Tape peel detection device

Abstract

To provide a tape peeling determination device capable of improving determination accuracy of whether or not peeling of a bottom tape and a cover tape is successful more than before.SOLUTION: A tape peeling determination device comprises: a camera for acquiring image data representing at least luminance by imaging an imaging target region on a passage of a cover tape which is peeled by a peeling section for peeling a bottom tape and the cover tape constituting a carrier tape, the presence / absence of the cover tape being changed in accordance with whether or not the peeling is successful; a reference setting section for individually setting a luminance reference value under the absence of the cover tape to the imaging target region while defining each of a plurality of detection areas, which are set inside of the imaging target region of the image data, as a target; and a determination section for determining whether or not the peeling is successful based on a luminance measurement of each of the plurality of detection areas which is calculated from image data for determination acquired by the camera after the carrier tape is fed to the peeling section, and the luminance reference value.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] This specification relates to a tape peeling determination device that determines whether or not a bottom tape and a cover tape that constitute a carrier tape for component supply are peeled off.

Background Art

[0002] Techniques for mass-producing substrate products by performing substrate work on a substrate on which a circuit pattern is formed have become widespread. Many component mounting machines that perform component mounting work, which is a major substrate work, include a tape feeder that supplies components by feeding a carrier tape. A tape feeder having an automatic tape loading function has a peeling unit that peels off a bottom tape and a cover tape during automatic loading of the carrier tape. If a component mounting machine starts the mounting work using a tape feeder that has failed to peel, components cannot be supplied, so the mounting work immediately stops. Therefore, a technique for determining whether or not peeling is successful at the start of using a carrier tape is required, and one such technical example is disclosed in Patent Document 1.

[0003] Patent Document 1 discloses a technique for providing an identification mark on a tape guide in the path that a cover tape peeled off from a bottom tape follows, imaging the identification mark with a camera, and performing image recognition to determine the presence or absence of the cover tape and whether or not peeling is successful using determination conditions such as luminance. According to this, it is said that it is possible to determine whether or not peeling is successful by utilizing the fact that the appearance of the identification mark changes when the cover tape covers the identification mark.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the technical example of Patent Document 1, since the cover tape is transparent, the difference in brightness with and without the cover tape is not significant. In addition, the orientation of the cover tape on the identification mark is not necessarily constant in a horizontal, planar state, and its appearance may change, such as tilting or bending, with each image taken. Therefore, the cover tape may reflect the illumination light unevenly during imaging, or the conditions under which it reflects the illumination light may change with each image taken. Furthermore, if adhesive remains on the peeled cover tape, it will affect the reflection of the illumination light. Considering these factors, it is difficult to properly set the judgment conditions using brightness, and there is a risk of misjudging the success or failure of peeling.

[0006] Therefore, the problem to be addressed in this specification is to provide a tape peeling determination device that can improve the accuracy of determining the success or failure of peeling between the bottom tape and the cover tape compared to conventional devices. [Means for solving the problem]

[0007] This specification discloses a tape peeling determination device comprising: a camera that captures an image target area on the path of the cover tape that is peeled off by a peeling unit that peels off the bottom tape and cover tape constituting the carrier tape, the presence or absence of the cover tape changing depending on the success or failure of the peeling, and acquires image data representing at least brightness; a reference setting unit that individually sets a brightness reference value for each of a plurality of detection areas set inside the image target area of ​​the image data when the cover tape is not present in the image target area; and a determination unit that determines the success or failure of the peeling based on the brightness measurement values ​​of each of the plurality of detection areas obtained from the determination image data acquired by the camera after the carrier tape has been sent to the peeling unit, and the brightness reference value.

[0008] Furthermore, this specification discloses the technical idea of ​​changing "the tape peeling detection device described in claim 1" to "the tape peeling detection device described in any one of claims 1 to 3" in claim 4 of the original application; the technical idea of ​​changing "the tape peeling detection device described in any one of claims 1 to 6" to "the tape peeling detection device described in any one of claims 1 to 8" in claim 9 of the original application; the technical idea of ​​changing "the tape peeling detection device described in any one of claims 1 to 6" to "the tape peeling detection device described in any one of claims 1 to 9" in claim 10 of the original application; and the technical idea of ​​changing "the tape peeling detection device described in any one of claims 1 to 6" to "the tape peeling detection device described in any one of claims 1 to 9" in claim 12 of the original application. [Effects of the Invention]

[0009] In the tape peeling determination device disclosed herein, the reference setting unit individually sets a luminance reference value for each of the multiple detection areas when there is no cover tape, and the determination unit determines the success or failure of peeling based on the luminance measurement value for each of the multiple detection areas and the luminance reference value. According to this, the determination unit can compare the luminance measurement value, which may differ for each detection area, with the luminance reference value, which may also differ for each detection area, and further make a determination based on multiple comparison results. Therefore, the disclosed tape peeling determination device can improve the accuracy of determining the success or failure of peeling between the bottom tape and the cover tape compared to conventional devices. [Brief explanation of the drawing]

[0010] [Figure 1] This is a cross-sectional view in the tape width direction showing the configuration of the carrier tape to be determined by the tape peeling determination device of the first embodiment. [Figure 2] This is a schematic side view of a tape feeder having a peeling section. [Figure 3] This is a plan view showing the detailed structure of the peeling section and explaining the peeling operation, as well as the usage status of the carrier tape after successful peeling. [Figure 4] This is a plan view showing the carrier tape after successful detachment. [Figure 5] Figure 4 shows a cross-sectional view of the carrier tape in the direction of the VV arrow, illustrating the folded state of the peeled cover tape. [Figure 6] This is a plan view showing a state where the peeling process failed and the entire carrier tape passed under the peeling blade. [Figure 7] This is a schematic plan view showing a tape loading device incorporating the tape peeling detection device of the first embodiment. [Figure 8] This is a diagram illustrating the main operation flow, which explains the operation of the tape peel detection device in conjunction with the loading operation of the tape loading device. [Figure 9] This is a diagram of a sub-operation flow chart that explains in detail the "determination of the success or failure of peeling" in Figure 8. [Figure 10] This diagram illustrates the reference image data acquired by the camera. [Figure 11] This diagram illustrates the image data used for judgment acquired by the camera. [Figure 12] This is a diagram illustrating the operation of the reference setting unit related to the reference image data in Figure 10, and the operation of the determination unit related to the determination image data in Figure 11. [Figure 13] This is a schematic plan view showing a component mounting machine incorporating the tape peeling detection device of the second embodiment. [Modes for carrying out the invention]

[0011] 1. Configuration of Carrier Tape 8 The tape peeling determination device 9A of the first embodiment is incorporated into a tape loading device 90 located in an external setup area separated from the component mounting machine 1 (see second embodiment). The tape peeling determination device 9A determines the success or failure of a peeling operation that separates the bottom tape 82 and cover tape 81 that constitute the carrier tape 8 for supplying components. The tape peeling determination device 9A targets a tape feeder 6 having a peeling section 7. The carrier tape 8 and tape feeder 6 that are the targets of the tape peeling determination device 9A, as well as the tape loading device 90 to which it is applied, will be described in advance.

[0012] As shown in FIG. 1, the carrier tape 8 is composed of a cover tape 81 and a bottom tape 82. FIG. 1 corresponds to a cross-sectional view taken in the direction of arrow I-I in FIG. 4. The bottom tape 82 is formed by forming a plurality of component storage portions 83 in a resin tape or a paper tape having a substantially constant thickness, and a thin film tape is attached to the bottom surface. To supplement, a large number of rectangular hole-shaped component storage portions 83 are provided at equal pitches in the tape length direction at a position from the center in the tape width direction of the bottom tape 82 toward one side edge. Each of the component storage portions 83 stores a component 89. A large number of feed holes 84 are provided at equal pitches in the tape length direction at a position closer to the other side edge of the bottom tape 82.

[0013] A thin film cover tape 81 is detachably adhered to the upper surface of the bottom tape 82. Specifically, the cover tape 81 is formed of a transparent film so that the component 89 inside the component storage portion 83 can be confirmed by visual inspection or an optical camera. A first adhesive portion 85 extending in the tape length direction is provided between the component storage portion 83 of the bottom tape 82 and one side edge. Further, a second adhesive portion 86 extending in the tape length direction is provided between the component storage portion 83 of the bottom tape 82 and the feed hole 84. The two adhesive portions (85, 86) adhere the bottom tape 82 and the cover tape 81 with an adhesive. The cover tape 81 has a smaller tape width dimension than the bottom tape 82, covers the component storage portion 83, but does not cover the feed hole 84. There are a plurality of types of carrier tapes 8 having different tape width dimensions and tape thickness dimensions, corresponding to various sizes of the component 89.

[0014] In addition, there is a schematic embossed carrier tape whose structure is different from the above-described carrier tape 8. The embossed carrier tape, like the carrier tape 8, is composed of a cover tape and a bottom tape. However, the bottom tape constituting the embossed carrier tape is subjected to an expansion process at equal pitches in the tape length direction of the resin tape to form component storage portions. The embossed carrier tape has compatibility in use with the carrier tape 8 and is the object of the peeling operation of the peeling portion 7 described later.

[0015] 2. Overall Structure of Tape Feeder 6 Next, the overall structure of the tape feeder 6 having a peeling portion 7 for peeling the bottom tape 82 and the cover tape 81 will be described with reference to FIG. 2. As shown by the arrow in the lower right of FIG. 2, the X-axis direction, Y-axis direction in the horizontal plane, and the Z-axis direction corresponding to the vertical direction are arbitrarily defined. The X-axis direction coincides with the direction in which the substrate K is conveyed in the component mounting machine 1 to which the tape feeder 6 is attached (see the second embodiment). The tape feeder 6 feeds the carrier tape 8 to the supply position 66 at the upper front side to supply the component 89. The tape feeder 6 is composed of a main body 61, a tape feeding mechanism partially omitted in the figure, a feeder control unit 69, and the like.

[0016] The main body 61 is formed mainly with a single side plate that is long in the Y-axis direction. The width dimension of the main body 61 in the X-axis direction is determined according to the tape width dimensions of a plurality of types of carrier tapes 8. That is, there are a plurality of types of tape feeders 6 with different width dimensions. The main body 61 has a detachable rail 62, a reel holding portion 63, a guide rail 64, and a peeling portion 7. The detachable rail 62 is provided on the bottom surface of the main body 61 and extends in the Y-axis direction. The detachable rail 62 is used for attachment to the component mounting machine 1.

[0017] An upper positioning pin 611, a connector 612, and a lower positioning pin 613 are provided in order from the upper side to the lower side on the front surface of the main body 61. The upper positioning pin 611 and the lower positioning pin 613 are engaged with positioning holes provided on the main body side of the component mounting machine 1 to position the tape feeder 6. When the tape feeder 6 is positioned, the connector 612 is automatically fitted to the receiving-side connector provided on the component mounting machine 1. Thereby, the tape feeder 6 is supplied with power, and the feeder control unit 69 is communicatively connected to the main body side of the component mounting machine 1.

[0018] The reel holding portion 63 is provided at the lower rear of the main body 61. The reel holding portion 63 replaceably holds the reel RL around which the carrier tape 8 is wound. The reel holding portion 63 is formed by at least one of a holding shaft 631 and an outer peripheral holding portion 632. The holding shaft 631 is arranged to extend in the X-axis direction and rotatably holds the central hole of the reel RL. The outer peripheral holding portion 632 rotatably holds the outer peripheral edge of the reel RL.

[0019] The guide rail 64 starts at the insertion opening 65 located diagonally upward and forward of the reel holding section 63, extends diagonally upward and forward, then extends horizontally forward from a certain point, and ends at the upper front end of the main body 61. The position closest to the front end of the guide rail 64 is the supply position 66. The guide rail 64 guides the carrier tape 8 pulled out from the reel RL to the supply position 66. The tape feeding mechanism feeds the carrier tape 8 at a constant pitch and supplies the components 89 in order at the supply position 66. The tape feeding mechanism consists of four sprockets, two sets of servo motors, and a gear mechanism.

[0020] The first sprocket 671 and the second sprocket 672 are positioned below the guide rails 64 before and after the supply position 66 and are rotatably supported by the main body 61. The teeth of each of the first sprocket 671 and the second sprocket 672 protrude from grooves formed in the guide rails 64 and fit into the feed holes 84 of the carrier tape 8. The first sprocket 671 and the second sprocket 672 are driven synchronously by a front servo motor and a gear mechanism, and can be switched between forward and reverse rotation. A release section 7 is provided behind the supply position 66 between the first sprocket 671 and the second sprocket 672 (details will be described later).

[0021] The third sprocket 673 and the fourth sprocket 674 are positioned slightly forward of the insertion opening 65, below the guide rail 64, and are rotatably supported by the main body 61. The teeth of each of the third sprocket 673 and the fourth sprocket 674 protrude from grooves formed in the guide rail 64 and fit into the feed holes 84 of the carrier tape 8. The third sprocket 673 and the fourth sprocket 674 are driven synchronously by a rear servo motor and gear mechanism, and are capable of switching between forward and reverse rotation.

[0022] During normal operation, the four sprockets rotate synchronously in the forward direction, feeding the carrier tape 8 at a constant pitch. In the loading operation when the carrier tape 8 is first used, the third sprocket 673 and the fourth sprocket 674 rotate first in the forward direction, followed by the forward rotation of the first sprocket 671 and the second sprocket 672. The loading operation means loading the leading edge of the carrier tape 8 to be used to the supply position 66 and setting it up to be operational. Therefore, the peeling operation of the carrier tape 8 is part of the loading operation. Also, when the operation has finished and the partially used carrier tape 8 is to be removed, the four sprockets rotate synchronously in the reverse direction to return the carrier tape 8. Note that the number of sprockets may be three or less.

[0023] The feeder control unit 69 is located on the main body 61, and its position is not limited. The feeder control unit 69 is a computer device that operates using software. The feeder control unit 69 controls the front servo motor and the rear servo motor. The feeder control unit 69 is connected to the main body of the component mounting machine 1 via a connector 612 and receives commands. The feeder control unit 69 is also connected to the tape detection sensor 6A. The tape detection sensor 6A is located in the inclined portion between the third sprocket 673 and the fourth sprocket 674 of the guide rail 64 and detects the presence or absence of the carrier tape 8 being fed. The feeder control unit 69 receives a detection signal from the tape detection sensor 6A and reflects this in the control of feeding and returning the carrier tape 8. Note that the tape feeder 6 does not hold the reel RL inside the main body 61, and the carrier tape 8 may be fed from a reel RL held in a separate reel holding device.

[0024] 3. Structure and peeling operation of the peeling section 7 Next, the structure and peeling operation of the peeling section 7 will be described. In Figures 3, 4, and 6, the cover tape 81 that constitutes the carrier tape 8 is shown with diagonal hatching for convenience. Also, the two adhesive sections (85, 86) and part 89 are shown in black for convenience. Figure 4 is a diagram showing only the carrier tape 8 from Figure 3. As shown in Figures 3 and 6, the peeling section 7 consists of two side plates (77, 78), a first tape guide 71, a second tape guide 72, a peeling blade 73, and a tape folding plate 74, etc.

[0025] The first tape guide 71 and the second tape guide 72 are thin plate-like members and are arranged parallel to and spaced apart above the guide rail 64. The distance between the first tape guide 71 and the second tape guide 72 and the guide rail 64 is slightly greater than the thickness of the carrier tape 8. The carrier tape 8 passes through this space.

[0026] The rear of the first tape guide 71 spans between two side plates (77, 78) and occupies the entire width of the peeling section 7. The front of the first tape guide 71 has a reduced width and is positioned closer to the other side plate 78. An oval-shaped feed hole confirmation window 711 is formed near the front of the first tape guide 71, allowing the feed holes 84 of the carrier tape 8 to be visually inspected. Several other notched windows (not shown) are formed at other locations on the first tape guide 71, allowing the carrier tape 8 to be visually inspected.

[0027] The second tape guide 72 is positioned adjacent to the first tape guide 71, slightly in front of it, and is attached to one of the side plates 77. The second tape guide 72 is cut out and opened in the portion corresponding to the supply position 66. An opening 75 extending in the front-rear direction is formed between the first tape guide 71 and the second tape guide 72. The rear of the opening 75 is open in the width direction between the first tape guide 71 and the side plate 77.

[0028] The peeling blade 73 is positioned within an opening 75 located behind the second tape guide 72. The peeling blade 73 is mounted extending in the width direction from one side plate 77. The peeling blade 73 is formed with a narrow width at its rearward-facing tip and is thin vertically, making it easy to enter between the bottom tape 82 and the cover tape 81. The peeling blade 73 is formed to become wider as it moves away from the tip. The upper surface of the peeling blade 73 consists of a horizontal section 731 that is generally horizontal near the side plate 78, and an inclined section 732 that gradually slopes downwards near the end face closer to the side plate 77. The peeling blade 73 is positioned so that its tip faces the carrier tape 8 being fed. The height position of the peeling blade 73 is adjustable, and it is adjusted so that its tip enters between the bottom tape 82 and the cover tape 81.

[0029] The tape folding plate 74 is connected to the rear of the peeling blade 73 and is positioned to protrude in the width direction from one of the side plates 77. The tape folding plate 74 is positioned parallel to and spaced above the first tape guide 71 and the second tape guide 72. The tape folding plate 74 has a side edge 76 for folding back the cover tape 81 to open the component storage section 83, and its width gradually widens towards the front away from the peeling blade 73. The distance between the tape folding plate 74 and the first tape guide 71 is adjusted to ensure that the cover tape 81 is folded back properly. The portion of the tape folding plate 74 corresponding to the supply position 66 is cut out and opened.

[0030] Next, the peeling operation of the peeling section 7 will be described. When the tape feeding mechanism operates and the carrier tape 8 is fed, the leading edge of the carrier tape 8 and the peeling blade 73 face each other. As the carrier tape 8 is further fed, the peeling blade 73 enters between the bottom tape 82 and the cover tape 81 and moves between the two tapes. The width dimension and position in the width direction of the peeling blade 73 are set so that it peels one adhesive section 85 but does not peel the other adhesive section 86. As a result, the cover tape 81 is fed forward in a partially peeled state, with one adhesive section 85 peeled and the other adhesive section 86 adhered (partial peeling method).

[0031] As shown in Figure 3, the partially peeled cover tape 81 passes above the peeling blade 73. Therefore, the upper surface of the peeling blade 73 serves as a passage for the cover tape 81. As the cover tape 81 moves forward, it follows the side of the peeling blade 73 and rises above the other adhesive portion 86. Furthermore, the cover tape 81 is folded back along the side edge 76 of the tape folding plate 74 towards the other side plate 78. Subsequently, as shown in Figure 5, the cover tape 81 is folded back 180° at the supply position 66. This opens the top of the component storage portion 83, allowing the component 89 to be supplied. After the component 89 is removed, the carrier tape 8 is discharged to the front of the tape feeder 6 with the cover tape 81 still adhered to the bottom tape 82 by the other adhesive portion 86.

[0032] In rare cases, the peeling unit 7 may fail to perform the peeling operation described above. In most cases when the peeling unit 7 fails to perform the peeling operation, the entire carrier tape 8 passes under the peeling blade 73. In other words, when the peeling operation fails, the cover tape 81 will not pass over the upper surface of the peeling blade 73. As a result, as shown in Figure 6, the entire carrier tape 8 advances to the supply position 66, making it impossible to supply the parts 89. If the parts mounting machine 1 starts mounting work using the tape feeder 6 in this state, the parts 89 cannot be supplied, and the mounting work will immediately stop. To address this problem, the tape peeling determination device 9A is applied.

[0033] 4. Configuration of the tape loading device 90 Next, the configuration of the tape loading device 90 will be explained with reference to Figure 7. As shown by the arrow in the upper left of Figure 7, the X-axis, Y-axis, and Z-axis directions of the tape loading device 90 are determined according to the orientation of the tape feeder 6 to be held. Also, in Figure 7, the flow of data and control is shown by dashed lines with arrows. The tape loading device 90 consists of a device base 91, a feeder holding base 92, a tape insertion section 93, and a device control unit 94. The device base 91 is generally a rectangular parallelepiped-shaped member. The device base 91 may be a fixed type placed on a workbench or the like, or it may be a movable type with casters attached.

[0034] The feeder holder 92 is positioned towards the front in the Y-axis direction (towards the top in Figure 7) on the upper surface of the device base 91. The feeder holder 92 is formed by a holding portion 921, a pair of clamping guides 922, and a contact portion 923. The holding portion 921 is formed to be long in the Y-axis direction and has a step in the middle in the Y-axis direction to fit the step on the bottom surface of the tape feeder 6. A pair of clamping guides 922 are positioned on the upper surface of the holding portion 921. Each of the pair of clamping guides 922 is formed to be long in the Y-axis direction and is positioned parallel to each other, spaced apart in the X-axis direction. At least one of the pair of clamping guides 922 is configured to be movable in the X-axis direction, and the distance between them can be changed. This allows the feeder holder 92 to accommodate multiple types of tape feeders 6 with different width dimensions. The holding portion 921 may have slots into which the attachment / detachment rails 62 of the tape feeder 6 are inserted, instead of the pair of clamping guides 922.

[0035] The contact portion 923 is a long portion in the Z-axis direction and is positioned upright on the front side in the Y-axis direction of the feeder holder 92. The contact portion 923 has an upper positioning hole (not shown), a receiving connector 924, and a lower positioning hole (not shown) on its rear surface in the Y-axis direction. The height positions of the upper positioning hole, the receiving connector 924, and the lower positioning hole are set to match the upper positioning pin 611, connector 612, and lower positioning pin 613 of the tape feeder 6. The receiving connector 924 is connected to the device control unit 94.

[0036] The operator sets the tape feeder 6 towards the feeder holder 92 from the rear in the Y-axis direction (bottom of Figure 7). At this time, the pair of clamping guides 922 hold the tape feeder 6 from both sides and position it in the X-axis direction. The upper positioning hole and lower positioning hole are engaged with the upper positioning pin 611 and lower positioning pin 613, respectively, to position the tape feeder 6 in the Y-axis and Z-axis directions. Furthermore, the receiving connector 924 is automatically mated with the connector 612. As a result, the device control unit 94 is connected to the feeder control unit 69 for communication.

[0037] The tape insertion section 93 is positioned on the upper surface of the device base 91, further back in the Y-axis direction than the feeder holder 92, and displaced in the X-axis direction from directly behind the feeder holder 92. The tape insertion section 93 is formed by a pair of movable guides 931, a movable base 932, a drive cylinder 933, a pair of upper and lower tape guides 934, two drive rollers 935, and two motors 936.

[0038] A pair of movable guides 931 are each elongated in the X-axis direction and are arranged parallel to each other and spaced apart in the Y-axis direction on the upper surface of the device base 91. The movable base 932 is a roughly rectangular plate-shaped part and is mounted on the upper side of the pair of movable guides 931. A drive cylinder 933 is located on the upper surface of the device base 91, and its movable part is coupled to the movable base 932. The movable base 932 is driven by the drive cylinder 933 and moves in the X-axis direction, guided by the movable guides 931. Normally, the movable base 932 is located on the side away from the feeder holder 92 (right side in Figure 7).

[0039] The upper and lower tape guides 934 are each elongated in the Y-axis direction and are arranged parallel to each other and spaced apart in the Z-axis direction on the upper surface of the movable base 932. The distance between the upper and lower tape guides 934 is slightly greater than the thickness dimension of the carrier tape 8, forming a passage for the carrier tape 8 between them. At least one of the upper and lower tape guides 934 is configured to be movable in the Z-axis direction, and the distance between them can be changed. This allows the upper and lower tape guides 934 to accommodate multiple types of carrier tapes 8 with different tape thickness dimensions.

[0040] The two drive rollers 935 are positioned by cutting out two locations in the lower tape guide 934 that are spaced apart in the Y-axis direction. Two motors 936 are positioned on the upper surface of the movable base 932, and each drives one of the drive rollers 935. Each of the two drive rollers 935 is driven by the motors 936 and rotates about a central axis that extends in the X-axis direction. The upper end of each drive roller 935 is positioned higher than the lower tape guide 934, and the carrier tape 8 is sandwiched between the upper tape guide 934 and the drive roller 935. By rotating, each of the drive rollers 935 feeds the carrier tape 8 forward in the Y-axis direction (upper side in Figure 7).

[0041] After setting the tape feeder 6 on the feeder holder 92, the operator inserts the carrier tape 8 from the rear in the Y-axis direction between the pair of upper and lower tape guides 934. More precisely, the operator inserts the carrier tape 8 until the leading edge reaches at least the front-side (lower side in Figure 7) drive roller 935. After this, the mobile base 932 moves in a direction approaching the feeder holder 92. As the mobile base 932 moves, the pair of upper and lower tape guides 934 are positioned in front of the reel RL and facing the insertion opening 65. Therefore, as the two drive rollers 935 feed the carrier tape 8 in the Y-axis direction, the carrier tape 8 is automatically inserted from the insertion opening 65 into the guide rail 64. After insertion is complete, the mobile base 932 moves away from the feeder holder 92, and the carrier tape 8 moves away from the tape guides 934.

[0042] The device control unit 94 is located on the device base 91, and its position is not limited. The device control unit 94 is a computer device that operates using software. The device control unit 94 controls the drive cylinder 933 and the two motors 936. Furthermore, the device control unit 94 works in conjunction with the feeder control unit 69, which is connected via communication, to control the loading and peeling operations of the carrier tape 8. The tape loading device 90 and the tape feeder 6 can perform automatic loading of the carrier tape 8 with the above configuration. The tape loading device 90 also incorporates a tape peeling determination device 9A for the purpose of determining whether the peeling of the carrier tape 8 is successful or not.

[0043] 5. Configuration of the tape peeling detection device 9A of the first embodiment The configuration of the tape peeling detection device 9A of the first embodiment will be described with reference to Figure 7. The tape peeling detection device 9A is configured by incorporating a camera 9B, an imaging control unit 9C, an image processing unit 9D, a reference setting unit 9E, and a determination unit 9F into the tape loading device 90. The imaging control unit 9C, the image processing unit 9D, the reference setting unit 9E, and the determination unit 9F are configured using the software of the device control unit 94.

[0044] Camera 9B is positioned above the feeder holder 92 by mounting brackets (not shown) etc. The optical axis of camera 9B extends downward in the Z-axis direction and reaches the peeling blade 73 of the tape feeder 6 set on the feeder holder 92. Therefore, the upper surface of the peeling blade 73 becomes the imaging target area AR of camera 9B. In the first embodiment, the upper surface of the peeling blade 73 is the imaging target area AR on the path of the cover tape 81 that is peeled off by the peeling unit 7, and is one form of the imaging target area AR in which the presence or absence of the cover tape 81 changes depending on the success or failure of the peeling. An example of the imaging target area AR is shown in Figure 6.

[0045] Camera 9B performs imaging under conditions in which the imaging target area AR is illuminated with a generally uniform illuminance using multiple light sources (not shown in the figure). Camera 9B images the upper surface of the peeling blade 73 to acquire image data representing at least luminance. As an example of camera 9B, a digital imaging device having an image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) can be used. The luminance of each pixel in the image data is expressed in 256 levels, for example, from 0 to 255. A higher luminance value indicates brighter and more dazzling, while a lower value indicates dimmer.

[0046] The imaging control unit 9C controls the imaging operation of the camera 9B. After the imaging operation is completed, the imaging control unit 9C receives image data from the camera 9B and passes it to the image processing unit 9D. The image processing unit 9D performs predetermined image processing on the image data according to requests from the reference setting unit 9E and the determination unit 9F, and provides the processing results to the reference setting unit 9E and the determination unit 9F.

[0047] The reference setting unit 9E individually sets the brightness reference value BSi for each of the multiple detection areas DAi set within the imaging target area AR of the image data, assuming that there is no cover tape 81 on the upper surface of the peeling blade 73 (imaging target area AR). The brightness reference value BSi may differ for each of the multiple detection areas DAi. Specifically, the reference setting unit 9E individually sets the brightness reference value BSi based on the reference image data GS obtained by imaging the upper surface of the peeling blade 73, which has been determined by the camera 9B to be free of cover tape 81.

[0048] In detail, the reference setting unit 9E first causes the camera 9B to perform imaging via the imaging control unit 9C and acquire reference image data GS. Next, the reference setting unit 9E requests the image processing unit 9D to calculate the average value of the brightness of multiple pixels within each of the multiple detection areas DAi of the reference image data GS. The reference setting unit 9E then receives the average value calculated by the image processing unit 9D and sets it as the brightness reference value BSi for each detection area DAi. Note that it is not mandatory to base the calculations on the reference image data GS. For example, the reference setting unit 9E may acquire measurement results in advance from an optical measuring instrument different from the camera 9B to measure the peeling blade 73 before assembly, and automatically set the brightness reference value BSi for each of the multiple detection areas DAi individually based on the measurement results. Alternatively, the reference setting unit 9E may set multiple brightness reference values ​​BSi individually according to the operator's manual setting operation.

[0049] Multiple detection areas DAi are pre-set by the operator. Preferably, the multiple detection areas DAi are set in areas through which the peeled cover tape 81 will reliably pass. Furthermore, it is preferable that the multiple detection areas DAi are set in areas with stable brightness within the imaging target area. The multiple detection areas DAi may be set in a two-dimensional matrix and touch each other, arranged in a row, or arranged discretely. In addition, the multiple detection areas DAi are partitioned into rectangles (including squares) and arranged so that their sides are parallel to the rectangular imaging target area AR. This makes the image processing calculations by the image processing unit 9D more efficient.

[0050] After the carrier tape 8 is sent to the peeling unit 7 within the tape feeder 6, the determination unit 9F causes the camera 9B to take an image via the imaging control unit 9C and acquire the determination image data GJ. Next, the determination unit 9F requests the image processing unit 9D to calculate the average value of the brightness of multiple pixels within each of the multiple detection areas DAi of the determination image data GJ. The determination unit 9F then receives the average value calculated by the image processing unit 9D and uses it as the brightness measurement value BMi for each of the detection areas DAi. Naturally, the brightness measurement value BMi will differ for each of the multiple detection areas DAi.

[0051] Furthermore, the determination unit 9F determines the success or failure of the peeling process by comparing the difference value △Bi between the luminance measurement value BMi and the luminance reference value BSi of each of the multiple detection areas DAi, specifically, with a predetermined threshold △S. To explain the determination method in detail, the determination unit 9F counts the number of satisfied areas Na, which represents the number of detection areas DAi that satisfy the condition that the difference value △Bi exceeds the threshold △S. The determination unit 9F then determines that the peeling was successful if the number of satisfied areas Na is greater than or equal to a predetermined number NS. Conversely, the determination unit 9F determines that the peeling was unsuccessful (failed) if the number of satisfied areas Na is less than the predetermined number NS. The predetermined number NS may be 1 or 2 or more.

[0052] The determination logic of the determination unit 9F can be modified. For example, in the modified determination unit 9F, if the number of detection areas DAi that satisfy the satisfaction conditions and are in contact with each other is greater than or equal to a predetermined number of NS, the separation is determined to have been successful, and if it is less than the predetermined number of NS, the separation is determined to have been unsuccessful. In other words, the modified determination unit 9F tightens the determination conditions by adding the additional necessary condition that the detection areas DAi that satisfy the satisfaction conditions are in contact with each other.

[0053] When the determination unit 9F determines that peeling has failed, the device control unit 94 can, in cooperation with the feeder control unit 69, cause the tape feeder 6 to perform a retry operation. In the retry operation, the leading edge of the carrier tape 8 is returned to the side in front of the peeling unit 7, then sent towards the peeling unit 7 again, and the peeling operation is performed again. The retry operation is repeated as long as the number of retries Rn does not exceed the maximum number of retries RS. If peeling is not successful even after repeating the retry operation up to the maximum number of retries RS, the device control unit 94 performs a predetermined abnormality handling procedure, such as notifying the operator of the abnormality. The functions of the reference setting unit 9E and the determination unit 9F will be described further in the following operation description.

[0054] 6. Operation of the tape peel detection device 9A Next, the operation of the tape peel detection device 9A will be explained in conjunction with the automatic loading operation (external setup work) by the tape loading device 90, with reference to Figures 8 to 12. The main operation flow shown in Figure 8 is mainly carried out by the device control unit 94, with some involvement from the operator. In addition, multiple detection areas DAi are already set before the start of the main operation flow, with the threshold △S set to 40, the predetermined number NS set to 2, and the maximum number RS ​​set to 3. Also, the number of satisfied areas Na and the number of retries Rn are reset to zero.

[0055] In step S1 of Figure 8, the operator sets the tape feeder 6 on the feeder holder 92. This allows the device control unit 94 to confirm that it has established a communication connection with the feeder control unit 69, and to control subsequent operations in cooperation with the feeder control unit 69. The operator then inserts the leading edge of the carrier tape 8 between the upper and lower tape guides 934 of the tape insertion unit 93.

[0056] In the next step S2, the device control unit 94 operates the tape insertion unit 93. First, the movable base 932 approaches the feeder holding base 92, and the pair of upper and lower tape guides 934 face the insertion opening 65. Next, the two drive rollers 935 feed the carrier tape 8 and insert it from the insertion opening 65 into the guide rails 64. Meanwhile, in the tape feeder 6, the third sprocket 673 and the fourth sprocket 674 operate to feed the inserted carrier tape 8. However, the feeding of the carrier tape 8 is temporarily paused when the tape detection sensor 6A detects the leading edge of the carrier tape 8.

[0057] At this point, it is determined that there is no cover tape 81 on the upper surface of the peeling blade 73. In the next step S3, the imaging control unit 9C causes the camera 9B to perform an imaging operation to acquire reference image data GS as illustrated in Figure 10. As shown in the figure, the 16 detection areas DAi (DA1 to DA16) are set up in a two-dimensional matrix and are in contact with each other. Furthermore, the 16 detection areas DAi (DA1 to DA16) are set in areas with relatively stable brightness within the imaging target area AR, specifically in the horizontal portion 731 of the upper surface of the peeling blade 73, and are not set in the inclined portion 732 (see Figures 3 and 6). To add to this, the peeling blade 73 is made of metal, and its upper surface has a metallic luster and high reflectivity of illumination light, making it suitable for setting the detection areas DAi.

[0058] In the reference image data GS illustrated in Figure 10 and the judgment image data GJ illustrated in Figure 11, 16 detection areas DAi are numbered. Specifically, the first detection area DA1 at the left end of the first column to the fourth detection area DA4 at the right end, the fifth detection area DA5 at the left end of the second column to the eighth detection area DA8 at the right end, the ninth detection area DA9 at the left end of the third column to the twelfth detection area DA12 at the right end, and the thirteenth detection area DA13 at the left end of the fourth column to the sixteenth detection area DA16 at the right end. Hereafter, the subscript i attached to the detection area DAi, the luminance reference value BSi, the luminance measurement value BMi, and the difference value △Bi will be replaced with 1 to 16 as appropriate and explained individually. Also, for convenience, hatching will be used to qualitatively indicate the magnitude of the luminance. In other words, the image is divided into plain areas with particularly high brightness, areas with hatched dots with relatively high brightness, areas with hatched diagonal lines sloping downwards to the right with relatively low brightness, and areas with hatched diagonal lines sloping upwards to the right with particularly low brightness.

[0059] In the reference image data GS, the areas with relatively low brightness and the areas with particularly low brightness correspond to the inclined portion 732 of the peeling blade 73. On the other hand, the areas with particularly high brightness extend to most of the 16th detection area DA16, slightly less than half of the 12th detection area DA12, and part of the 15th detection area DA15. The remaining portions of the multiple detection areas DAi are located within the areas with relatively high brightness.

[0060] In the next step S4, as described above, the reference setting unit 9E sets the average value of the brightness of multiple pixels within each of the first detection area DA1 to the 16th detection area DA16, calculated by the image processing unit 9D, as the brightness reference value (BS1 to BS16). In the example table shown in Figure 12, the brightness reference value BS1 for the first detection area DA1 is 220.

[0061] Similarly, the luminance reference value BS2 for the second detection area DA2 is 220, the luminance reference value BS3 for the third detection area DA3 is 221, and the luminance reference value BS4 for the fourth detection area DA4 is 223. The luminance reference value BS5 for the fifth detection area DA5 is 220, the luminance reference value BS6 for the sixth detection area DA6 is 221, the luminance reference value BS7 for the seventh detection area DA7 is 223, and the luminance reference value BS8 for the eighth detection area DA8 is 225. The luminance reference value BS9 for the ninth detection area DA9 is 222, the luminance reference value BS10 for the tenth detection area DA10 is 223, the luminance reference value BS11 for the eleventh detection area DA11 is 226, and the luminance reference value BS12 for the twelfth detection area DA12 is 235. The luminance reference value BS13 for the 13th detection area DA13 is 223, the luminance reference value BS14 for the 14th detection area DA14 is 227, the luminance reference value BS15 for the 15th detection area DA15 is 232, and the luminance reference value BS16 for the 16th detection area DA16 is 240.

[0062] In the next step S5, the device control unit 94 commands the feeder control unit 69 to perform an automatic loading operation of the carrier tape 8. The feeder control unit 69 controls the tape feeding mechanism to rotate the four sprockets in the forward direction and feeds the leading edge of the carrier tape 8 from the position of the tape detection sensor 6A to the supply position 66. During the feeding of the carrier tape 8, the peeling operation by the peeling unit 7 is performed automatically. The feeder control unit 69 notifies the device control unit 94 that the feeding of the carrier tape 8 to the supply position 66 has been completed.

[0063] In the next step S6, the imaging control unit 9C causes the camera 9B to perform an imaging operation to acquire the judgment image data GJ exemplified in Figure 11. This judgment image data GJ is the image data when the peeling is successful. The brightness distribution of the judgment image data GJ changes compared to the reference image data GS because of the presence of the cover tape 81 in the imaging target area AR. Specifically, the brightness of the first area A1 and the second area A2 in the judgment image data GJ decreases, and they become areas with relatively low brightness. Conversely, the brightness of the third area A3 increases, and it becomes an area with particularly high brightness. This increase or decrease in brightness is due to the change in how the illumination light is reflected depending on the inclination and bending of the cover tape 81. In addition, the brightness of the fourth area A4 in the judgment image data GJ decreases significantly, and it becomes an area with particularly low brightness. This is due to the adhesive from the adhesive part 85 remaining on the cover tape 81.

[0064] The first area A1 extends from the first detection area DA1 to the fourth detection area DA4, and part of the eighth detection area DA8. The second area A2 extends from part of the twelfth detection area DA12, and from the fourteenth detection area DA14 to the sixteenth detection area DA16. The third area A3 extends from the first detection area DA1 to the second detection area DA2, from the fifth detection area DA5 to the eighth detection area DA8, and from the tenth detection area DA10 to the twelfth detection area DA12. The fourth area A4 extends from most of the ninth detection area DA9, and from the twelfth detection area DA12 to the thirteenth detection area DA13.

[0065] In the next step S7, the determination unit 9F determines whether the peeling is successful or not. Details of step S7 are shown in the suboperation flow in Figure 9. In step S21 in Figure 9, the determination unit 9F selects the first detection area DA1 in the determination image data GJ. In the next step S22, the determination unit 9F uses the selected detection area DAi and the average value of the brightness of multiple pixels in the area calculated by the image processing unit 9D as the brightness measurement value BMi. In the next step S23, the determination unit 9F calculates the difference value △Bi between the brightness measurement value BMi and the brightness reference value BSi for the selected detection area DAi, or more precisely, calculates the signed difference value △Bi by subtracting the brightness measurement value BMi from the brightness reference value BSi.

[0066] In the next step S24, the determination unit 9F determines whether or not to perform step S25 depending on whether the satisfaction condition is met, where the difference value △Bi exceeds the threshold △S (=40). If the satisfaction condition is met, in step S25, the determination unit 9F increments the number of satisfied areas Na by 1 and proceeds to step S26. If the satisfaction condition is not met, the determination unit 9F skips step S25 and proceeds to step S26. In the example shown in Figure 12, the brightness measurement value BM1 of the first detection area DA1 is 195. Therefore, the difference value △B1 is 25 (=220-195), and the satisfaction condition is not met (indicated by an ×). Also, the number of satisfied areas Na does not change from zero.

[0067] In the next step S26, the determination unit 9F determines whether or not the operation is for the last 16th detection area DA16, and if not, proceeds to step S27. In step S27, the determination unit 9F selects the next detection area DAi and returns the operation flow to step S22. Thus, the operation loop formed by steps S22 to S27 is repeated for the number of detection areas DAi. Furthermore, the number of satisfied areas Na is counted up sequentially during the repetition.

[0068] In the example shown in Figure 12, the luminance measurement BM2 for the second detection area DA2 is 188, and the difference value △B2 is 32, which does not satisfy the sufficiency condition. The luminance measurement BM3 for the third detection area DA3 is 180, and the difference value △B3 is 41, which satisfies the sufficiency condition (indicated by a circle). The luminance measurement BM4 for the fourth detection area DA4 is 178, and the difference value △B4 is 45, which satisfies the sufficiency condition. The luminance measurement BM5 for the fifth detection area DA5 is 233, and the difference value △B5 is -13, which does not satisfy the sufficiency condition. The luminance measurement BM6 for the sixth detection area DA6 is 230, and the difference value △B6 is -9, which does not satisfy the sufficiency condition. The luminance measurement BM7 for the seventh detection area DA7 is 227, and the difference value △B7 is -4, which does not satisfy the sufficiency condition. The luminance measurement BM8 for the eighth detection area DA8 is 215, and the difference value △B8 is 10, which does not satisfy the sufficiency condition.

[0069] Furthermore, the luminance measurement value BM9 for the 9th detection area DA9 is 164, and the difference value △B9 is 58, satisfying the conditions. The luminance measurement value BM10 for the 10th detection area DA10 is 226, and the difference value △B10 is -3, not satisfying the conditions. The luminance measurement value BM11 for the 11th detection area DA11 is 212, and the difference value △B11 is 14, not satisfying the conditions. The luminance measurement value BM12 for the 12th detection area DA12 is 209, and the difference value △B12 is 26, not satisfying the conditions. The luminance measurement value BM13 for the 13th detection area DA13 is 176, and the difference value △B13 is 47, satisfying the conditions. The luminance measurement value BM14 for the 14th detection area DA14 is 175, and the difference value △B14 is 52, satisfying the conditions. The luminance measurement value BM15 for the 15th detection area DA15 is 179, and the difference value △B15 is 53, satisfying the conditions. The brightness measurement value BM16 for the 16th detection area DA16 is 180, and the difference value △B16 is 60, thus satisfying the sufficiency condition.

[0070] In step S26, if the operation is for the 16th detection area DA16, the determination unit 9F proceeds the operation flow to step S28. In step S28, the determination unit 9F branches the operation flow based on whether the number of satisfied areas Na is equal to or greater than a predetermined number NS (=2). In step S29, if the condition is met, the determination unit 9F determines that the peeling was successful. On the other hand, in step S30, if the condition is not met, the determination unit 9F determines that the peeling failed. After the execution of step S29 or step S30, the operation flow returns to step S8 of the main operation flow.

[0071] In the example shown in Figure 12, the satisfaction condition is met in the third detection area DA3, the fourth detection area DA4, the ninth detection area DA9, and the thirteenth detection area DA13 to the sixteenth detection area DA16. In other words, the number of satisfied areas Na is counted up to 7. Therefore, since the number of satisfied areas Na (=7) is greater than or equal to the predetermined number NS (=2), the determination unit 9F determines that the peeling was successful. On the other hand, if the peeling fails and there is no cover tape 81 in the imaging target area AR, the determination image data GJ will be very similar to the reference image data GS. In this case, there are no detection areas DAi that satisfy the satisfaction condition, and the number of satisfied areas Na does not change from zero. Therefore, the determination unit 9F can correctly determine that the peeling failed.

[0072] Here, the phenomenon of adhesive residue remaining on the cover tape 81 from the adhesive portion 85 is not reproducible. Therefore, in some cases, judgment image data GJ may be obtained that does not include the fourth region A4 (the region where brightness is significantly reduced due to the effect of the adhesive). In this case, it is highly likely that the satisfaction conditions will not be met in the ninth detection area DA9, the thirteenth detection area DA13, and the fourteenth detection area DA14, where the effect of the adhesive is eliminated. Nevertheless, the number of satisfied areas Na will be 4, and the judgment unit 9F can correctly determine that the peeling was successful.

[0073] On the other hand, while the first region A1, the second region A2, and the third region A3 may experience slight changes in brightness, position, and area each time they are imaged, the regions themselves cannot disappear. Therefore, the number of satisfied areas Na will never fall below the predetermined number NS (=2), and the determination unit 9F can correctly determine that the peeling was successful. Furthermore, as illustrated, the detection areas DAi that satisfy the satisfaction conditions are adjacent to each other. Therefore, the determination unit 9F of the modified example described above will also yield the same determination result. In contrast, the conventional technology using a single detection area is susceptible to the influence of the third region A3, whose brightness increases due to the presence of the cover tape 81, and is prone to misjudgment. Therefore, according to the first embodiment, the accuracy of determining the success or failure of peeling is improved compared to the conventional technology.

[0074] In step S8, the device control unit 94 branches the operation flow based on the success or failure of the peeling, and terminates the main operation flow if the peeling is successful. In step S9, if the peeling fails, the device control unit 94 increments the retry count Rn by 1. In the next step S10, the device control unit 94 determines whether the retry count Rn exceeds the maximum number RS ​​(=3) and branches the operation flow.

[0075] In step S11, if the number of retries Rn has not been exceeded, the device control unit 94 commands the feeder control unit 69 to perform a retry operation. The feeder control unit 69 controls the tape feeding mechanism to reverse the four sprockets and returns the leading edge of the carrier tape 8 to the side in front of the peeling unit 7 (return operation). After this, the operation flow returns to step S5. The feeder control unit 69 again feeds the leading edge of the carrier tape 8 to the supply position 66, and the peeling operation by the peeling unit 7 is automatically re-executed. On the other hand, in step S12, if the number of retries Rn exceeds the maximum number RS, the device control unit 94 performs a predetermined abnormality processing and terminates the main operation flow.

[0076] In the tape peeling determination device 9A of the first embodiment, the reference setting unit 9E individually sets the brightness reference value BSi for each of the multiple detection areas DAi (DA1 to DA16) when there is no cover tape 81. The determination unit 9F determines the success or failure of peeling based on the brightness measurement value BMi and the brightness reference value BSi for each of the multiple detection areas DAi (DA1 to DA16). According to this, the determination unit 9F can compare the brightness measurement value BMi, which may differ for each detection area DAi (DA1 to DA16), with the brightness reference value BSi, which may also differ for each detection area DAi (DA1 to DA16), and further make a determination based on multiple comparison results, for example, the number of satisfied areas Ns. Therefore, the tape peeling determination device 9A can improve the accuracy of determining the success or failure of peeling between the bottom tape 82 and the cover tape 81 compared to conventional devices.

[0077] 7. Tape peeling determination device 9H and component mounting machine 1 of the second embodiment Next, the tape peeling detection device 9H of the second embodiment will be described, mainly focusing on the differences from the first embodiment, with reference to Figure 13. The tape peeling detection device 9H of the second embodiment is incorporated into the component mounting machine 1. For this reason, the configuration of the component mounting machine 1 will be described in advance. The component mounting machine 1 performs the mounting operation of mounting components onto the substrate K. In Figure 13, the horizontal direction from the left to the right of the paper is the X-axis direction for transporting the substrate K, the horizontal direction from the bottom (rear) to the top (front) of the paper is the Y-axis direction, and the vertical direction is the Z-axis direction. The component mounting machine 1 is configured by assembling a substrate transport device 2, a component supply device 3, a component transfer device 4, and a control device 5, etc., on a base 10.

[0078] The substrate transport device 2 consists of a pair of guide rails 21, a pair of transport belts (not shown), and a clamping mechanism (not shown). The pair of guide rails 21 extend in the X-axis direction, traversing slightly towards the rear of the upper surface of the base 10, and are assembled to the base 10 parallel to each other. The pair of transport belts rotate along the guide rails 21 with two parallel sides of the substrate K placed on them, transporting the substrate K to a stopping position near the center of the base 10. The clamping mechanism pushes up the transported substrate K and clamps it between itself and the guide rails 21 to position it. After the mounting operation by the component transfer device 4 is completed, the clamping mechanism releases the substrate K, and the transport belts transport the substrate K out of the machine.

[0079] The parts supply device 3 consists of a pallet stand 31 and a plurality of tape feeders 6. The pallet stand 31 is a generally rectangular member in plan view and is positioned at the rear of the base 10. The pallet stand 31 has a plurality of slots that are parallel to each other and extend in the Y-axis direction, while being aligned in the X-axis direction. Furthermore, the pallet stand 31 has upper positioning holes, receiving connectors, and lower positioning holes corresponding to each of the plurality of slots, similar to the contact portion 923 of the tape loading device 90. The detachable rail 62 described in the first embodiment is inserted into each of the plurality of slots, and the plurality of tape feeders 6 are detachably arranged in the X-axis direction.

[0080] The component transfer device 4 consists of a pair of guide rails 40, a Y-axis moving body 41, an X-axis moving body 42, a mounting head 43, a nozzle tool 44, a suction nozzle 45, a substrate camera 46, and a component camera 47. The pair of guide rails 40 are positioned on both edges of the base 10 that are spaced apart in the X-axis direction and extend parallel to each other in the Y-axis direction. The Y-axis moving body 41 is mounted on the pair of guide rails 40 and moves in the Y-axis direction. The X-axis moving body 42 is mounted on the Y-axis moving body 41 and moves in the X-axis direction.

[0081] The mounting head 43 is located in front of the X-axis moving body 42 and is positioned above the substrate transport device 2 and the component supply device 3. The mounting head 43 moves horizontally in two directions together with the X-axis moving body 42. A nozzle tool 44 is rotatably mounted on the underside of the mounting head 43. The nozzle tool 44 has multiple (four in the example in Figure 1) suction nozzles 45 equidistant from the vertical central axis. The suction nozzles 45 can be raised and lowered and rotated, and are also selectively supplied with negative pressure air and positive pressure air. As a result, the suction nozzles 45 perform the mounting operation of picking up components from the component supply device 3 and mounting them onto the substrate K. Note that the mounting head 43 may be provided with only one suction nozzle 45 instead of the nozzle tool 44, or multiple suction nozzles 45 may be arranged in a row or grid.

[0082] The substrate camera 46 is mounted facing downwards on the X-axis moving body 42, alongside the mounting head 43. The substrate camera 46 captures position marks on the substrate K from above to acquire image data. This image data is processed to accurately determine the stopping position of the substrate K. The component camera 47 is mounted facing upwards on the base 10 between the substrate transport device 2 and the component supply device 3. The component camera 47 captures and recognizes components held by the suction nozzle 45 from below while the mounting head 43 is moving from the component supply device 3 to the substrate K. This allows for the determination of the correctness of the component type, and the position and orientation of the component relative to the suction nozzle 45 are detected and reflected in the mounting operation. Digital imaging devices can be used as the substrate camera 46 and the component camera 47.

[0083] The control device 5 is mounted on the base 10, and its position is not limited. The control device 5 consists of a computer device with a CPU that operates using software. The control device 5 may also be configured with multiple CPUs distributed within the machine and connected via communication. The control device 5 has an input unit (not shown) that receives commands and selection operations from the operator, and a display unit (not shown) that conveys various information to the operator. Based on the mounting job data (not shown), the control device 5 controls the substrate transport device 2, the component supply device 3, and the component transfer device 4 to carry out the mounting work. The mounting job data includes data on the substrate K and components, mounting coordinate data for components, and data on the tape feeder 6 and suction nozzle 45 to be used.

[0084] The tape peeling detection device 9H of the second embodiment consists of a substrate camera 46, an imaging control unit 9C, an image processing unit 9D, a reference setting unit 9E, and a determination unit 9F. The substrate camera 46 moves above the tape feeder 6 of the component supply device 3 and performs the same imaging operation as the camera 9B of the first embodiment. The imaging control unit 9C, image processing unit 9D, reference setting unit 9E, and determination unit 9F are configured using the software of the control device 5 and have the same functions and perform the same operations as in the first embodiment.

[0085] In the second embodiment, when the mounting work of the component mounting machine 1 progresses and one of the tape feeders 6 runs out of carrier tape 8 (runs out of parts), it becomes necessary to replace the reel RL. The operator removes the used reel RL from the tape feeder 6 on the pallet stand 31 and performs the replacement work of installing a new reel RL (internal setup work). Since the tape loading device 90 cannot be used during the internal setup work, the operator inserts the tip of the carrier tape 8 pulled out from the new reel RL into the insertion opening 65. After this, the tape peeling determination device 9H and the tape feeder 6 perform the same automatic loading operation as in the first embodiment, and the peeling operation by the peeling unit 7 is performed automatically. The operation and effects in the second embodiment are the same as in the first embodiment, so a description is omitted.

[0086] 8. Applications and Variations of Embodiments In addition, the imaging target area AR of the camera 9B in the first embodiment and the substrate camera 46 in the second embodiment may be set to the supply position 66 instead of the upper surface of the peeling blade 73. However, the determination logic of the determination unit 9F for determining whether peeling is successful will change. That is, the determination unit 9F determines that peeling is successful if the cover tape 81 is on the upper surface of the peeling blade 73, and determines that peeling is successful if the cover tape 81 is not at the supply position 66. Furthermore, the camera 9B in the first embodiment may image the cover tape 81 from the side as it is being folded upward to obtain reference image data GS and determination image data GJ.

[0087] Furthermore, the first embodiment described a case in which the brightness decreases due to the presence of the cover tape 81. However, depending on the combination of the material and surface condition of the peeling blade 73 and the material of the cover tape 81, the brightness may increase due to the presence of the cover tape 81. In this case, the method for determining the sign of the difference value △Bi and the size of the threshold △S should be changed as appropriate. In addition, the first and second embodiments can be applied to a configuration in which the peeling unit 7 peels both of the two adhesive sections (85, 86) (total peeling method).

[0088] Furthermore, the tape loading device 90 may be a manually operated device that loads the carrier tape 8 according to the operator's instructions. In this embodiment, the operator's effort of visually inspecting narrow areas to determine the success or failure of the peeling operation is eliminated, and the accuracy of the determination is improved. In the second embodiment, the tape feeder 6 may be a type that inserts the second carrier tape 8 while the first carrier tape 8 is in use, and automatically loads the second carrier tape 8 when the first carrier tape 8 is used up. The first and second embodiments can be applied and modified in various other ways. [Explanation of Symbols]

[0089] 1: Component mounting machine 2: Substrate transport device 3: Component supply device 31: Pallet stand 4: Component transfer device 46: Substrate camera 5: Control device 6: Tape feeder 7: Peeling unit 73: Peeling blade 8: Carrier tape 81: Cover tape 82: Bottom tape 85, 86: Adhesive unit 89: Component 90: Tape loading device 91: Device base 92: Feeder holder 93: Tape insertion unit 94: Device control unit 9A, 9H: Tape peeling detection device 9B: Camera 9C: Imaging control unit 9D: Image processing unit 9E: Reference setting unit 9F: Judgment unit AR: Imaging target area GS: Reference image data GJ: Judgment image data DA1, DA4, DA13, DA16: 1st, 4th, 13th, 16th detection area

Claims

1. A camera that captures an image target area on the path of the cover tape, which is peeled off by a peeling unit that separates the bottom tape and cover tape constituting the carrier tape, and in which the presence or absence of the cover tape changes depending on the success or failure of the peeling, and acquires image data representing at least brightness. A reference setting unit sets a reference value for each of the multiple detection areas set within the imaging target area of ​​the image data, when the cover tape is not present in the imaging target area, A determination unit determines whether the peeling is successful or not based on the brightness measurement values ​​of each of the multiple detection areas obtained from the determination image data acquired by the camera after the carrier tape has been sent to the peeling section, and the brightness reference value. A tape peeling detection device equipped with the following features.

2. The tape peeling determination device according to claim 1, wherein the reference setting unit individually sets the brightness reference value based on reference image data obtained by imaging the target area where the cover tape is known to be absent by the camera.

3. The reference setting unit sets the average value of the brightness of multiple pixels within each of the multiple detection areas of the reference image data as the brightness reference value. The determination unit takes each of the plurality of detection areas of the determination image data as the average value of the brightness of a plurality of pixels within the area and uses that as the brightness measurement value. The tape peeling determination device according to claim 2.

4. The tape peeling determination device according to claim 1, wherein the determination unit determines the success or failure of the peeling by comparing the difference between the brightness measurement value and the brightness reference value for each of the plurality of detection areas with a predetermined threshold value.

5. The tape peeling determination device according to claim 4, wherein the determination unit determines that the peeling was successful when the number of detection areas in which the difference value exceeds the threshold is greater than or equal to a predetermined number, and determines that the peeling was not successful when the number is less than the predetermined number.

6. The tape peeling determination device according to claim 5, wherein the determination unit determines that the peeling was successful when the difference value exceeds the threshold and the number of detection areas in contact with each other is equal to or greater than a predetermined number, and determines that the peeling was unsuccessful when the number is less than the predetermined number.

7. The peeling section has a peeling blade that enters between the bottom tape and the cover tape when the carrier tape is fed. The imaging target area is set on the upper surface of the peeling blade, A tape peeling determination device according to any one of claims 1 to 6.

8. The tape peeling determination device according to claim 7, wherein the peeling blade peels off one of two adhesive sections that extend in the length direction of the tape and adhere the bottom tape and the cover tape together.

9. The tape peeling determination device according to any one of claims 1 to 6, wherein the plurality of detection areas are arranged in a two-dimensional matrix within the imaging target area.

10. A tape peeling determination device according to any one of claims 1 to 6, which is incorporated into a tape loading device that loads the carrier tape into a tape feeder having the peeling portion.

11. The tape peeling determination device according to claim 10, wherein the reference setting unit individually sets the brightness reference value based on reference image data obtained by imaging the target imaging area with the camera before the carrier tape is sent to the peeling unit.

12. A tape peeling determination device according to any one of claims 1 to 6, which is incorporated into a component mounting machine that mounts components supplied from a carrier tape onto a substrate, comprising a tape feeder having the peeling portion.

13. The tape peeling determination device according to claim 12, wherein the camera is a substrate camera provided in the component mounting machine for capturing images of position marks attached to the substrate.

Images