Component mounting device and nozzle shape detection method

Abstract

To appropriately detect the shape of a tip member in a replaceable nozzle in which the tip member of the nozzle can be replaced.SOLUTION: A component mounting device that holds and mounts components with a nozzle according to the component type includes a head capable of attaching a replaceable nozzle whose tip member in contact with the component can be replaced to a different shape and identification information indicating this fact is attached to the nozzle body as a nozzle, a determination unit that determines whether the nozzle is a replaceable nozzle on the basis of identification information of the nozzle attached to the head, a detection unit that detects the shape of the tip member when the nozzle is determined to be a replaceable nozzle, and a memory unit that associates and stores the nozzle identification information and the detected shape of the tip member.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] This specification discloses a component mounting device and a method for detecting the shape of a nozzle.

Background Art

[0002] Conventionally, as a component mounting device, in a device that mounts a component adsorbed by a nozzle onto a substrate, there has been proposed a device that uses an exchangeable nozzle whose tip type and shape (size) can be exchanged according to the component type of the component to be mounted. For example, in the device of Patent Document 1, a mark indicating the type of nozzle is imaged by a camera, and when it is determined to be an exchangeable nozzle, the exchangeable tip is further imaged, and the type of nozzle is detected by processing the imaged image to determine whether it is the correct nozzle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, in order to perform the detection of the type and shape as described above for the exchangeable nozzle, it is necessary to attach a seal including a mark indicating the type and shape of the tip member to the nozzle body. However, since it is necessary to attach a seal to the nozzle body every time the tip member is exchanged, or to attach a seal every time the nozzle is cleaned during maintenance, it is not only time-consuming but also there is a risk of misattachment, which is not preferable.

[0005] The main object of the present disclosure is to appropriately detect the shape of the tip member in an exchangeable nozzle whose tip member can be exchanged.

Means for Solving the Problems

[0006] This disclosure employs the following means to achieve the primary objectives described above.

[0007] The component mounting apparatus of this disclosure is A component mounting device that holds and mounts components using nozzles corresponding to the type of component, The nozzle includes a head to which an interchangeable nozzle can be attached, the nozzle having interchangeable tip members that contact the component and having identification information indicating this on the nozzle body, A determination unit that determines whether the nozzle is a replaceable nozzle based on the identification information of the nozzle attached to the head, If the nozzle is determined to be the replaceable nozzle, a detection unit for detecting the shape of the tip member is provided. A storage unit that stores the identification information of the nozzle and the shape of the detected tip member in association, The gist of it is that it is equipped with the following features.

[0008] The component mounting apparatus of this disclosure determines whether a nozzle attached to the head is a replaceable nozzle based on its identification information. If it is determined to be a replaceable nozzle, it detects the shape of the tip component and stores the detected shape in association with the nozzle's identification information. This allows for the appropriate detection of the tip component's shape even if the replacement nozzle's identification information does not include information about the tip component's shape. Therefore, there is no need to attach stickers or other labels indicating the shape of the tip component, eliminating the effort of attaching stickers and preventing mis-attachment. The shape of the tip component also includes its size. [Brief explanation of the drawing]

[0009] [Figure 1] A perspective view showing the schematic configuration of component mounting system 1. [Figure 2] A block diagram showing the electrical connection relationships of component mounting system 1. [Figure 3] A schematic diagram showing the configuration of the replaceable nozzle 80A. [Figure 4] A flowchart illustrating an example of nozzle shape detection processing. [Figure 5] An explanatory diagram showing an example of image G below. [Figure 6] A flowchart illustrating an example of the process for determining whether a nozzle can be selected. [Figure 7] A flowchart illustrating the nozzle shape detection process for a modified example. [Modes for carrying out the invention]

[0010] Next, embodiments of the present disclosure will be described with reference to the drawings. Figure 1 is a perspective view showing an outline of the configuration of the component mounting system 1. Figure 2 is a block diagram showing the electrical connection relationships of the component mounting system 1. In this embodiment, the left-right direction in Figure 1 is the X-axis direction, the front-back direction is the Y-axis direction, and the up-down direction is the Z-axis direction.

[0011] The component mounting system 1 includes a component mounting device 10 that performs mounting (attaching) components P, such as electronic components, to a substrate S, and a management device 100 that manages the entire system.

[0012] As shown in Figure 1, the component mounting device 10 includes a component supply device 20, a substrate transport device 30, a moving device 40, a head unit 50, a parts camera 62, a mark camera 64, a nozzle stocker 70, and a control device 90 (see Figure 2). The component supply device 20 is, for example, a tape feeder equipped with a reel 22 containing components P on tape at predetermined intervals, and pulls the tape from the reel 22 by the drive of a motor (not shown) to supply the components P to the supply position. The substrate transport device 30 includes, for example, a pair of conveyor belts 32 that are spaced apart in the front-to-back direction (Y-axis direction) and spanned in the left-to-right direction, and transports the substrate S from left to right in Figure 1 by driving the conveyor belts 32 by the drive of a motor (not shown). The moving device 40 includes a guide rail 46 provided along the Y-axis direction, a Y-axis slider 48 that moves along the guide rail 46, a guide rail 42 provided on the Y-axis slider 48 along the X-axis direction, and an X-axis slider 44 that moves along the guide rail 42. The head unit 50 is attached to the X-axis slider 44. The moving device 40 moves the head unit 50 in the XY direction by moving the X-axis slider 44 and the Y-axis slider 48.

[0013] The head unit 50 includes a rotary head 51 on which multiple nozzles 80 are mounted on the same circumference at predetermined angular intervals in the circumferential direction. For example, the rotary head 51 may be configured to have a total of 8 nozzles 80 mounted at 45-degree intervals, or a total of 12 nozzles 80 mounted at 30-degree intervals. The head unit 50 also includes an R-axis actuator 52, a Q-axis actuator 54, and a Z-axis actuator 56 (see Figure 2). The head unit 50 rotates each nozzle 80 by a predetermined angle in the circumferential direction by driving the R-axis actuator 52. The head unit 50 also rotates each nozzle 80 around its central axis by driving the Q-axis actuator 54. Furthermore, the head unit 50 raises and lowers a nozzle 80 in a predetermined rotational position in the Z-axis direction by driving the Z-axis actuator 56.

[0014] The side camera 60 is provided at the lower part of the head unit 50, and images a nozzle 80 at a predetermined position among the plurality of nozzles 80 of the rotary head 51 or a component P adsorbed (held) by the nozzle 80 from the side to generate an imaging image (side image).

[0015] The parts camera 62 is provided between the parts supply device 20 and the substrate transfer device 30. The parts camera 62 has an imaging range above it, and images an object such as a component P adsorbed by the nozzle 80 from below to generate an imaging image (lower image).

[0016] The mark camera 64 is provided on the lower surface of the X-axis slider 44. The mark camera 64 images an object from above to generate an imaging image. Examples of the object of the mark camera 64 include the component P supplied from the tape feeder of the component supply device 20, the mark attached to the substrate S, and the mark (ID mark M) of the nozzle 80 in the nozzle stocker 70.<00�0088>

[0017] The nozzle stocker 70 is configured to be able to accommodate a plurality of nozzles 80 in each storage part. The nozzles 80 stocked in the nozzle stocker 70 can be automatically exchanged with the rotary head 51. Also, during the operation stop of the component mounting device 10, an operator can take out a nozzle 80 of a type unnecessary for the mounting process among the nozzles 80 stocked in the nozzle stocker 70 and accommodate a nozzle 80 of a type necessary for the mounting process. Note that the type of nozzle 80 necessary for the mounting process is a type of nozzle 80 having a shape corresponding to the component type of the component to be mounted in the mounting process. The shape corresponding to the component type includes not only simple shapes such as a rectangular tube shape and a cylindrical shape but also the size of the nozzle tip that contacts the component P.

[0018] ]>Here, the nozzle 80 of the present embodiment has an exchangeable nozzle 80A in which the tip member that contacts the component P can be exchanged and a non-exchangeable nozzle that cannot be exchanged. Hereinafter, the configuration of the exchangeable nozzle 80A will be described. FIG. 3 is a configuration diagram showing an outline of the configuration of the exchangeable nozzle 80A. Note that the non-exchangeable nozzle has the same configuration as the exchangeable nozzle 80A except for the configuration for exchanging the tip member, and thus the description thereof is omitted.

[0019] As shown in Fig. 3, the exchangeable nozzle 80A includes a nozzle body 81 and a tip member 89. The nozzle body 81 includes a sleeve 82, a pipe 83, a pin 84, an adapter 85, a ball 86, a holder 87, and a spring 88. An air passage 81a that penetrates vertically and allows air to pass through is formed inside the nozzle body 81. The air passage 81a is connected to a vacuum pump via a switching valve (not shown) inside the rotary head 51, and the negative pressure supplied through the air passage 81a from the vacuum pump adsorbs the component P.

[0020] The sleeve 82 has an upper cylindrical portion 82a, a disk portion 82b, and a lower cylindrical portion 82c. The upper cylindrical portion 82a is formed with an outer diameter that can be attached to a nozzle holder (not shown) of the rotary head 51, and a pair of long holes 82d that penetrate in the radial direction and have the vertical direction as the longitudinal direction are formed on the side surface. The disk portion 82b is formed with an outer diameter larger than the housing portion of the nozzle stocker 70, and a notch C (see Fig. 5) is formed on the outer peripheral edge. The nozzle 80 (exchangeable nozzle 80A) is housed in the housing portion in a specific orientation (rotation direction) in which the notch C engages with a protrusion formed on the edge of the housing portion, and the disk portion 82b is supported by the edge of the housing portion. An ID mark M indicating the identification information (nozzle ID) of the nozzle 80 (exchangeable nozzle 80A) is attached to the upper surface of the disk portion 82b. In the case of the exchangeable nozzle 80A, although the information indicating that it is an exchangeable nozzle is included in the nozzle ID, the information indicating the shape (including the size) of the nozzle tip is not included. In the case of a non-exchangeable nozzle, the information indicating that it is a non-exchangeable nozzle and the information indicating the shape of the nozzle tip are included in the nozzle ID. These information may be included in the nozzle ID itself, or may be associated with the nozzle ID.

[0021] The pipe 83 is formed with an outer diameter that allows it to slide within the sleeve 82, and a pin 84 is attached to it that passes radially through it and through the elongated hole 82d of the sleeve 82. The pipe 83 moves up and down within the range in which the pin 84 can move within the elongated hole 82d. The adapter 85 is a stepped cylindrical member having a small diameter portion 85a fitted to the lower end of the pipe 83 and a large diameter portion 85b with the same diameter as the outer diameter of the pipe 83. A through hole 85c is formed in the large diameter portion 85b, and a ball 86 is housed in this through hole 85c. The ball 86 is formed with an outer diameter larger than the radial thickness of the large diameter portion 85b, and is exposed radially both inside and outside when housed in the through hole 85c. The adapter 85 moves up and down integrally with the pipe 83.

[0022] The holder 87 has a cylindrical portion 87a with an inner diameter that is slidable between the pipe 83 and the adapter 85 (large diameter portion 85b), and a flange portion 87b that protrudes outward from the lower end of the cylindrical portion 87a. A recess is formed on the inner circumferential surface of the cylindrical portion 87a into which the exposed portion of the ball 86 fits. The holder 87 functions as a ball retainer that holds the ball 86 in the recess with its inner circumferential surface, and is connected to the adapter 85 via the ball 86, moving up and down together as a single unit. The spring 88 is a coil spring attached so as to surround the lower cylindrical portion 82c, with the lower surface of the disc portion 82b of the sleeve 82 serving as the upper end spring receiver. The lower end of the spring 88 can also contact the upper surface of the flange portion 87b of the holder 87. Therefore, as the pipe 83, adapter 85, and holder 87 move upward as a single unit, the flange portion 87b pushes up the spring 88, and the spring 88 applies a downward biasing force to the flange portion 87b. As a result, the spring 88 restricts the amount of upward movement of the pipe 83, adapter 85, and holder 87, and positions the holder 87 to hold the ball 86.

[0023] The tip member 89 is composed of a tip tip 89a whose tip surface (lower end surface) contacts the part P when the part is picked up, and an attachment 89b that holds the tip tip 89a and allows it to be attached to the adapter 85 (inside the large diameter portion 85b). The tip tip 89a comes in multiple types with different shapes (sizes), for example, with a rectangular or circular horizontal cross-sectional shape (end face shape) and different sizes. The outer circumferential surface of the attachment 89b has a recess into which the exposed portion of the ball 86 fits. The tip member 89 is locked to the adapter 85 by the ball 86 fitting into this recess, preventing it from falling off. The operator can release the lock on the tip member 89 and replace the tip member 89 by sliding the holder 87 upward against the biasing force of the spring 88 to release the ball 86. By making the tip member 89 replaceable in this way, when stocking multiple types of nozzles 80, it is not necessary to stock the entire nozzle assembly, thus reducing costs and shortening delivery times. Note that the configuration of the interchangeable nozzle 80A is just one example and is not limited to the configuration shown in Figure 3.

[0024] As shown in Figure 2, the control device 90 is configured as a microprocessor centered around a CPU 91, and in addition to the CPU 91, it includes a ROM 92, HDD 93, RAM 94, and an input / output interface (I / F) 95. These are connected via a bus 96. The control device 90 receives image signals from the side camera 60, parts camera 62, and mark camera 64 via the input / output interface 95. Position sensors (not shown) are provided on the X-axis slider 44, Y-axis slider 48, Z-axis actuator 56, R-axis actuator 52, and Q-axis actuator 54, and the control device 90 also receives position information from these position sensors. Furthermore, the control device 90 outputs drive signals to the parts supply device 20, the board transport device 30, the X-axis actuator 45 that moves the X-axis slider 44, the Y-axis actuator 49 that moves the Y-axis slider 48, the R-axis actuator 52, the Q-axis actuator 54, and the Z-axis actuator 56 via the input / output interface 95.

[0025] The management device 100 is, for example, a general-purpose computer. As shown in Figure 2, the management device 100 includes a CPU 101, ROM 102, an HDD 103 for storing production jobs for the substrate S, RAM 104, an input / output interface 105, etc. These are connected via a bus 106. The management device 100 receives input signals from input devices 107 such as a mouse or keyboard via the input / output interface 105. The management device 100 also outputs image signals to the display 108 via the input / output interface 105. Here, the production job for the substrate S is information that defines which components P to mount on the substrate S in what order by the component mounting device 10, and how many substrates S with components P mounted in that manner to be manufactured. The production job also includes information about the components P to be mounted, such as information on the mounting order of the components P, information on the mounting position, information on the type of component P such as its shape, and information on the shape of the nozzle 80 suitable for picking up that type of component. Note that the shape of the component P and the shape of the nozzle 80 include information on the size of the component P and the size of the nozzle 80, respectively. This production job is pre-entered by an operator or other person and is transmitted from the control device 100 to the component mounting device 10 when production begins.

[0026] Next, the operation of the component mounting device 10 of the component mounting system 1 configured in this way will be described. In the process of mounting components P onto a substrate S, the control device 90 first transports the substrate S to a predetermined position using the substrate transport device 30 and holds it there. Next, the control device 90 has the component supply device 20 supply components P to the supply position, and moves the head unit 50 above the supply position using the moving device 40 to pick up the components P with the nozzle 80. Subsequently, the control device 90 moves the head unit 50 above the parts camera 62 using the moving device 40 and has the parts camera 62 image the components picked up by the nozzle 80. The control device 90 processes the captured image to correct the target mounting position of the component P so that any misalignment of the component P is eliminated, and then moves the head unit 50 above the substrate S using the moving device 40 to mount the component P to the target mounting position. When the mounting of the necessary components P is completed, the control device 90 releases the substrate S using the substrate transport device 30 and transports it out of the machine. The control device 90 performs such mounting processing based on production jobs transmitted from the management device 100. Furthermore, before performing the mounting processing based on the production jobs, the control device 90 controls the head unit 50 to attach a nozzle 80 of the appropriate type (shape) to the component P, based on the information about the component P described above. The following describes the process when the nozzle 80 is attached to the head unit 50. Figure 4 is a flowchart showing an example of nozzle shape detection processing, which is executed by the CPU 91 of the control device 90.

[0027] In the nozzle shape detection process, the CPU 91 determines whether a new nozzle 80 has been attached to the head unit 50 (rotary head 51) (S100). If it determines that no new nozzle 80 has been attached, the nozzle shape detection process is terminated. The nozzle 80 is attached by first storing nozzles 80 of the type not needed for the mounting process in the nozzle stocker 70, based on the production job, and then attaching the nozzles 80 needed for the mounting process from those stored in the nozzle stocker 70 to the rotary head 51 (nozzle holder). The CPU 91 also processes the image captured by the mark camera 64 of the ID mark M before the nozzle 80 is removed from the nozzle stocker 70, and obtains the nozzle ID by recognizing the ID mark M.

[0028] On the other hand, when the CPU 91 determines in S100 that a new nozzle 80 has been attached, it obtains information about the type of nozzle 80 (at least whether or not it is a replaceable nozzle 80A) from the acquired nozzle ID (S110), and determines whether or not the newly attached nozzle 80 is a replaceable nozzle 80A (S120). If the CPU 91 determines that it is a non-replaceable nozzle and not a replaceable nozzle 80A, it terminates the process. As described above, in the case of a non-replaceable nozzle, the nozzle ID contains information about the shape (including size) of the nozzle tip. Therefore, if the nozzle 80 is a non-replaceable nozzle, the CPU 91 confirms the shape of the nozzle tip from the nozzle ID before attaching it to the rotary head 51, so there is no need to detect the shape again after attachment. On the other hand, in the case of a replaceable nozzle 80A, the nozzle ID contains information indicating that it is replaceable, so the CPU 91 determines in S120 that it is a replaceable nozzle 80A. However, since the information about the shape of the tip member 89 is not included, the CPU 91 performs the following process to detect the nozzle shape.

[0029] If the CPU 91 determines in S120 that the nozzles are interchangeable nozzles 80A, it uses the parts camera 62 to capture images of all the nozzles 80 (interchangeable nozzles 80A) together from below (S130). Specifically, the CPU 91 controls the moving device 40 to move the head unit 50 onto the parts camera 62, causing the parts camera 62 to capture images of the interchangeable nozzles 80A (downward images). Subsequently, the CPU 91 processes the downward images to detect the shape of the tip member of each interchangeable nozzle 80A (S140). When detecting the shape, in addition to determining whether the cross-sectional shape of the tip member is rectangular or circular (annular), the size is also detected. For example, if it is rectangular, the lengths of the long and short sides of the suction port are detected, and if it is circular, the outer and inner diameters of the suction port are detected.

[0030] Figure 5 is an explanatory diagram showing an example of the lower image G. As shown in the figure, in the lower image G, each nozzle 80 attached to the rotary head 51 is imaged together. Therefore, even when multiple interchangeable nozzles 80A are attached, there is no need to image each interchangeable nozzle 80A individually and process multiple images, so the shape (size) detection of the interchangeable nozzles 80A can be performed efficiently. If all of the nozzles 80 attached to the rotary head 51 are interchangeable nozzles 80A, the CPU 91 only needs to process the lower image G to extract the area of ​​all the tip members 89 and detect their shape. On the other hand, if some of the nozzles 80 attached to the rotary head 51 are interchangeable nozzles 80A, the CPU 91 only needs to process the lower image G to extract the area of ​​the tip member 89 of the interchangeable nozzle 80A to be detected and detect its shape. As mentioned above, the tip members 89 can have rectangular or circular cross-sectional shapes, but by using the lower image G, they can be appropriately detected regardless of their shape.

[0031] When the CPU 91 detects the shape of the tip component in S140, it acquires information about the shape of the nozzle 80 (shape of the tip component) according to the type of part (S150). As mentioned above, this information is acquired based on information about the part P to be mounted. Next, the CPU 91 determines whether the shape detected in S140 matches the shape acquired in S150 for each of the interchangeable nozzles 80A (S160). In addition, the determination of whether the shapes match in S160 also determines whether the sizes match.

[0032] If the CPU 91 determines in S160 that the shapes (sizes) match, it stores the shape information (shape information) detected in S140 for each interchangeable nozzle 80A in the HDD 93, linked to the nozzle ID acquired in S110 (S170), and terminates the nozzle shape detection process. In S170, the process of linking the shape (size) of the tip member 89 to the nozzle ID of each interchangeable nozzle 80A is performed and stored. On the other hand, if the CPU 91 determines in S160 that the shapes (sizes) do not match, it notifies the tip shape error (S180) and terminates the nozzle shape detection process. In S180, the CPU 91 performs a process such as displaying a message on a display screen (display unit) of the component mounting device 10 (not shown) indicating that a shape error (size error) has occurred in the tip member of the interchangeable nozzle 80A. If the shape (size) of any of the interchangeable nozzles 80A does not match, S180 only needs to display the interchangeable nozzle 80A in a way that the operator can recognize, and for the other interchangeable nozzles 80A (that match in shape), the storage processing in S170 may be performed.

[0033] Next, we will explain the processing using the shape information stored in the nozzle shape detection process. Figure 6 is a flowchart of an example of the nozzle selection feasibility determination process. This process is performed, for example, on nozzles 80 stored in the nozzle stocker 70. In the nozzle shape detection process, the CPU 91 obtains information on the type of nozzle 80 (at least whether or not it is a replaceable nozzle 80A) from the nozzle ID (S200), and determines whether or not the nozzle 80 to be judged is a replaceable nozzle 80A (S210). The nozzle ID is obtained from the ID mark M recognized by processing an image captured by the mark camera 64. If the CPU 91 determines that it is a non-replaceable nozzle and not a replaceable nozzle 80A, it terminates this process.

[0034] On the other hand, if the CPU 91 determines in S210 that it is a replaceable nozzle 80A, it determines whether or not shape information associated with the nozzle ID is stored in the HDD 93 (S220). If it determines that the shape information is not stored, it terminates the process. If the CPU 91 determines that the shape information is stored, it retrieves the shape information associated with the nozzle ID from the HDD 93 (S230). Next, the CPU 91 retrieves shape information of the nozzle 80 (tip member 89) according to the type of component to be mounted in this mounting process (S240), and determines whether or not the retrieved shape matches the shape associated with the nozzle ID (S250). If there are multiple types of nozzles 80 according to the type of component to be mounted, it is determined whether or not the shape of any of these types matches the shape associated with the nozzle ID.

[0035] In S250, CPU91 determines that the acquired shape matches the shape associated with the nozzle ID, and then determines that the replaceable nozzle 80A to be evaluated is selectable (usable) in this implementation process (S260), and terminates this process. On the other hand, in S250, CPU91 determines that the acquired shape does not match the shape associated with the nozzle ID, and then skips the process in S260, that is, determines that it is not selectable, and terminates this process.

[0036] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. In this embodiment, the rotary head 51 corresponds to the head (rotary head), the control device 90 (CPU 91) that executes nozzle shape detection processing S110 and S120 corresponds to the determination unit, the parts camera 62 and the control device 90 (CPU 91) that executes nozzle shape detection processing S130 and S140 correspond to the detection unit, and the control device 90 (CPU 91) that executes nozzle shape detection processing S170 and the HDD 93 correspond to the storage unit. The control device 90 (CPU 91) that executes nozzle selection feasibility determination processing S230 to S260 corresponds to the determination unit. The parts camera 62 corresponds to the downward camera. In this embodiment, an example of a nozzle shape detection method is also clarified by describing the operation of the component mounting device 10.

[0037] The component mounting apparatus 10 of the embodiment described above detects the shape of the tip member 89 when it determines that the nozzle 80 is a replaceable nozzle 80A based on the nozzle ID (identification information) of the nozzle 80. This allows for the appropriate detection of the shape of the tip member 89 even if the nozzle ID of the replaceable nozzle 80A does not include shape information. Therefore, there is no need to attach a sticker or the like indicating the shape of the tip member 89 to the nozzle 80 (nozzle body 81), eliminating the need for the operator to attach a sticker to the nozzle body 81 each time the tip member 89 is replaced. Furthermore, since the possibility of incorrect sticker application is eliminated, it is possible to prevent problems such as poor component suction, mounting defects, and component dropping that may occur due to the incorrect use of a replaceable nozzle 80A with a different tip shape.

[0038] Furthermore, the shape of the detected tip member 89 is associated with the nozzle ID of the replaceable nozzle 80A and stored. Then, for example, the nozzle ID of the nozzle 80 (replaceable nozzle 80A) in the nozzle stocker 70 is obtained, and it is determined whether the replaceable nozzle 80A is selectable based on the shape of the tip member 89 associated with that nozzle ID. In this way, the selectability of a replaceable nozzle 80A whose tip member 89 shape has been detected can be quickly determined without removing it from the nozzle stocker 70. Note that for replaceable nozzles 80A that have been determined to be selectable in the nozzle selectability determination process, the nozzle shape detection process may be omitted. Alternatively, if the nozzle shape detection process is performed for a replaceable nozzle 80A that has been determined to be selectable, it is possible to prevent it from being judged as a tip shape error because it has already been determined to be selectable. As a result, the implementation process can be started quickly.

[0039] Furthermore, since the nozzle shape detection process is performed by processing images captured by the parts camera 62 of the tip member 89, there is no need to provide a dedicated sensor for shape detection. Also, since the parts camera 62 captures images of all the tip members 89 of the multiple nozzles 80 (interchangeable nozzles 80A) of the rotary head 51 at once, there is no need to capture each of the multiple interchangeable nozzles 80A individually, and the detection process can be performed efficiently.

[0040] Furthermore, while the replaceable nozzle 80A includes information indicating that it is a replaceable nozzle in its nozzle ID, it does not include information indicating the shape of the nozzle tip. In contrast, the non-replaceable nozzle includes information indicating that it is a non-replaceable nozzle and information indicating the shape of the nozzle tip in its nozzle ID. The control device 90 then performs shape detection (processing from S130 onwards) when it determines that it is a replaceable nozzle 80A, while omitting shape detection when it determines that it is a non-replaceable nozzle, thereby preventing unnecessary processing time.

[0041] It goes without saying that this disclosure is not limited in any way to the embodiments described above, and can be implemented in various forms as long as they fall within the technical scope of this disclosure.

[0042] For example, in the embodiment described above, the downward image captured by the parts camera 62 (downward camera) was processed to detect the shape (size) of the tip member 89. However, the method is not limited to a camera, and the shape may be detected using one or more sensors. For example, the tip member 89 may be illuminated from the side with light such as laser light, and the shape (size) of the tip member 39 may be detected based on the light reception result. In addition to the downward image captured by the parts camera 62, the side image captured by the side camera 60 may also be processed. Furthermore, the following modified example may also be used. Figure 7 is a flowchart of the nozzle shape detection process in the modified example. In the modified example, the same steps as in the embodiment are given the same step numbers and their explanations are omitted.

[0043] In the modified example shown in Figure 7, when the CPU 91 captures a downward image in S130, the side camera 60 captures a side image of each nozzle 80 (replaceable nozzle 80A) from the side (S135). In S135, the R-axis actuator 52 drives each replaceable nozzle 80A to rotate (move) in the circumferential direction so that the tip member 89 of the replaceable nozzle 80A to be captured enters the field of view (imaging range) of the side camera 60 sequentially, and the side camera 60 captures images of them sequentially. Alternatively, the Q-axis actuator 54 can be driven to rotate the replaceable nozzle 80A around its axis, so that the tip member 89 can be captured in multiple rotation directions around the axis. Once the side camera 60 has captured side images of each replaceable nozzle 80A, the CPU 91 processes the downward image and the side image to detect the shape (size) of the tip member 89 of each replaceable nozzle 80A (S140a), and then terminates the nozzle shape detection process.

[0044] In this modified example, the shape of the tip member 89 is detected by image processing of the downward image and the side image. Therefore, even if the tip member 89 has a special shape other than a simple rectangular tube or cylindrical shape, and it is difficult to determine the shape (size) from the downward image alone, it is possible to prevent false detection of the shape of the tip member 89 and to detect it appropriately.

[0045] In this embodiment, when the shape of the tip member is detected in S140 of the nozzle shape detection process, it is determined whether or not it matches the shape corresponding to the part type, and then it is stored in association with the nozzle ID. However, it is not limited to this, and the shape of the tip member may be stored in association with the nozzle ID as soon as it is detected. In that case, S150, S160, and S180 can be omitted.

[0046] In this embodiment, a nozzle selection feasibility determination process is performed, but the system is not limited to this, and it is not necessary to perform the nozzle selection feasibility determination process. Also, in this embodiment, the nozzle ID of the replaceable nozzle 80A does not contain information indicating the shape of the nozzle tip, and the nozzle ID of the non-replaceable nozzle 80 does contain information indicating the shape of the nozzle tip, but the system is not limited to this. For example, the nozzle ID of the non-replaceable nozzle 80 may not contain information indicating the shape of the nozzle tip, or the nozzle ID of the replaceable nozzle 80A may contain information indicating the shape of the nozzle tip. In the former case, even if it is determined in S120 of the nozzle shape detection process that it is not a replaceable nozzle 80A, it is necessary to determine whether or not information indicating the shape can be obtained from the nozzle ID, and if it is determined that it cannot be obtained, the processing from S130 onwards should be performed. In the latter case, even if the nozzle ID of the replaceable nozzle 80A contains information indicating the shape of the nozzle tip, there is a possibility that it is incorrect information, so, as in this embodiment, if it is determined in S120 of the nozzle shape detection process that it is a replaceable nozzle 80A, the processing from S130 onwards should be performed.

[0047] In this embodiment, a rotary head 51 is exemplified as the head unit 50, but it is not limited to this. For example, multiple nozzles 80 (e.g., two) may be arranged in parallel, or only one nozzle 80 may be arranged.

[0048] Herein, the component mounting apparatus of the present disclosure may be configured as follows. For example, if the shape of the tip member corresponding to the type of component mounted by the component mounting apparatus matches the shape of the tip member stored in the storage unit, the replaceable nozzle to which the identification information linked to the shape stored in the storage unit is attached may be determined by the head to be selectable as a nozzle that holds the type of component. In this way, once the shape of the tip member of a replaceable nozzle has been detected, it is possible to quickly determine whether or not it can be selected.

[0049] In the component mounting apparatus of this disclosure, the identification information of a non-replaceable nozzle in which the tip member cannot be replaced may include information indicating the shape of the tip member, while the identification information of a replaceable nozzle may not include information indicating the shape of the tip member. This would increase the significance of applying this disclosure.

[0050] In the component mounting apparatus of this disclosure, the detection unit may include a downward camera that images the tip member of the nozzle from below, and the shape of the tip member may be detected by processing the image captured by the downward camera. By processing the image of the tip member captured from below, the shape of the tip member can be appropriately detected. Furthermore, if the imaging range includes the tip members of multiple nozzles, it is possible to efficiently detect the shapes of the tip members of multiple nozzles with a single imaging and image processing.

[0051] In the component mounting apparatus of this disclosure, the head is a rotary head on which a plurality of nozzles are mounted so as to be arranged on the same circumference, and the downward camera may capture images of the tip members of the plurality of nozzles arranged on the rotary head from below. In this way, the size of the tip member of each nozzle of the rotary head can be efficiently detected in a single image capture and image processing.

[0052] In the component mounting apparatus of this disclosure, the detection unit may include a side camera that images the tip member from the side, and may process the image captured by the downward camera and the image captured by the side camera to detect the shape of the tip member. In this way, even tip members with special shapes can be detected more appropriately using both downward and side images.

[0053] The nozzle shape detection method of this disclosure is a method for detecting the nozzle shape of a nozzle attached to the head of a component mounting device, and comprises the steps of: (a) determining, based on the identification information, whether the nozzle attached to the head is a replaceable nozzle in which the tip member that contacts the component can be replaced with a different shape and identification information indicating this is attached to the nozzle body; (b) if the nozzle is determined to be a replaceable nozzle, detecting the shape of the tip member; and (c) associating and storing the identification information of the nozzle with the detected shape of the tip member. The detection method of this disclosure can appropriately detect the shape of the tip member even if the identification information of the replaceable nozzle does not include shape information of the tip member, similar to the component mounting device of this disclosure. In this detection method, a step of realizing any of the functions of the component mounting device described above may be added.

[0054] This specification also discloses a technical concept in which the "component mounting apparatus described in claim 1 or 2" in the original claim 4 has been changed to "component mounting apparatus described in any one of claims 1 to 3". [Industrial applicability]

[0055] This disclosure can be used in industries such as the manufacturing of component mounting equipment. [Explanation of Symbols]

[0056] 1 Component mounting system, 10 Component mounting device, 20 Component supply device, 22 Reel, 30 Board transport device, 32 Conveyor belt, 40 Moving device, 42, 46 Guide rail, 44 X-axis slider, 45 X-axis actuator, 48 Y-axis slider, 49 Y-axis actuator, 50 Head unit, 51 Rotary head, 52 R-axis actuator, 54 Q-axis actuator, 56 Z-axis actuator, 60 Side camera, 62 Parts camera, 64 Mark camera, 70 Nozzle stocker, 80 Nozzle, 80A Replaceable nozzle, 81 Nozzle body, 81a Air passage, 82 Sleeve, 82a Upper cylindrical part, 82b Disc part, 82c Lower cylindrical part, 82d Slotted hole, 83 Pipe, 84 Pin, 85 Adapter, 85a Small diameter part, 85b Large diameter part, 85c Through hole, 86 Ball, 87 Holder, 87a Cylindrical part, 87b Flange part, 88 Spring, 89 Tip member, 89a Tip tip, 89b Attachment, 90 Control device, 91,101 CPU, 92,102 ROM, 93,103 HDD, 94,104 RAM, 95,105 Input / Output interface, 96,106 Bus, 100 Management device, 107 Input device, 108 Display, C Notch, M ID mark, P Component, S Circuit board.

Claims

1. A component mounting device that holds and mounts components using nozzles corresponding to the type of component, A head to which an interchangeable nozzle can be attached, the nozzle body having identification information indicating that the tip component that contacts the part can be replaced with a different shape, A determination unit that determines whether the nozzle is a replaceable nozzle based on the identification information of the nozzle attached to the head, If the nozzle is determined to be the replaceable nozzle, a detection unit for detecting the shape of the tip member is provided. A storage unit that stores the identification information of the nozzle and the detected shape of the tip member in association, Equipped with, The identification information of the interchangeable nozzle does not include information indicating the shape of the tip member. Component mounting equipment.

2. The component mounting device includes a determination unit that determines if the shape of the tip member corresponding to the type of component to be mounted matches the shape of the tip member stored in the storage unit, and that the interchangeable nozzle to which the identification information linked to the shape stored in the storage unit is attached can be selected by the head as a nozzle that holds the type of component. The component mounting apparatus according to claim 1.

3. The head is capable of being fitted with a non-replaceable nozzle in place of the replaceable nozzle, The identification information of the non-replaceable nozzle includes information indicating the shape of the tip member. A component mounting apparatus according to claim 1 or 2.

4. The detection unit includes a downward camera that images the tip member of the nozzle from below, and processes the image captured by the downward camera to detect the shape of the tip member. A component mounting apparatus according to claim 1 or 2.

5. The head is a rotary head on which a plurality of nozzles are mounted so as to be arranged on the same circumference. The downward camera captures images from below of the tip members of the multiple nozzles arranged in the rotary head. The component mounting apparatus according to claim 4.

6. The detection unit includes a side camera that images the tip member from the side, and processes the image captured by the downward camera and the image captured by the side camera to detect the shape of the tip member. The component mounting apparatus according to claim 4.

7. A method for detecting the nozzle shape of a nozzle attached to the head of a component mounting device, (a) A step of determining, based on the identification information, whether the nozzle attached to the head is an interchangeable nozzle in which the tip member that contacts the part can be replaced with a different shape, and the identification information attached to the nozzle body does not include information indicating the shape of the tip member, (b) If it is determined that the nozzle is the replaceable nozzle, the step of detecting the shape of the tip member, (c) A step of associating and storing the identification information of the nozzle with the shape of the detected tip member, A method for detecting nozzle shape, including the shape of the nozzle.

Images