JP6861335B2 - Component mounting device and component mounting method - Google Patents

Description

The present invention relates to a component mounting device and a component mounting method in which components are held by a suction nozzle mounted on a mounting head and mounted on a substrate.

A suction nozzle is detachably attached to the mounting head that holds and transfers the component in the component mounting device that mounts the component on the board, and the nozzle holder is provided on the mounting head so as to be able to move up and down and rotate. It is detachably attached to the shaft member. With such a configuration, in the mounting head, the suction nozzle can be replaced as appropriate according to the target component, and the nozzle holder can be removed as needed for maintenance or the like. ing.

In the component mounting operation in which the mounting head is driven to transfer the component to the substrate and mounted, the component held by the suction nozzle is sucked to hold the component in order to correctly position the position in the rotation direction (θ direction) around the nozzle axis. It is necessary to correctly align the rotational position of the nozzle and the nozzle holder that holds the suction nozzle in the θ direction with the reference position. For this reason, conventionally, the amount of rotation angle deviation in the θ direction has been detected by imaging the suction nozzle or the jig sucked on the suction nozzle from the lower surface side and recognizing the image (for example, Patent Document). 1). In the prior art shown in this patent document example, the head portion (mounting head) holds a jig provided with a reference hole which is a reference position in the rotation direction, and cures at some reference angles (for example, every 90 degrees). The jig is recognized, and the amount of rotation angle deviation with respect to the reference angle is detected and stored. Then, at the time of component mounting work, the angle is corrected in the θ direction based on the stored rotation angle deviation amount.

Japanese Unexamined Patent Publication No. 2002-185197

However, in the above-mentioned prior art, since the rotation angle deviation in the θ direction is detected via the jig held by the head portion, there are the following inconveniences. That is, when the method of automatically attaching and detaching the nozzle holder for maintenance is adopted, it is necessary to detect and correct the rotation angle deviation in the θ direction not only for the suction nozzle but also for the nozzle holder that holds the suction nozzle. It is said that. However, when the positional deviation in the θ direction is detected via a jig as in the prior art, the rotational angle deviation of the nozzle holder itself cannot be detected correctly. For this reason, it is not possible to properly correct the effect of aging error due to deterioration of the belt that rotationally drives the nozzle shaft, and as a result, problems with the attachment / detachment operation of the nozzle holder and parts due to the suction nozzle attached to the nozzle holder In some cases, the mounting accuracy may be poor.

Therefore, an object of the present invention is to provide a component mounting device and a component mounting method capable of reducing defects in the attachment / detachment operation of the nozzle holder and defects in component mounting accuracy due to the suction nozzle mounted on the nozzle holder.

The component mounting device of the present invention includes a shaft member driven in the vertical direction, a nozzle holder mounted on the shaft member, and a suction nozzle mounted on the nozzle holder to suck the component and mount the component on a substrate. A mounting head including, an imaging camera that captures the nozzle holder with the suction nozzle removed from below , and a correction angle of rotation of the nozzle holder is corrected and corrected based on the image captured by the imaging camera. A control unit that mounts the suction nozzle on the nozzle holder in the mounted state and mounts the component on the substrate, and a rotation angle calculation that calculates the amount of rotation angle deviation with respect to a specified angle of the nozzle holder based on the image. The rotation angle calculation unit calculates the amount of rotation angle deviation from the position of the feature point of the nozzle holder in the image with respect to the specified angle of the nozzle holder. This is a positioning unit for positioning the rotation direction of the suction nozzle with respect to the nozzle holder .

The component mounting device of the present invention includes a shaft member driven in the vertical direction, a nozzle holder mounted on the shaft member, and a suction nozzle mounted on the nozzle holder to suck the component and mount the component on a substrate. The rotation angle of the nozzle holder is corrected based on the mounting head including, an imaging camera that captures the nozzle holder with the suction nozzle removed from below, and an image captured by the imaging camera. a control unit for attachment and detachment of the nozzle holder, based on the image, and a rotation angle calculator that calculates the rotation angle displacement amount with respect to a defined angle of the nozzle holder, the rotation angle calculator, the The amount of rotation angle deviation with respect to the specified angle of the nozzle holder is calculated from the position of the feature point of the nozzle holder in the image, and the feature point of the nozzle holder is for positioning the rotation direction of the suction nozzle with respect to the nozzle holder. It is a positioning part of .

In the component mounting method of the present invention, a mounting head including a shaft member driven in the vertical direction, a nozzle holder mounted on the shaft member, and a suction nozzle mounted on the nozzle holder is moved, and the suction is performed. A component mounting method in which a component is sucked by a nozzle and the component is mounted on a substrate. The nozzle holder in a state where the suction nozzle is removed is imaged from below by an imaging camera, and an image captured by the imaging camera. The rotation angle of the nozzle holder is corrected based on the above, the suction nozzle is mounted on the corrected nozzle holder, the component is mounted on the substrate, and the specified angle of the nozzle holder is determined based on the image. The amount of rotation angle deviation with respect to the specified angle of the nozzle holder is calculated from the position of the feature point of the nozzle holder in the image, and the feature point of the nozzle holder is the feature point of the suction nozzle. This is a positioning unit for positioning the rotation direction with respect to the nozzle holder .

In the component mounting method of the present invention, a mounting head including a shaft member driven in the vertical direction, a nozzle holder mounted on the shaft member, and a suction nozzle mounted on the nozzle holder is moved, and the suction is performed. A component mounting method in which a component is sucked by a nozzle and the component is mounted on a substrate. The nozzle holder in a state where the suction nozzle is removed is imaged from below by an imaging camera, and an image captured by the imaging camera. based on, have line attachment and detachment of the rotation angle correction to the nozzle holder of the nozzle holder, based on the image, and calculates a rotation angle amount of deviation defined angle of the nozzle holder, the in the image The amount of rotation angle deviation with respect to the specified angle of the nozzle holder is calculated from the position of the feature point of the nozzle holder, and the feature point of the nozzle holder is a positioning unit for positioning the rotation direction of the suction nozzle with respect to the nozzle holder. Is .

According to the present invention, it is possible to reduce defects in the attachment / detachment operation of the nozzle holder and defects in component mounting accuracy due to the suction nozzle mounted on the nozzle holder.

Top view of the component mounting device according to the embodiment of the present invention Perspective view of a mounting head used in the component mounting device according to the embodiment of the present invention. Explanatory drawing of mounting state of suction nozzle in mounting head used for component mounting apparatus of one Embodiment of this invention Explanatory drawing of attachment / detachment structure of nozzle holder and suction nozzle in mounting head used for component mounting apparatus of one Embodiment of this invention Explanatory drawing of attachment / detachment operation of nozzle holder in mounting head used for component mounting apparatus of one Embodiment of this invention Explanatory drawing of correction of rotation angle of nozzle holder in mounting head used for component mounting apparatus of one Embodiment of this invention A block diagram showing a configuration of a control system of a component mounting device according to an embodiment of the present invention. Explanatory drawing of component suction and component mounting by a suction nozzle in the component mounting device according to the embodiment of the present invention. Explanatory drawing of attachment / detachment operation of nozzle holder in component mounting apparatus of one Embodiment of this invention

Next, an embodiment of the present invention will be described with reference to the drawings. First, the overall configuration of the component mounting device 1 will be described with reference to FIG. In FIG. 1, a substrate transport mechanism 2 is arranged on the upper surface of the base 1a in the X direction (board transport direction). The board transport mechanism 2 transports the board 3 delivered from the upstream device, positions it at the mounting work position by the component mounting mechanism 11 described below, and holds it. Parts supply units 4 are arranged on both sides of the substrate transfer mechanism 2, and a plurality of tape feeders 5 are mounted side by side on the component supply units 4.

The tape feeder 5 pitch-feeds the carrier tape holding the component P to position the component at a supply position to the mounting head 9 constituting the component mounting mechanism 11. Further, in the present embodiment, the head maintenance device 6 provided with the holder maintenance unit 15 (see FIG. 9) is mounted together with the tape feeder 5 on the feeder base to which the tape feeder 5 is mounted in the component supply unit 4. There is. The holder maintenance unit 15 has a function for automatically performing predetermined maintenance for the nozzle holder 30 (see FIG. 3) mounted on the mounting head 9.

A Y-axis moving beam 7 is horizontally arranged in the Y direction at one end in the X direction on the upper surface of the base 1a. A pair of X-axis moving beams 8 are slidably attached to the Y-axis moving beam 7 in the Y direction. The X-axis moving beam 8 is driven in the Y direction by the linear drive mechanism provided in the Y-axis moving beam 7. A mounting head 9 is slidably mounted in the X direction on each X-axis moving beam 8. The mounting head 9 is a multi-unit head including a plurality of nozzle units 10, and is driven in the X direction by a linear drive mechanism included in the X-axis moving beam 8.

By driving the Y-axis moving beam 7, the X-axis moving beam 8, and the mounting head 9, the mounting head 9 is arranged in the respective component supply units 4 by the suction nozzles 21 (see FIGS. 2 and 3). The component P (see FIG. 8) is taken out from the substrate 3 and transferred to the substrate 3 for mounting. In the above configuration, the Y-axis moving beam 7, the X-axis moving beam 8 and the mounting head 9 constitute the component mounting mechanism 11.

A component recognition camera 13 and a nozzle stocker 14 are arranged between the substrate transport mechanism 2 and the respective component supply units 4 on the base 1a. The mounting head 9 from which the component P is taken out from the component supply unit 4 moves above the component recognition camera 13, so that the component recognition camera 13 takes an image of the component P held by the suction nozzle 21 at the mounting head 9.

In the present embodiment, the component recognition camera 13 also functions as an image pickup camera that images the nozzle holder 30 in a state where the suction nozzle 21 is removed (see FIG. 6). A suction nozzle 21 corresponding to a plurality of types of parts P is housed in the nozzle stocker 14, and the mounting head 9 is made to access the nozzle stocker 14 to execute a predetermined nozzle replacement operation. A suction nozzle 21 corresponding to the component P to be mounted is mounted on each nozzle unit 10.

A substrate recognition camera 12 that moves integrally with the mounting head 9 is arranged on the lower surface side of the X-axis moving beam 8 in a posture in which the imaging direction is downward. By moving the mounting head 9 above the substrate 3 held by the substrate transport mechanism 2, the substrate recognition camera 12 can image a reference point such as a position recognition mark of the substrate 3. By recognizing the imaging data acquired by the component recognition camera 13 and the substrate recognition camera 12 by the recognition processing unit 28 (see FIG. 7), the position shift of the component P held by the suction nozzle 21 in the mounting head 9 is displaced. Alternatively, the displacement of the substrate 3 held by the substrate transport mechanism 2 can be detected. In the component mounting operation by the component mounting mechanism 11, the component mounting position by the mounting head 9 is corrected in consideration of these positional deviations.

Next, the configuration of the mounting head 9 will be described with reference to FIG. The mounting head 9 is mounted on the X-axis moving beam 8 via the coupling plate 9a. The mounting head 9 has a configuration in which a plurality of nozzle units 10 are arranged side by side. Each nozzle unit 10 has a configuration in which the shaft member 20 extends downward from the nozzle elevating drive unit 10a, and the nozzle mounting portion 17 (see FIG. 3) coupled to the lower end portion of the shaft member 20 has a structure. , The suction nozzle 21 is detachably attached. Each nozzle elevating drive unit 10a includes a nozzle elevating mechanism for elevating and elevating an elevating shaft (not shown) coupled to the shaft member 20 by a linear motor. By driving the nozzle elevating mechanism, the shaft member 20 is driven in the vertical direction, whereby the suction nozzles 21 mounted on the nozzle mounting portion 17 are individually raised and lowered.

A θ-axis motor 16 is arranged on the side of the plurality of rows of nozzle units 10 with the drive shaft facing downward. A belt 16c is tuned to the drive pulley 16a coupled to the drive shaft and the driven pulley 16b mounted on each shaft member 20. By driving the θ-axis motor 16, the shaft member 20 rotates θ together with the suction nozzle 21 mounted on the nozzle mounting portion 17, whereby the electronic components held by the suction nozzle 21 are aligned in the θ direction. .. In this configuration, the θ-axis motor 16, the drive pulley 16a, the driven pulley 16b, and the belt 16c form a nozzle rotation drive unit 10b that rotationally drives the shaft member 20 together with the suction nozzle 21.

Next, the structures of the nozzle holder 30 and the buffer guide mechanism 40 constituting the nozzle mounting portion 17 will be described with reference to FIGS. 3, 4, and 5. As shown in FIG. 3, the nozzle mounting portion 17 includes a nozzle holder 30 provided in each nozzle unit 10 for detachably holding the suction nozzle 21, and the nozzle holder 30 can be detachably slidable in the vertical direction with a predetermined buffer load. It is composed of a buffer guide mechanism 40 having a function of holding the nozzle. The nozzle holder 30 is attached to the shaft member 20, and has a configuration in which two clamp members 32 are pressed by a tension spring member 33 on both side surfaces of a main body portion 31 provided with sliding holes 31a penetrating vertically. The buffer guide mechanism 40 is provided for the purpose of alleviating the impact when the suction nozzle 21 descends and the component P lands on the substrate 3.

Note that FIG. 4 shows a state in which the suction nozzle 21 is removed from the nozzle holder 30 and the nozzle holder 30 is further removed from the buffer guide mechanism 40 in the above configuration. FIG. 5 shows the cross section AA in FIG. 3, and the cross section of the casing member 41 in FIG. 3 corresponds to the cross section BB in FIG. 5 (a).

As shown in FIGS. 3 and 4, the suction nozzle 21 has a suction hole 21e and a suction shaft 21d extending downward is provided on the lower surface side of the disc-shaped flange portion 21c, and the suction nozzle 21 is further provided on the nozzle holder. The clamped portion 21a for being clamped and held by the 30 is projected on the upper surface side of the flange portion 21c. The clamped portion 21a is provided with a fitting notch 21b into which a pair of pin members 31c projecting horizontally radially from the fitting portion 31b below the main body 31 is fitted.

When the suction nozzle 21 is held by the nozzle holder 30, the fitting portion 31b is fitted into the fitting portion 21f provided in the suction nozzle 21 and the pin member 31c is fitted into the fitting notch 21b in the state shown in FIG. Further, the clamped portion 21a is sandwiched from both sides by the clamping member 32 and clamped by the elastic force of the tension spring member 33. As a result, as shown in FIG. 3, the suction nozzle 21 is attached to the nozzle holder 30. In this state, the pin member 31c is fitted into the fitting notch 21b, so that the suction nozzle 21 is positioned in the rotational direction with respect to the nozzle holder 30. Therefore, the pin member 31c is a positioning unit that positions the rotation direction of the suction nozzle 21 with respect to the nozzle holder 30.

The cushioning guide mechanism 40 has a function of guiding the nozzle holder 30 in a state where displacement in the vertical direction is allowed and also applying a downward urging force to the nozzle holder 30. As shown in FIG. 4, the cushioning guide mechanism 40 is provided at the lower part of the casing member 41 and the shaft member 20 through which the shaft member 20 is vertically inserted, and is fitted into the sliding hole 31a of the main body 31 to slide. The main body is a coil-shaped compression spring member 42 mounted with the lower end portion in contact with the moving shaft 20b and the main body portion 31. The casing member 41 is fixed to the shaft member 20 by a fixing means (not shown) such as a set bolt, and a fitting opening 41a is provided on the lower surface side of the casing member 41.

When mounting the nozzle holder 30 on the buffer guide mechanism 40, the upper portion 31d of the main body 31 is fitted into the fitting opening 41a, and the sliding shaft 20b is inserted into the sliding hole 31a as shown by the chain line arrow in FIG. Is slidably fitted in the vertical direction. As a result, the nozzle holder 30 is mounted on the buffer guide mechanism 40 in a state where the displacement in the vertical direction is allowed, and the nozzle holder 30 is guided in the vertical direction. A compression spring member 42 is mounted between the lower surface of the casing member 41 and the main body 31, and the compression spring member 42 applies a downward urging force to the main body 31.

As shown in FIG. 3, in a state where the suction nozzle 21 is mounted on the nozzle holder 30 and the nozzle holder 30 is further mounted on the buffer guide mechanism 40, the suction hole 20a of the shaft member 20 has a sliding hole 31a and a fitting portion 21f. It communicates with the suction hole 21e via FIG. 4 (FIG. 4). In this state, the vacuum suction source 22 is driven to suck vacuum from the suction hole 20a, so that the component P is sucked and held at the lower end of the suction shaft 21d. Then, the component P is mounted on the board 3 by moving the mounting head 9 to the board 3 to perform the component mounting operation. That is, the suction nozzle 21 is mounted on the nozzle holder 30 and sucks the component P to mount the component P on the substrate 3.

A pair of pin-shaped locking members 31e projecting to both sides are provided in the vicinity of the upper end portion of the upper portion 31d of the main body portion 31 (see also FIG. 5). In a state where the nozzle holder 30 is held by the cushioning guide mechanism 40, the upper portion 31d of the main body 31 is fitted into the fitting opening 41a provided in the casing member 41. As shown in FIG. 5A, the casing member 41 communicates with the fitting opening 41a, and the pair of horizontal groove portions 41b facing each other and the pair of vertical groove portions 41c facing each other are orthogonal to each other. It is provided at a position, and the horizontal groove portion 41b and the vertical groove portion 41c are connected by a notch portion 41d. The notch portion 41d is formed by notching the side surface portion of the casing member 41 in the horizontal direction with a predetermined height dimension by the notch range shown by the broken line in FIG. 5A.

As shown in FIG. 5A, the inner peripheral surface of the fitting opening 41a is notched in the radial direction at one end of the notch 41d, and the notch 41d and the lower surface of the casing member 41 are formed. A vertical groove portion 41c for communication is provided. The vertical groove portion 41c is formed in a planar shape that allows the nozzle holder 30 to be vertically inserted without interfering with the locking member 31e when the nozzle holder 30 is attached to the cushioning guide mechanism 40 from below and removed from the cushioning guide mechanism 40. At the other end of the notch 41d, a horizontal groove 41b is formed in which the lower end of the notch 41d is further cut downward by a predetermined depth with a width dimension into which the locking member 31e can be fitted. ..

5 (b) and 5 (c) show the fitting operation of the main body 31 to the casing member 41 when the nozzle holder 30 is attached to the cushioning guide mechanism 40. That is, when mounting the nozzle holder 30 on the cushioning guide mechanism 40, first, as shown in FIG. 5B, the sliding shaft 20b is fitted into the sliding hole 31a (see FIG. 4) of the main body 31. At this time, with the locking member 31e of the main body 31 aligned with the vertical groove 41c of the casing member 41, the main body 31 is pushed up from the lower surface side of the casing member 41. Then, when the locking member 31e passes through the vertical groove portion 41c and reaches the inside of the notch portion 41d, the main body portion 31 is rotated about 90 degrees around the shaft member 20 (see the arrow). As a result, the locking member 31e swivels in the notch 41d and reaches the position of the horizontal groove 41b.

Next, by pushing down the main body portion 31, as shown in FIG. 5C, the locking member 31e is fitted in the horizontal groove portion 41b, whereby the rotational position of the nozzle holder 30 around the nozzle axis is restricted. It is mounted on the casing member 41 in the correct positional relationship. At this time, as shown in FIG. 3, the locking member 31e is locked by the bottom surface of the horizontal groove portion 41b, so that the main body portion 31 is prevented from falling off. When the nozzle holder 30 is removed from the buffer guide mechanism 40, the operation in the reverse order of the above is performed to separate the upper portion 31d of the main body 31 from the fitting opening 41a.

In the attachment / detachment operation of the nozzle holder 30, the rotation angle around the shaft member 20 of the nozzle holder 30 can be correctly controlled so that the locking member 31e can pass through the vertical groove portion 41c without causing mechanical interference. Desired. However, the rotational drive of the shaft member 20 in the mounting head 9 is performed by the nozzle rotation drive unit 10b that transmits the rotation of the θ-axis motor 16 to the shaft member 20 via the belt 16c, which is caused by deterioration of the belt 16c and the like. Occurrence of time-dependent error is inevitable. In order to properly correct such an error with time, in the present embodiment, as described below, the shaft member 20 of the nozzle holder 30 is imaged from below with the nozzle holder 30 in a state where the suction nozzle 21 is removed. The state of the rotation angle around, that is, the amount of rotation angle deviation is detected.

FIG. 6 shows the imaging and rotation angle correction processing of the nozzle holder 30 executed for such a purpose. That is, in the present embodiment, the mounting head 9 is moved above the component recognition camera 13 at a predetermined timing such as when a predetermined interval elapses when the component mounting device 1 continues to operate, and FIG. 6A shows. As shown, the nozzle holder 30 with the suction nozzle 21 removed is imaged by the component recognition camera 13 (imaging camera). As a result, as shown in FIG. 6B, an image 13a including a pair of pin members 31c provided so as to extend radially from the fitting portion 31b and the fitting portion 31b in two directions is acquired. Then, the rotation angle calculation unit 25a calculates the amount of rotation position deviation with respect to the specified angle of the nozzle holder 30 based on the image 13a.

The calculation of the amount of rotation position deviation is performed as follows. First, the image 13a is recognized by the recognition processing unit 28 (see FIG. 7) to obtain a holder direction reference line HDL indicating the center line in the radial direction of the pair of pin members 31c. Then, the angle formed by the obtained holder direction reference line HDL and the direction reference line OPL of the optical coordinate system, which is a specified angle, is set as the rotation angle deviation amount Δθ with respect to the specified angle of the nozzle holder 30, and the control unit 25 It is calculated by the rotation angle calculation unit 25a (see FIG. 7) provided in the above.

That is, the rotation angle calculation unit 25a calculates the rotation angle deviation amount Δθ from the position of the feature point (a pair of pin members 31c provided on the fitting portion 31b) of the nozzle holder 30 in the image 13a shown in FIG. I have to. Here, as described above, the pair of pin members 31c functions as a positioning portion for positioning the rotation direction of the suction nozzle 21 with respect to the nozzle holder 30, and in the present embodiment, this positioning portion is shown in the image 13a. It is used as a feature point of the nozzle holder 30. If the rotation angle of the nozzle holder 30 can be detected in the image 13a of the nozzle holder 30 with the suction nozzle 21 removed, a portion other than the pin member 31c should be used as a feature point of the nozzle holder 30. It may be.

The above-mentioned calculation of the rotation angle deviation amount Δθ is performed for each of the plurality of shaft members 20 provided in the mounting head 9, and is stored in the storage unit 26 as a rotation angle deviation amount 26b unique to each shaft member 20. The work operation performed by the mounting head 9, that is, the attachment / detachment operation of attaching / detaching the nozzle holder 30 to / from the buffer guide mechanism 40, and the component mounting in which the component P is attracted by the suction nozzle 21 mounted on the nozzle holder 30 and mounted on the substrate 3. In the operation, the control unit 25 corrects the rotation angles of the nozzle holder 30 and the suction nozzle 21 based on the calculated rotation angle deviation amount Δθ.

That is, as shown in FIG. 6C, the rotation angle of the axis AX of each shaft member 20 is corrected so that the holder direction reference line HDL and the direction reference line OPL of the optical coordinate system coincide with each other. As a result, the nozzle holder 30 is corrected to the correct rotation angle in each shaft member 20, and the suction nozzle 21 mounted on the nozzle holder 30 is also corrected to the correct rotation angle.

Next, the configuration of the control system will be described with reference to FIG. 7. In FIG. 7, the control unit 25 is a CPU having an arithmetic processing function, and by executing various programs stored in the storage unit 26, each unit described below is controlled to perform work operations in the component mounting device 1. Execute arithmetic processing. In these work operations and arithmetic processing, data such as mounting data 26a and rotation angle deviation amount 26b stored in the storage unit 26 are referred to. The mounting data 26a includes the type of component P mounted on the substrate 3, mounting position coordinates, and the like. The rotation angle deviation amount 26b is data in which the rotation angle deviation amount Δθ shown in FIG. 5B is stored for each shaft member 20 of the mounting head 9, and the shaft is provided by the rotation angle calculation unit 25a provided by the control unit 25. Calculated for each member 20.

The mechanism drive unit 27 is controlled by the control unit 25 to drive the substrate transfer mechanism 2, the X-axis moving beam 8, the Y-axis moving beam 7, and the mounting head 9. As a result, the transfer positioning of the substrate 3 in the component mounting device 1, the horizontal movement of the mounting head 9 in the XY direction, and the nozzle driving in the mounting head 9 are performed. In this nozzle drive, the nozzle elevating drive unit 10a moves the shaft member 20 up and down, and the nozzle rotation drive unit 10b rotates the shaft member 20.

The recognition processing unit 28 recognizes and processes the image pickup result by the board recognition camera 12 and the component recognition camera 13. As a result, the misalignment of the substrate 3 held by the substrate transport mechanism 2 and the misalignment of the component P held by the suction nozzle 21 in the mounting head 9 are detected, and the holder shown in FIG. 6B is detected. The direction reference line HDL, that is, the rotational position deviation of the nozzle holder 30 is detected. The rotation angle deviation amount is calculated by the rotation angle calculation unit 25a based on the recognition processing result of the recognition processing unit 28.

Next, a component mounting method by the component mounting device 1 having the above configuration and functions will be described with reference to FIGS. 8, 9 and other figures as appropriate. In this component mounting method, the mounting head 9 including the shaft member 20 driven in the vertical direction, the nozzle holder 30 mounted on the shaft member 20, and the suction nozzle 21 mounted on the nozzle holder 30 is moved. The component P is attracted by the suction nozzle 21 and the component P is mounted on the substrate 3.

FIG. 8 shows mounting of the suction nozzle 21 on the nozzle holder 30, suction of the component P by the suction nozzle 21, and mounting on the substrate 3 in this component mounting method. When executing this component mounting method, first, as shown in FIG. 6, the nozzle holder 30 with the suction nozzle 21 removed is imaged from below by the component recognition camera 13 which is an imaging camera. Then, by controlling each unit shown in FIG. 7 by the control function of the control unit 25, the rotation angle of the suction nozzle 21 is corrected based on the image 13a captured by the component recognition camera 13, and the component P is placed on the substrate 3. Implement.

To correct the rotation angle of the suction nozzle 21, the holder direction reference line HDL defined by the pin member 31c as a positioning portion for positioning the rotation direction of the suction nozzle 21 with respect to the nozzle holder 30 is shown in FIG. 6 (c). As shown, this is performed by correcting the rotation angle of the axis AX of each shaft member 20 so as to coincide with the direction reference line OPL of the optical coordinate system.

Then, by mounting the suction nozzle 21 on the nozzle holder 30 in the corrected state in this way, in FIG. 8A, the axis of the suction shaft 21d of the suction nozzle 21 is set to the rotation angle of the axis AX of each shaft member 20. The rotation angles of AX can be matched. Next, in this state, the mounting head 9 is moved to the component supply unit 4 to access the suction nozzle 21 to the tape feeder 5 that supplies the component P to be mounted. Then, as shown in FIG. 8B, the suction nozzle 21 is moved up and down with respect to the component P located at the component take-out position 5a of the tape feeder 5, and the component P is suction-held by the suction shaft 21d.

After that, the mounting head 9 holding the component P is moved above the substrate 3, and as shown in FIG. 8C, the suction nozzle 21 holding the component P is lowered with respect to the substrate 3, and the component P is held. Is mounted on the substrate 3. In the component suction and component mounting by the suction nozzle 21, the suction nozzle 21 is in a state where the rotation angle is correctly corrected. As a result, it is possible to effectively suppress the suction failure of the component P due to the deviation of the rotation angle and the deviation of the mounting position on the substrate 3.

Next, with reference to FIG. 9, attachment / detachment of the nozzle holder 30 in the above-mentioned component mounting method will be described. When the component suction and component mounting by the mounting head 9 are repeatedly executed, the sliding of the sliding shaft 20b and the sliding hole 31a is repeated at high frequency. In order to prevent defects in component mounting work and ensure mounting quality, it is essential that the buffer guide mechanism 40 operates stably and properly. Therefore, buffering is performed in the process of continuously executing component mounting operations. It is necessary to appropriately perform maintenance work such as cleaning the sliding portion of the guide mechanism 40.

In this maintenance work, the nozzle holder 30 is removed from the buffer guide mechanism 40, the outer surface of the sliding shaft 20b and the inner surface of the sliding hole 31a are cleaned, and the lubricant is replenished. In the present embodiment, the head maintenance device 6 having the holder maintenance unit 15 is arranged in the component supply unit 4, and the mounting head 9 is made to access the holder maintenance unit 15, so that the maintenance of the nozzle holder 30 is automatically performed. I am trying to execute it.

As shown in FIG. 9A, the holder maintenance unit 15 is provided with a shaft cleaner 51, a sliding resistance measuring unit 52, and a holder attaching / detaching unit 53. The shaft cleaner 51 has a function of cleaning the sliding surface of the sliding shaft 20b (see FIG. 4) in which the nozzle holder 30 is removed and exposed. The sliding resistance measuring unit 52 has a function of measuring the sliding resistance of the sliding shaft 20b and the sliding hole 31a in a state of being fitted to the main body 31. The holder attachment / detachment portion 53 has a function of automatically removing the nozzle holder 30 in a state where the suction nozzle 21 has been removed from the buffer guide mechanism 40.

A plurality of insertion holes 54 into which the lower portion of the nozzle holder 30 from which the suction nozzle 21 has been removed can be inserted are provided on the upper surface of the holder attachment / detachment portion 53. As shown in FIG. 9B, the insertion hole 54 is provided so as to extend in two directions facing each other from the central hole portion 54a and the central hole portion 54a having a diameter size through which the fitting portion 31b can be inserted, and the pin member 31c is provided. It has a shape having an extension hole portion 54b that can be inserted.

A locking portion (not shown) capable of locking the pin member 31c is provided inside the insertion hole 54, and the lower portion of the main body 31 is fitted through the insertion hole 54 and rotated around the axis. , The pin member 31c can be supported by the locking portion to restrain the upward displacement. Then, by raising the shaft member 20 while adjusting the rotation angle of the main body 31 to the position shown in FIG. 5 (b), the nozzle holder 30 is separated from the cushioning guide mechanism 40 while being left in the holder attachment / detachment portion 53. To do.

When the nozzle holder 30 is attached / detached in the component mounting method shown in the present embodiment, as shown in FIG. 6, the nozzle holder 30 with the suction nozzle 21 removed is imaged from below by the component recognition camera 13 which is an imaging camera. To do. Then, by controlling each unit shown in FIG. 7 by the control function of the control unit 25, the rotation angle of the nozzle holder 30 is corrected and the nozzle holder 30 is attached / detached based on the image 13a captured by the component recognition camera 13. ..

Similarly, in the correction of the rotation angle of the nozzle holder 30, the holder direction reference line HDL defined by the pin member 31c as a positioning portion for positioning the rotation direction of the suction nozzle 21 with respect to the nozzle holder 30 is the direction of the optical coordinate system. This is performed by correcting the rotation angle of the axis AX of each shaft member 20 so as to coincide with the reference line OPL.

As a result, as shown in FIG. 9C, the holder direction reference line HDL coincides with the extension direction of the extension hole portion 54b in the insertion hole 54 formed in the holder attachment / detachment portion 53. Then, in this state, by lowering the fitting portion 31b with respect to the insertion hole 54, as shown in FIG. 9D, the fitting portion 31b can be moved into the fitting portion 31b without the pin member 31c interfering with the extension hole portion 54b. It can be fitted into the insertion hole 54, and the locking operation for removing the nozzle holder 30 can be correctly executed without any trouble.

As described above, in the component mounting device and the component mounting method shown in the present embodiment, the shaft member 20 is driven in the vertical direction, the nozzle holder 30 is mounted on the shaft member 20, and the nozzle holder 30 is mounted. In a configuration in which the mounting head 9 including the suction nozzle 21 is moved, the component P is sucked by the suction nozzle 21 and the component P is mounted on the substrate 3, the rotation angle of the suction nozzle 21 is corrected and the component P is mounted on the substrate. When mounting the nozzle holder 30 on the nozzle holder 30 or when attaching or detaching the nozzle holder 30 by correcting the rotation angle of the nozzle holder 30, the nozzle holder 30 with the suction nozzle 21 removed is viewed from below by the component recognition camera 13 which is an imaging camera. The image is taken, and the rotational position of the suction nozzle 21 or the nozzle holder 30 is corrected based on the captured image 13a. As a result, it is possible to suppress a defect in the attachment / detachment operation of the nozzle holder 30 and a defect in the component mounting accuracy due to the suction nozzle 21 mounted on the nozzle holder 30.

The component mounting device and the component mounting method of the present invention have an effect that it is possible to suppress a defect in the attachment / detachment operation of the nozzle holder and a defect in the component mounting accuracy due to the suction nozzle mounted on the nozzle holder. It is useful in the field of component mounting in which components are held by a mounted suction nozzle and mounted on a substrate.

1 Parts mounting device 3 Board 9 Mounting head 13 Parts recognition camera 13a Image 20 Shaft member 21 Suction nozzle 30 Nozzle holder 31c Pin member P component Δθ Rotation angle deviation amount

Claims (8)

A mounting head including a shaft member driven in the vertical direction, a nozzle holder mounted on the shaft member, and a suction nozzle mounted on the nozzle holder to suck the component and mount the component on a substrate.
An imaging camera that captures the nozzle holder with the suction nozzle removed from below, and
A control unit that corrects the rotation angle of the nozzle holder based on the image captured by the imaging camera , mounts the suction nozzle on the corrected nozzle holder, and mounts the component on the substrate .
A rotation angle calculation unit for calculating a rotation angle deviation amount with respect to a specified angle of the nozzle holder based on the image is provided.
The rotation angle calculation unit calculates the amount of rotation angle deviation from the position of the feature point of the nozzle holder in the image with respect to the specified angle of the nozzle holder.
A feature of the nozzle holder is a component mounting device , which is a positioning unit for positioning the rotation direction of the suction nozzle with respect to the nozzle holder. A mounting head including a shaft member driven in the vertical direction, a nozzle holder mounted on the shaft member, and a suction nozzle mounted on the nozzle holder to suck the component and mount the component on a substrate.
An imaging camera that captures the nozzle holder with the suction nozzle removed from below, and
A control unit that corrects the rotation angle of the nozzle holder and attaches / detaches the nozzle holder based on the image captured by the imaging camera .
A rotation angle calculation unit for calculating a rotation angle deviation amount with respect to a specified angle of the nozzle holder based on the image is provided .
The rotation angle calculation unit calculates the amount of rotation angle deviation from the position of the feature point of the nozzle holder in the image with respect to the specified angle of the nozzle holder.
A feature of the nozzle holder is a component mounting device , which is a positioning unit for positioning the rotation direction of the suction nozzle with respect to the nozzle holder. The feature point is a pair of pin members provided in the nozzle holder, and the suction nozzle is formed by fitting the pair of pin members into the fitting notch provided in the suction nozzle. The component mounting device according to claim 1 or 2, wherein the rotation direction with respect to the nozzle holder is positioned. The component mounting device according to any one of claims 1 to 3, further comprising a storage unit for storing the amount of rotation angle deviation for each shaft member. A mounting head including a shaft member driven in the vertical direction, a nozzle holder mounted on the shaft member, and a suction nozzle mounted on the nozzle holder is moved, and parts are sucked by the suction nozzle to be a substrate. It is a component mounting method for mounting the component on the
The nozzle holder with the suction nozzle removed is imaged from below by an imaging camera.
The rotation angle of the nozzle holder is corrected based on the image captured by the imaging camera, the suction nozzle is mounted on the corrected nozzle holder, and the component is mounted on the substrate.
Based on the image, the amount of rotation angle deviation with respect to the specified angle of the nozzle holder is calculated.
The amount of rotation angle deviation with respect to the specified angle of the nozzle holder is calculated from the position of the feature point of the nozzle holder in the image.
A feature of the nozzle holder is a component mounting method , which is a positioning portion for positioning the rotation direction of the suction nozzle with respect to the nozzle holder. A mounting head including a shaft member driven in the vertical direction, a nozzle holder mounted on the shaft member, and a suction nozzle mounted on the nozzle holder is moved, and parts are sucked by the suction nozzle to be a substrate. It is a component mounting method for mounting the component on the
The nozzle holder with the suction nozzle removed is imaged from below by an imaging camera.
Based on the image captured by the imaging camera, have rows detachment of the nozzle holder by correcting the rotational angle of the nozzle holder,
Based on the image, the amount of rotation angle deviation with respect to the specified angle of the nozzle holder is calculated.
The amount of rotation angle deviation with respect to the specified angle of the nozzle holder is calculated from the position of the feature point of the nozzle holder in the image.
A feature of the nozzle holder is a component mounting method , which is a positioning portion for positioning the rotation direction of the suction nozzle with respect to the nozzle holder. The feature point is a pair of pin members provided in the nozzle holder, and the suction nozzle is formed by fitting the pair of pin members into the fitting notch provided in the suction nozzle. The component mounting method according to claim 5 or 6, wherein the rotation direction with respect to the nozzle holder is positioned. The component mounting method according to any one of claims 5 to 7, wherein the rotation angle deviation amount is stored for each shaft member.

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