CN100566538C - Parts data generating device and have the electronic component mounting apparatus of this device - Google Patents
Parts data generating device and have the electronic component mounting apparatus of this device Download PDFInfo
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- CN100566538C CN100566538C CNB200410084115XA CN200410084115A CN100566538C CN 100566538 C CN100566538 C CN 100566538C CN B200410084115X A CNB200410084115X A CN B200410084115XA CN 200410084115 A CN200410084115 A CN 200410084115A CN 100566538 C CN100566538 C CN 100566538C
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- 238000005259 measurement Methods 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 12
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Abstract
The invention provides a kind of parts data generating device and have the electronic component mounting apparatus of this device.Even have the electronic unit of complicated electrode arrangement, also can be reliably and generating unit event data exactly, generation can realize the parts data of high-precision component identification and positioning parts.Is the image transitions of the parts that utilize the component identification camera (18) benchmark angle (0 °), sets to be used to measure the coordinate figure of electrode and the zone of size (32).Along each bar line (33a), (33b) individual element read the image of this setting, pixel data is surpassed and the pixel detection that is lower than threshold value is the edge, measure the centre coordinate and the diameter thereof of electrode (18c).The data that the parameter of the electrode measured is used as component identification are stored.In this structure, owing to generate data by the actual measurement electrode, so also can generate parts data accurately even have the electronic unit of the electrode arrangement of a large amount of complexity.
Description
Technical field
The present invention relates to generate parts data generating device that is used for the parts data that the electronic unit to the electrode that is arranged with irregular configuration positions and electronic component mounting apparatus with this parts data generating device.
Background technology
In the past, known have an electronic component mounting apparatus that utilizes electronic unit (the following parts that are called simply) that adsorption nozzle absorption supplies with from assembly supply device and the assigned position that is loaded in circuit substrate to produce substrate.For each parts of installing, be created on " loaded " position on the substrate etc. in advance and load required parts data.And erecting device carries out component identification according to this parts data, i.e. the adsorbed state of identification component (offset, angular deflection) carries out the location of parts, and parts are installed in " loaded " position on the regulation substrate.
For example, shown in Fig. 7 (A), be under the situation of BGA (ball grid array) parts 40 at parts, welding electrode 40a is configured to clathrate in direction in length and breadth with equidistant from distance.And, in erecting device during the generating unit event data, by input electrode number, electrode diameter, in length and breadth direction parameter (Zhu unit) such as electrode spacing interval and be set with electrodeless configuration figure can the generating unit event data, use in erecting device that these data are carried out component identification, parts are installed.And, shown in Fig. 7 (B), at parts is that the arrangement of electrode 41a is not during the parts 41 on grid is arranged, for example, the center position coordinates of parts 41 is made as (0,0), defines the center position coordinates of each electrode, the generating unit event data uses these data to carry out component identification, installation in erecting device thus.
In addition, known following technology: when the generating unit event data, according to the parameter of the parts of being imported, the simultaneously image and the size value of display unit, whether the parts data that can verify generation correct (patent documentation 1).
But; as shown in Figure 8; when parts are a fairly large number of parts 42 of the not electrode 42a on grid is arranged; (Fig. 8 represents 100 electrodes; have the parts that surpass 1000 electrodes but in fact also exist); under the situation of importing each electrode coordinate position respectively, generate very spended time of data, have the problem of the non-constant of data formation efficiency.
And, be to be out of question under the known situation such as cad data in the coordinate data of electrode, but under all non-existent situation of mark data of being punished for being related to, import after needing to use mensurations coordinate such as three-dimensional measurement, generating data need the considerable time.And, under the situation of correctly recognition data input error, mensuration mistake, must at first carry out data and generate, have the problem that produces the waste of data rise time.
Summary of the invention
The present invention proposes in order to address this is that, also can be reliably and generating unit event data exactly even its problem provides a kind of electronic unit with complicated electrode arrangement, can realize the parts data generating device of high-precision component identification and positioning parts and have the electronic component mounting apparatus of this parts data generating device.
Generation of the present invention is used to discern the parts data generating device of the parts data of the electronic unit that is arranged with electrode, it is characterized in that, has: image unit, and it is taken electronic unit; Detect and setup unit, it utilizes the line of at least two electrodes in described a plurality of electrode to detect the gradient of captured electronic unit, with captured image transitions is the image of benchmark angle, make described gradient be 0 °, the image setting of benchmark angle is used to measure the zone of the parameter of electrode with respect to horizontal direction; Data generating unit, the parameter of the electrode in the zone that its mensuration sets, the data of the relating to parameters of generation and electrode; Storage device, the data of the relating to parameters of the electrode that it is stored and is generated when being installed on the circuit substrate, are read described data to electronic unit from storage device, carry out the identification of electronic unit according to the data of being read.
Of the present inventionly utilize adsorption nozzle absorption to be arranged with the electronic unit of a plurality of electrodes and it is installed in the electronic component mounting apparatus of producing substrate on the circuit substrate, it is characterized in that, have: image unit, it utilizes adsorption nozzle attract electrons parts and takes electronic unit before beginning to produce substrate; Detect and setup unit, it utilizes the line of at least two electrodes in described a plurality of electrode to detect the gradient of captured electronic unit, with captured image transitions is the image of benchmark angle, make described gradient be 0 °, the image setting of benchmark angle is used to measure the zone of the parameter of electrode with respect to horizontal direction; Data generating unit, the parameter of the electrode in the zone that its mensuration sets, the data of the relating to parameters of generation and electrode; Storage device, the data of the relating to parameters of the electrode that it is stored and is generated; And control unit, it reads the data of described generation from storage device when producing substrate, carry out the identification of electronic unit according to the data of being read, and controls electronic unit is loaded on the circuit substrate.
According to the present invention, directly utilize image unit to take electronic unit, the Xingqi image processing of going forward side by side, parameters such as the coordinate position of mensuration electrode and size, generation is used to carry out the parts data of component identification and positioning parts, even, also can easily generate the needed data of these parts of identification so have the parts that a large amount of configurations do not have the electrode of systematicness.
And, in the present invention, utilize the actual parts of adsorption nozzle absorption, image according to adsorbed parts generates the data that are used to discern these parts, so when generating data, can could carry out component identification, can improve the reliability of parts according to this data verification.
Description of drawings
Fig. 1 is the stereogram of the whole schematic configuration of expression electronic component mounting apparatus.
Fig. 2 is the block diagram of structure of the control system of expression electronic component mounting apparatus.
Fig. 3 is the flow chart of the product process of expression parts data.
Fig. 4 is that expression is image transitions the picture figure of the flow process of benchmark angle.
Fig. 5 (A) is the picture figure that represents the center of parts is carried out the state of teaching, and Fig. 5 (B) is the picture figure that the state of measuring the zone is set in expression.
Fig. 6 (A) is that expression scans the picture figure of the state of detecting electrode to image, and Fig. 6 (B) is the enlarged drawing of Fig. 6 (A).
Fig. 7 (A) is the plane graph that is arranged with the parts of electrode regularly, and Fig. 7 (B) is the plane graph that is arranged with the parts of electrode brokenly.
Fig. 8 is the plane graph that is arranged with the parts of a large amount of electrodes brokenly.
Symbol description
13 suction head; The 13a adsorption nozzle; 16 component identification cameras; 20 controllers; 27 pattern recognition devices; 30 storage devices.
Embodiment
Data generating device of the present invention can generate the data that the electrode configuration does not have the parts of rule automatically, can cut down operator's the data rise time significantly, and can generate data error-free, by in electronic component mounting apparatus, being equipped with this data generating device, even electrode disposes irregular parts, also can be easily and carry out component identification reliably, carry out the loading of parts.Below, the embodiment shown in reference to the accompanying drawings, the present invention is described in detail.
Fig. 1 is the skeleton diagram with electronic component mounting apparatus of parts data generating device, as shown in the drawing, electronic component mounting apparatus 1 is equipped with the circuit substrate transport path 15 that left and right directions extends in the back in the front portion (diagram downside) of device 1 a little partially from central portion.And, have and supply with X-axis travel mechanism 12 and the y-axis shift actuation mechanism 14 that is installed in the parts supply unit 11 of the parts on the circuit substrate 10 and is arranged on the front portion of device 1.
Fig. 2 represents the structure of the control system of electronic component mounting apparatus.20 expressions are by the microcomputer (CPU) of the whole device of control and the controller (control unit) of formations such as RAM, ROM, and it is connecting following 21～31 structure, and respectively they is controlled.
Z axle motor 23 is the drive sources that make the Z axle driving mechanism (not shown) of adsorption nozzle 13a lifting, makes adsorption nozzle 13a in Z-direction (short transverse) lifting.In addition, θ axle motor 24 is drive sources of the θ axle rotating mechanism (not shown) of adsorption nozzle 13a, and making adsorption nozzle 13a is the center rotation with its nozzle center's axle (absorption axle).
The adsorbed parts 18 of 27 couples of adsorption nozzle 13a of pattern recognition device carry out image recognition, are made of A/D converter 27a, memory 27b and CPU27c.And, will be from the analog picture signal of component identification camera 16 outputs adsorbed parts 18 having been carried out take, 27a is converted to digital signal by A/D converter, and is stored among the memory 27b, and CPU27c carries out the identification of adsorbed parts according to this view data.That is, pattern recognition device 27 arithmetic unit centers and absorption angle, the adsorbed state of identification component.In addition, 27 pairs of images by the base plate mark of substrate identification camera 17 shootings of pattern recognition device are handled computing base plate mark position.
And, pattern recognition device 27 has the function of data generating unit, its view data to the parts 18 taken by component identification camera 16 is handled, mensuration is arranged in the parameter of parts such as the coordinate figure (coordinate position) of the electrode on the parts and electrode size, carries out the data that component identification is used when being created on loading part.
Display unit (monitor) 31 is display unit data, operational data, and the image of the parts 18 taken with component identification camera 16 etc. on its display surface 31a.
Below, according to the flow process of Fig. 3, have complicated electrode configuration the generation step of data of parts of (not having the electrode configuration of rule) describes in apparatus for mounting component, generating.This step is that order is carried out according to being stored in the ROM of controller 20 or the data generator among the RAM before beginning to produce substrate.
In electronic component mounting apparatus 1, suction head 13 moves to parts supply unit 11 under the control of controller 20, after having adsorbed the parts 18 that will generate data at adsorption nozzle 13a, move to component identification camera 16,16 pairs of parts 18 of component identification camera are taken, and its image is displayed on the picture 31a of display unit 31.
Because after having started data generator, display unit 31 display parameters are selected picture, so the parameter (step S1) of input spheric electrode or pad electrode etc.
As shown in Figure 4, the image and tracking cross 31b, the 31c (step S2) that are showing parts 18 on the picture 31a of display unit 31.Then, shown in Fig. 4 (A), (B), utilize this tracking cross that the gradient of parts 18 is adjusted to 0 ° at least 2 point (electrode) 18a and teaching is carried out in the position of 18b, shown in Fig. 4 (C), the line 31d that connects these 2 18a and 18b is carried out teaching (step S3) as the gradient (the absorption gradient that is equivalent to the adsorbed parts of adsorption nozzle) of image of component.Then, by making 24 rotations of θ axle motor, make adsorption nozzle 13a rotation, and make the image rotation of parts, so that line 31d is consistent with horizon light graticule 31b.Thus, the gradient of the image of parts 18 is 0 °, promptly correct and be the image of benchmark angle, the limit of adsorbed parts is the image of 0 ° angle (benchmark angle) with respect to datum line (for example one side of substrate) angulation when being converted to parts and being loaded onto on the substrate.With the position that reaches this benchmark angle is the reference position, according to view data generating unit event data.In addition, the view data of parts also can generate its view data rotation by not making parts 18 rotation, can also unify to change the angle that makes inclination and be 0 ° and generate parts data after measuring the electrode coordinate.
After parts are adjusted into benchmark angle (0 ° of gradient) like this, shown in Fig. 5 (A), utilize tracking cross that teaching (step S4) is carried out in the center 18 ' of parts 18.Under this situation, also can come the set parts center by moving window cursor or physical unit.
After parts center 18 ' is determined, execution begins to measure order (step S5), and display window cursor 32 (step S6) on picture is shown in Fig. 5 (B), utilize window cursor 32 to select to measure the zone of electrode coordinate, teaching is also set and is measured zone (step S7, regional setup unit).At this moment, also can set the electrode that makes window cursor show repeatedly and only select to need to measure coordinate for, and have under the situation about not wanting, also can set the zone of eliminating as the part of determination object.Such processing at step S6 to shown in the S9.
As mentioned above, behind the zone of the center of setting components of assays and electrode coordinate, execution begins to measure order (step S10).Thus, the CPU27c of pattern recognition device 27 handles the data in the image of being set by window cursor 32 in the image of component (being converted into the image of benchmark angle) that is taken into memory 27b, measure the position coordinates and the electrode size of each electrode, generate the data of the coordinate figure and the electrode size of each electrode.
Below, when electrode is the parts (BGA) of spheric electrode, measures the coordinate of spheric electrode and the method for sphere diameter thereof and describe.
Pattern recognition device 27 is according to shown in the arrow line 33 among Fig. 6 (A), and the view data in the mensuration zone that will be set by window cursor 32 calls over from the left side along a line individual element ground of view data.Then, when the concentration data that detects this pixel is higher than pre-set threshold, write down the coordinate figure of this pixel data, and when being lower than this threshold value, also write down the coordinate figure of this pixel data.When the processing that is through with such to a line, next bar line is also carried out identical processing, check its concentration data according to each pixel of each bar line successively.
For example, shown in Fig. 6 (B), at the pixel data that is arranged on the line 33a, concentration data surpasses threshold value at first is when the pixel of the upper end edge that is positioned at spheric electrode 18c has been carried out handling.Therefore, detect the edge of spheric electrode 18c at first.For example, when each pixel of sense wire 33b, detect the edge of spheric electrode 18d, but the coordinate figure certain degree ground of the pixel at this edge departs from the coordinate figure of electrode 18c, so do not carry out record.Carry out this processing by each pixel, its concentration data and threshold value are compared, can obtain along the coordinate figure of each pixel of the circumference (edge) of spheric electrode 18c, and write down this coordinate figure each bar line.
Like this when detecting the marginal position of electrode, the location of pixels that has a maximum coordinates value Y2 at longitudinal direction (Y direction) in the pixel at each edge is the upper end of electrode, and the location of pixels with min coordinates value Y1 is the lower end of electrode, in addition, the location of pixels that has maximum coordinates value X2 at transverse direction (directions X) is the right-hand member of electrode, and the location of pixels with min coordinates value X1 is the left end of electrode.Therefore, the Y coordinate of the mean value of Y1 and Y2, the X coordinate of the mean value of X1 and X2 as electrode centers as electrode centers.And the diameter of electrode is (Y2-Y1) or (X2-X1), or (Y2-Y1) and mean value (X2-X1).
Obtain center, the diameter of a spheric electrode like this, begin the concentration data and the threshold value of each pixel are compared from first line once more, carry out the rim detection of electrode.In addition, at this moment,, then can not produce error detection if the data of the electrode that will detect (parameter of electrode) blacking preestablishes and no longer detects same position.
And, in the marginal position of electrode detects, the method for using projection is arranged also.At first, handle by image is implemented graph thinning, the electrode compression with image is created on electrode centers and probably has only a pixel to have the image of concentration.Owing to handle the general center that the pixel with concentration is represented electrode by graph thinning, so begin on original image left and right directions scan image up and down from this locations of pixels, decision generates the zone of projection according to change in concentration.In this zone, use projection in length and breadth to obtain the size and the center of electrode.At this moment, in predefined zone, do not detect under the situation at edge, can enlarge view field till can detecting the edge yet.
As mentioned above, measure when being all over, the finish command (step S11) is measured in output, and pattern recognition device 27 is data format that can identification component to the coordinate figure of the electrode of being measured and size conversion, and is kept in the storage device 30 as parts data.And after the generating unit event data, the image of 27 pairs of parts 18 of pattern recognition device is handled, and according to the parts data that is generated, according to center, the gradient of known algorithm arithmetic unit 18, affirmation could be carried out component identification (step S12).When these parts of identification, about center and gradient is to teach position and gradient (benchmark angle) shown in detecting in advance, so offset (offset of parts center and adsorption site) and angular deflection are almost 0, the parts data that is generated is correct, and (result of step S13 is a "Yes", step S14), in this stage, finish the parts data generator.In addition, under the situation that can not normally carry out image recognition (result of step S13 is a "No"), promptly produced under the situation of offset or angular deflection, generated, selected the electrode of identification easily etc., carried out data once more and generate from beginning to carry out data at first.
It more than is the processing before the beginning substrate production, in fact, beginning to produce substrate and parts are being loaded into stage on the circuit substrate, the parts that utilize adsorption nozzle 13a absorption to supply with from assembly supply device 11, suction head 13 is moved to component identification camera 16 tops, utilize this camera parts.The image of captured parts carries out image processing in pattern recognition device 27, the parts data of reading these parts from storage device 30 is according to the gradient of this parts data arithmetic unit center and parts, the adsorbed state of identification component.When offset being arranged between parts center and adsorption site or detecting angular deflection, proofread and correct these offsets and angular deflection by driving X-axis motor 21, Y-axis motor 22, θ axle motor 24, parts are loaded on the circuit substrate position of regulation with correct status (benchmark angle).
In addition, the data that show apparatus for mounting component in the above-described embodiments generate, but the data that component identification is used are except generating with erecting device, also can utilize the exclusive data generating apparatus of camera head, image-input device and the computer formation of carrying out parts and taking to generate, erecting device can use the parts data that is generated by this exclusive data generating apparatus.
Claims (4)
1. a parts data generating device generates the parts data that is used to discern the electronic unit that is arranged with a plurality of electrodes, it is characterized in that having:
Image unit, it is taken electronic unit;
Detect and setup unit, it utilizes the line of at least two electrodes in described a plurality of electrode to detect the gradient of captured electronic unit, with captured image transitions is the image of benchmark angle, make described gradient be 0 °, the image setting of described benchmark angle is used to measure the zone of the parameter of electrode with respect to horizontal direction;
Data generating unit, its parameter to the electrode in the zone that sets is measured, the data of the relating to parameters of generation and electrode;
Storage device, the data of the relating to parameters of the electrode that it is stored and is generated,
When being loaded in electronic unit on the circuit substrate, from storage device, read described data, carry out the identification of electronic unit according to the data of being read.
2. parts data generating device according to claim 1 is characterized in that, the parameter of described electrode is the size of the coordinate figure and/or the electrode of electrode.
3. electronic component mounting apparatus utilizes adsorption nozzle absorption to be arranged with the electronic unit of a plurality of electrodes and it is installed in and produces substrate on the circuit substrate, it is characterized in that having:
Image unit, it utilizes adsorption nozzle attract electrons parts and takes electronic unit before beginning to produce substrate;
Detect and setup unit, it utilizes the line of at least two electrodes in described a plurality of electrode to detect the gradient of captured electronic unit, with captured image transitions is the image of benchmark angle, make described gradient be 0 °, the image setting of described benchmark angle is used to measure the zone of the parameter of electrode with respect to horizontal direction;
Data generating unit, its parameter to the electrode in the zone that sets is measured, the data of the relating to parameters of generation and electrode;
Storage device, the data of the relating to parameters of the electrode that it is stored and is generated;
Control unit, it reads the data of described generation from storage device when producing substrate, carry out the identification of electronic unit according to the data of being read, and control electronic unit is loaded on the circuit substrate.
4. electronic component mounting apparatus according to claim 3 is characterized in that, the parameter of described electrode is the size of the coordinate figure and/or the electrode of electrode.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2003355781A JP4324442B2 (en) | 2003-10-16 | 2003-10-16 | Component data generation device and electronic component mounting device |
| JP2003355781 | 2003-10-16 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1610499A CN1610499A (en) | 2005-04-27 |
| CN100566538C true CN100566538C (en) | 2009-12-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB200410084115XA Expired - Lifetime CN100566538C (en) | 2003-10-16 | 2004-10-15 | Parts data generating device and have the electronic component mounting apparatus of this device |
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| Country | Link |
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| JP (1) | JP4324442B2 (en) |
| CN (1) | CN100566538C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105930845A (en) * | 2015-02-26 | 2016-09-07 | 韩华泰科株式会社 | Method of teaching for parts information and device thereof |
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| JP4744304B2 (en) * | 2006-01-12 | 2011-08-10 | Ｊｕｋｉ株式会社 | Part position recognition method |
| CN101132691B (en) * | 2006-08-23 | 2010-09-29 | 元利盛精密机械股份有限公司 | Identification and fetching method for deformed components |
| CN102655237B (en) * | 2012-04-23 | 2014-05-07 | 华中科技大学 | Method and device for compositing fuel cell membrane electrode component |
| CN104838738B (en) * | 2012-12-07 | 2017-10-27 | 富士机械制造株式会社 | Installation data generating means, generation method and substrate production system |
| JP6338169B2 (en) * | 2013-12-06 | 2018-06-06 | 三星電子株式会社Ｓａｍｓｕｎｇ Ｅｌｅｃｔｒｏｎｉｃｓ Ｃｏ．，Ｌｔｄ． | Recognition apparatus, recognition method, mounting apparatus, and mounting method |
| WO2017216950A1 (en) * | 2016-06-17 | 2017-12-21 | 富士機械製造株式会社 | Component-mounting device and component-mounting system |
| JP6833871B2 (en) * | 2016-12-09 | 2021-02-24 | 株式会社Ｆｕｊｉ | Image processing parts data creation method and image processing parts data creation system |
| WO2019003267A1 (en) * | 2017-06-26 | 2019-01-03 | ヤマハ発動機株式会社 | Component mounting device and component data creation method |
| US20230060239A1 (en) * | 2020-02-07 | 2023-03-02 | Fuji Corporation | Suction position adjustment device |
| WO2022059055A1 (en) * | 2020-09-15 | 2022-03-24 | 株式会社Fuji | Bump position data generation device |
| KR20230079740A (en) * | 2021-11-29 | 2023-06-07 | 한화정밀기계 주식회사 | Component mounting apparatus |
-
2003
- 2003-10-16 JP JP2003355781A patent/JP4324442B2/en not_active Expired - Lifetime
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2004
- 2004-10-15 CN CNB200410084115XA patent/CN100566538C/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105930845A (en) * | 2015-02-26 | 2016-09-07 | 韩华泰科株式会社 | Method of teaching for parts information and device thereof |
| CN105930845B (en) * | 2015-02-26 | 2019-08-06 | 韩华精密机械株式会社 | Method and apparatus for teaching part information |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2005123352A (en) | 2005-05-12 |
| JP4324442B2 (en) | 2009-09-02 |
| CN1610499A (en) | 2005-04-27 |
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