) of rotating the horizontally elongated component 60 by a preset rotation angle increment dθ; a process (S120) of capturing an image of the horizontally elongated component 60 with the side image capturing camera 40 to obtain a test image; and a process (S130) of determining whether the horizontally elongated component 60 is within the field of view of the side image capturing camera 40 based on the test image. When the horizontally elongated component 60 is thus positioned within the field of view of the side image capturing camera 40, the angle adjustment process ends. In other words, the control unit 50 repeatedly performs the stepwise rotation process until the horizontally elongated component 60 is positioned within the field of view of the side image capturing camera 40. The rotation angle increment dθ can be set to, for example, approximately 10°.

[0109] The angle adjustment process of this embodiment will be described in detail below with reference to FIGS. Fig. 13(A) is a plan view showing the initial suction posture of the horizontally elongated component 60 and the field of view of the side image capturing camera 40, and Fig. 13(B) shows an image captured by the side image capturing camera 40 in the state shown in Fig. 13(A). In the initial state, the horizontally elongated component 60 is not within the field of view of the side image capturing camera 40.

[0110] The control unit 50 performs a first stepwise rotation process to bring the horizontally elongated component 60 into the field of view of the side-image capturing camera 40. As shown in FIG. 13(C), the control unit 50 rotates the horizontally elongated component 60 by a rotation angle increment dθ from the state shown in FIG. 13(A) (S110 in FIG. 14). The control unit 50 then captures an image of the horizontally elongated component 60 and obtains the test image shown in FIG. 13(D) (S120 in FIG. 14). The control unit 50 performs edge detection on the silhouette of the test image, and determines that neither end of the horizontally elongated component 60 in the longitudinal direction is within the field of view of the side-image capturing camera 40 (S130 in FIG. 14: No), and proceeds to a second stepwise rotation process (S110 to S130 in FIG. 14).

[0111] In the second stepwise rotation process, as shown in FIG. 13(E), the control unit 50 rotates the horizontally elongated component 60 by a rotation angle increment dθ from the state shown in FIG. 13(C) (S110 in FIG. 14). As a result, the horizontally elongated component 60 is rotated by 2dθ from the state shown in FIG. 13(A). The control unit 50 then captures an image of the horizontally elongated component 60 and obtains the test image shown in FIG. 13(F) (S120 in FIG. 14). The control unit 50 performs edge detection on the silhouette of the test image, and determines that both longitudinal ends of the horizontally elongated component 60 are within the field of view of the side-image capturing camera 40 (S130 in FIG. 14: Yes), and the angle adjustment process ends.

[0112] In the first embodiment, after the angle adjustment process was completed, an imaging process was performed and an image captured by the side image capturing camera 40 was acquired, but in this embodiment, the imaging process after the angle adjustment process may be omitted because a test image in which the horizontally elongated component 60 falls within the field of view of the side image capturing camera 40 has already been acquired in the final stepwise rotation process of the angle adjustment process. In this case, in the subsequent suction state inspection process, the suction state of the horizontally elongated component 60 can be inspected based on the last acquired test image.

[0113] The angle adjustment process of this embodiment can also be applied to cases where the component size of the horizontally elongated component 60 is included in the component data.

[0114] [Effects of Embodiment 2] In the second embodiment, in the angle adjustment process, the control unit 50 rotates the horizontally elongated part 60 by a preset rotation angle increment dθ, captures an image of the horizontally elongated part 60 using the side image capturing camera 40 to obtain a test image, and performs a stepwise rotation process one or more times to determine whether both longitudinal ends of the horizontally elongated part 60 are within the field of view of the side image capturing camera 40 based on the test image.

[0115] With this configuration, even if the component data does not include the component size, the horizontally elongated component 60 can be placed within the field of view of the side-image capturing camera 40 by performing a stepwise rotation process of rotating the horizontally elongated component 60 one or more times.

[0116] In the method for inspecting the suction state of a component P according to the second embodiment, the angle adjustment process involves rotating the horizontally elongated component 60 by a preset rotation angle increment dθ, capturing an image of the horizontally elongated component 60 with the side-image capturing camera 40 to obtain a test image, and then performing a stepwise rotation process one or more times to determine whether both longitudinal ends of the horizontally elongated component 60 are within the field of view of the side-image capturing camera 40 based on the test image.

[0117] <Embodiment 3> A third embodiment of the present disclosure will be described with reference to Figures 15 to 17. Note that the configuration of the third embodiment is similar to that of the first embodiment, and therefore a duplicated description will be omitted.

[0118] 15 , in the component mounting apparatus 210 according to the third embodiment, the first illuminator 41 (an example of a proximity portion) is disposed close to the nozzle 34. Therefore, when the horizontally elongated component 60 is rotated in the angle adjustment process, the horizontally elongated component 60 may interfere with the first illuminator 41.

[0119] In this embodiment, in order to prevent interference between the horizontally elongated component 60 and the first illuminator 41, the angle adjustment process includes a process for determining whether the horizontally elongated component 60 will interfere with the first illuminator 41 (interference determination process). As shown in FIG. 17 , the control unit 50 first calculates the rotation angle (S210). S210 corresponds to S20 or S40 in FIG. 10 . That is, in S210, the rotation angle may be calculated when the initial pickup posture of the horizontally elongated component 60 is unknown, or when the initial pickup posture of the horizontally elongated component 60 is known. The control unit 50 determines whether the horizontally elongated component 60 will interfere with the first illuminator 41 when rotated to the rotation angle (S220). If it is determined that the horizontally elongated component 60 will not interfere with the first illuminator 41 (S220: No), the control unit 50 rotates the horizontally elongated component 60 to the rotation angle (S230). S230 corresponds to S30 or S50 in FIG.

[0120] If it is determined that the horizontally elongated component 60 interferes with the first lighting 41 (S220: Yes), the control unit 50 does not rotate the horizontally elongated component 60 to the rotation angle (S240). In this case, the suction state of the horizontally elongated component 60 can be inspected by another method, such as by capturing an image using the component capturing camera 43.

[0121] The interference detection process of S220 will be described in detail below. The control unit 50 calculates the rotation angle as in the first embodiment, and calculates the position of each vertex of the horizontally elongated component 60 when rotated to that rotation angle. It then determines whether the position of each vertex overlaps with the area where the first light 41 is arranged. For example, in the case shown in FIG. 16, if the rotation angle is θc (<0), the coordinates (Yc2', Yc2') of the second vertex of the horizontally elongated component 60 after rotation are expressed as follows:

[0122] Xc2'=Xc2×cos(θc)-Yc2×sin(θc)...Equation (11) Yc2'=Xc2×sin(θc)+Yc2×cos(θc)...Equation (12)

[0123] The coordinates of the other vertices after rotation can be found in the same manner as above. In the case shown in Figure 16, it is determined from the calculation results that none of the vertices of the horizontally elongated part 60, including the second vertex that is closest to the first light 41, interferes with the first light 41.

[0124] [Effects of the Third Embodiment] The component mounting device 210 of embodiment 3 further includes a proximity section (first lighting 41) arranged close to the nozzle 34, and in the angle adjustment process, the control unit 50 calculates the rotation angle and then performs an interference determination process to determine whether the horizontally elongated component 60 will interfere with the proximity section when the horizontally elongated component 60 is rotated by the rotation angle, and if the result of the interference determination process determines that the horizontally elongated component 60 will not interfere with the proximity section, the control unit 50 rotates the horizontally elongated component 60 by the rotation angle.

[0125] This configuration can prevent the horizontally elongated part 60 from interfering with the adjacent part when rotating the horizontally elongated part 60. This can prevent the horizontally elongated part 60 from falling and damage to the horizontally elongated part 60 and the adjacent part.

[0126] In the method for inspecting the suction state of a component P of embodiment 3, the component mounting device 210 further includes a proximity portion arranged close to the nozzle 34, and in the angle adjustment process, after calculating the rotation angle, an interference determination process is performed to determine whether the horizontally elongated component 60 will interfere with the proximity portion when rotated by the rotation angle, and if it is determined as a result of the interference determination process that the horizontally elongated component 60 will not interfere with the proximity portion, the horizontally elongated component 60 is rotated by the rotation angle.

[0127] <Embodiment 4> A fourth embodiment of the present disclosure will be described with reference to Fig. 17. The configuration of the fourth embodiment is the same as that of the third embodiment except that the component size of the horizontally elongated component 60 is not included in the component data, and therefore a duplicated description will be omitted.

[0128] In this embodiment, the angle adjustment process is performed in substantially the same manner as in embodiment 3. However, since the component size of the horizontally elongated component 60 is not included in the component data, the calculation of the rotation angle and the determination of interference are performed based on the estimated component size of the horizontally elongated component 60. The estimated component size of the horizontally elongated component 60 is the component size of the horizontally elongated component 60 estimated from, for example, the size and type of the feeder 13 that supplies the horizontally elongated component 60.

[0129] The control unit 50 calculates the rotation angle based on the estimated component size in the same way as in the first embodiment (S210). In this calculation, the maximum amount of attraction deviation may be appropriately set and taken into consideration, or the attraction deviation may be ignored as nonexistent. The control unit 50 uses the estimated component size of the horizontally elongated component 60 to calculate the estimated coordinates of each vertex of the horizontally elongated component 60 when rotated by this rotation angle, and performs interference detection processing by determining whether the estimated coordinates of each vertex are within the area where the first light 41 is arranged (S220). The subsequent flow (S230, S240) is the same as in the third embodiment.

[0130] [Effects of the fourth embodiment] The component mounting device of embodiment 4 further includes a proximity section (first lighting 41) arranged close to the nozzle 34, and in the angle adjustment process, the control section 50 calculates the rotation angle required to fit both longitudinal ends of the horizontally elongated component 60 within the field of view of the side-image capturing camera 40 based on the width Ws of the field of view of the side-image capturing camera 40 and the estimated component size of the horizontally elongated component 60, and performs interference determination process to determine whether the horizontally elongated component 60 will interfere with the proximity section when rotated by the rotation angle, and if it is determined as a result of the interference determination process that the horizontally elongated component 60 will not interfere with the proximity section, the control section 50 rotates the horizontally elongated component 60 by the rotation angle.

[0131] With this configuration, even if the component size is not included in the component data, interference between the horizontally elongated component 60 and adjacent parts can be suppressed by using the estimated component size of the horizontally elongated component 60.

[0132] In the method for inspecting the suction state of a component P of embodiment 4, the component mounting device further includes a proximity section arranged close to the nozzle 34, and in the angle adjustment step, the rotation angle required to bring both longitudinal ends of the horizontally elongated component 60 within the field of view of the side-image capturing camera 40 is calculated based on the width Ws of the field of view of the side-image capturing camera 40 and the estimated component size of the horizontally elongated component 60, and an interference determination step is performed to determine whether the horizontally elongated component 60 will interfere with the proximity section when rotated by the rotation angle, and if it is determined as a result of the interference determination step that the horizontally elongated component 60 will not interfere with the proximity section, the horizontally elongated component 60 is rotated by the rotation angle.

[0133] <Other embodiments> (1) In the first embodiment, the leads 62 are used as an example of the characteristic portion of the elongated component 60, but the characteristic portion may have a configuration different from the leads. (2) In the above third and fourth embodiments, the first illuminator 41 is exemplified as the proximity unit, but the proximity unit may be, for example, various cameras, laser displacement meters, or the like. [Explanation of symbols]

[0134] 10,210: Component mounting equipment 11: base, 12: component supply unit, 13: feeder, 14: transport conveyor, 15: transport belt, 16: component supply tape, 16A: carrier tape, 16B: top tape, 16C: component storage unit, 16D: engagement hole, 17: conveyor drive motor, 20: drive unit, 21: X-axis beam, 22: Y-axis frame, 23: X-axis servo motor, 24: Y-axis servo motor 30: Head unit, 31: Head unit body, 32: Mounting head, 33: Shaft, 34: Nozzle, 35: Z-axis servo motor, 36: R-axis servo motor (an example of a rotation mechanism) 40: Side imaging camera, 41: First lighting (an example of a nearby part), 42: Board imaging camera, 43: Component imaging camera 45: Sensors, 46: Actuators, 50: Control unit, 51: Operation unit, 52: Arithmetic processing unit, 53: Motor control unit, 54: Storage unit, 55: Image processing unit, 56: External input / output unit, 57: Communication unit 60:Horizontal parts 61: Main body, 62: Lead (an example of a characteristic part), 63: First surface, 64: Second surface B: board, D1, D2: protrusion amount, L: axis, P: component, Hp: dimension of the short side of the horizontally long component, Wp: dimension of the long side of the horizontally long component, Ws: width of the field of view, Xm: maximum pickup deviation amount in the X direction, Ym: maximum pickup deviation amount in the Y direction, θm: maximum pickup deviation amount in angle, θa: first rotation angle, θb: second rotation angle, dθ: rotation angle increment

Claims

1. A component mounting apparatus that mounts components on a substrate, a mounting head having a nozzle for suctioning the component attached on its axis; a rotation mechanism that rotates the nozzle about the axis; a side imaging camera that images the nozzle from an imaging direction perpendicular to the axial direction of the axis; a control unit, When the component is a horizontally elongated component whose longitudinal dimension is larger than the field of view of the side imaging camera, The control unit an angle adjustment process in which the nozzle that has sucked the horizontally elongated component is rotated by the rotation mechanism to bring both ends of the horizontally elongated component in the longitudinal direction into a field of view of the side image capturing camera; an imaging process of imaging the horizontally elongated component by the side imaging camera; and a suction state inspection process for inspecting the suction state of the oblong component based on the captured image obtained by the imaging process.

2. Further comprising a storage unit for storing part data, 2. The component mounting device according to claim 1, wherein, in the angle adjustment process, the control unit calculates a rotation angle required to fit both ends of the horizontally elongated component in the field of view of the side-image capturing camera based on a width of the field of view of the side-image capturing camera and a component size included in the component data.

3. If the suction posture of the horizontally elongated part is unknown, 3. The component mounting device according to claim 2, wherein in the angle adjustment process, the control unit calculates the rotation angle based on a maximum suction deviation amount included in the component data, and rotates the horizontally elongated component by the rotation angle having a larger absolute value among the obtained rotation angles.

4. When the suction posture of the horizontally elongated component is recognized, 3. The component mounting device according to claim 2, wherein in the angle adjustment process, the control unit calculates the rotation angle based on an amount of suction deviation determined from the suction posture, and rotates the horizontally elongated component by the rotation angle having a smaller absolute value among the obtained rotation angles.

5. 2. The component mounting device according to claim 1, wherein in the angle adjustment process, the control unit performs a stepwise rotation process one or more times to rotate the horizontally elongated component by a predetermined rotation angle increment, acquire a test image by capturing an image of the horizontally elongated component with the side-image capturing camera, and determine whether both longitudinal ends of the horizontally elongated component are within the field of view of the side-image capturing camera based on the test image.

6. Further, a proximity portion is provided adjacent to the nozzle, 3. The component mounting device according to claim 2, wherein, in the angle adjustment process, the control unit calculates the rotation angle, and then performs an interference determination process to determine whether the horizontally elongated component will interfere with the adjacent portion when the horizontally elongated component is rotated by the rotation angle, and if it is determined as a result of the interference determination process that the horizontally elongated component will not interfere with the adjacent portion, rotates the horizontally elongated component by the rotation angle.

7. Further, a proximity portion is provided adjacent to the nozzle, 2. The component mounting device according to claim 1, wherein, in the angle adjustment process, the control unit calculates a rotation angle required to fit both ends of the horizontally elongated component within the field of view of the side-image capturing camera based on a width of the field of view of the side-image capturing camera and an estimated component size of the horizontally elongated component, performs an interference determination process to determine whether the horizontally elongated component will interfere with the adjacent portion when rotated by the rotation angle, and if it is determined as a result of the interference determination process that the horizontally elongated component will not interfere with the adjacent portion, rotates the horizontally elongated component by the rotation angle.

8. the oblong component includes a first surface that is sucked by the nozzle in a normal suction posture, a second surface that is disposed on the substrate side and is opposite to the first surface, and a characteristic portion that is disposed asymmetrically with respect to the first surface and the second surface in the axial direction of the axis, The component mounting device according to claim 2 , wherein in the suction state inspection process, the control unit determines whether the suction posture of the oblong component is upside down by recognizing the position of the characteristic portion in the captured image.

9. 1. A method for inspecting a component suction state in a component mounting apparatus that mounts components on a substrate, comprising: the component mounting device includes a mounting head having a nozzle for suctioning the component attached on an axis, a rotation mechanism for rotating the nozzle about the axis, and a side imaging camera for imaging the nozzle from an imaging direction perpendicular to an axial direction of the axis, When the component is a horizontally elongated component whose longitudinal dimension is larger than the field of view of the side imaging camera, The method for inspecting parts by suction is as follows: an angle adjustment step of rotating the nozzle that has sucked the horizontally elongated component by the rotation mechanism to bring both ends of the horizontally elongated component in the longitudinal direction into a field of view of the side image capturing camera; an imaging step of imaging the horizontally elongated component by the side imaging camera; a suction state inspection step of inspecting the suction state of the oblong component based on the captured image obtained in the imaging step.

10. the component mounting device further includes a storage unit that stores component data, 10. The component suction state inspection method according to claim 9, wherein the angle adjustment step calculates a rotation angle required to fit both longitudinal ends of the horizontally elongated component within the field of view of the side image capturing camera, based on a width of the field of view of the side image capturing camera and a component size included in the component data.

11. If the suction posture of the horizontally elongated part is unknown, 11. The component suction state inspection method according to claim 10, wherein the angle adjustment step calculates the rotation angle based on a maximum suction deviation amount included in the component data, and rotates the oblong component by the rotation angle having the largest absolute value among the rotation angles obtained.

12. When the suction posture of the horizontally elongated component is recognized, 11. The component suction state inspection method according to claim 10, wherein the angle adjustment step calculates the rotation angle based on an amount of suction deviation determined from the suction posture, and rotates the oblong component by the rotation angle having a smaller absolute value among the rotation angles obtained.

13. 10. The component suction state inspection method according to claim 9, wherein the angle adjustment step comprises performing a stepwise rotation step one or more times, in which the horizontally elongated component is rotated by a preset rotation angle increment, the horizontally elongated component is imaged by the side image capturing camera to obtain a test image, and it is determined based on the test image whether both longitudinal end portions of the horizontally elongated component are within the field of view of the side image capturing camera.

14. the component mounting apparatus further includes a proximity unit disposed adjacent to the nozzle, 11. The component suction state inspection method according to claim 10, wherein, in the angle adjustment step, after calculating the rotation angle, an interference determination step is performed to determine whether the horizontally elongated component will interfere with the adjacent portion when the horizontally elongated component is rotated by the rotation angle, and when it is determined as a result of the interference determination step that the horizontally elongated component will not interfere with the adjacent portion, the horizontally elongated component is rotated by the rotation angle.

15. the component mounting apparatus further includes a proximity unit disposed adjacent to the nozzle, 10. The component suction state inspection method according to claim 9, wherein the angle adjustment step calculates a rotation angle required to fit both longitudinal ends of the horizontally elongated component within the field of view of the side-image capturing camera based on a width of a field of view of the side-image capturing camera and an estimated component size of the horizontally elongated component, and performs an interference determination step of determining whether the horizontally elongated component will interfere with the adjacent portion when the horizontally elongated component is rotated by the rotation angle, and if it is determined as a result of the interference determination step that the horizontally elongated component will not interfere with the adjacent portion, the horizontally elongated component is rotated by the rotation angle.

16. the oblong component includes a first surface that is sucked by the nozzle in a normal suction posture, a second surface that is disposed on the substrate side and is opposite to the first surface, and a characteristic portion that is disposed asymmetrically with respect to the first surface and the second surface in the axial direction of the axis, 11. The component suction state inspection method according to claim 10, wherein the suction state inspection step determines whether the suction posture of the oblong component is upside down by recognizing the position of the characteristic portion in the captured image.

Images