CN103458669A - Part installation device and part installation method - Google Patents
Part installation device and part installation method Download PDFInfo
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- CN103458669A CN103458669A CN 201310072079 CN201310072079A CN103458669A CN 103458669 A CN103458669 A CN 103458669A CN 201310072079 CN201310072079 CN 201310072079 CN 201310072079 A CN201310072079 A CN 201310072079A CN 103458669 A CN103458669 A CN 103458669A
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Abstract
The invention provides a part installation device, which can be used to detect the position deviation of the front end part of the pipe opening with respect to the rotating shaft of the pipe opening without reducing the installation efficiency of the part. The part installation device is provided with an installation head, which is provided with a pipe opening used for sucking the part from a part sucking position of a part supplying member; a pipe opening rotating mechanism, which is used for rotating the pipe opening around the rotating shaft, and can move between the part installation position of the substrate and the part sucking position of the part supplying part; a shooting part disposed on a position, where an installation head can be moved through the upper part of the shooting part at a shortest distance from the part installation position to the part sucking position; a position deviation measuring part, which can be used to detect the position deviation of the front end part with respect to the rotating shaft of the pipe opening. The position deviation detecting part can be used to acquire a plurality of shooting images shot by the shooting part, when the pipe opening is rotated at different angles by using the pipe opening rotating mechanism, and can be used to detect the position deviation of the rotating shaft of the pipe opening with respect to the front end part of the pipe opening according to the position relation of the pipe opening positions displayed by various shooting images.
Description
Technical field
The present invention relates to a kind of apparatus for mounting component and component mounting method.
Background technology
At present, use apparatus for mounting component that parts (electronic unit) are arranged on substrate.Apparatus for mounting component has the mounting head that can move in the horizontal direction, and it is equipped with from a plurality of ozzles of top absorption holding member.Ozzle vertical liftably, and the rotating shaft that can extend in vertical centered by be equipped on mounting head rotatably.
In this apparatus for mounting component, due to the making error of ozzle and alignment error etc., the leading section of ozzle can depart from from the rotating shaft of ozzle.Thus, the center that the leading section of ozzle can not adsorption element.
As its reply, the apparatus for mounting component of patent documentation 1 record, after new ozzle is arranged on mounting head, is at first measured the positional offset amount of the leading section of ozzle with respect to the rotating shaft of ozzle.The leading section of ozzle with respect to the positional offset amount of the rotating shaft of ozzle by mounting head is moved to the top of the camera that is disposed at assigned position, by camera from below the ozzle to mounting head taken, the photographic images of this camera is carried out to image and processes to measure (calculating).According to the positional offset amount of this measurement, the position (coordinate) of the ozzle when revising adsorption element, the center that the ozzle of mounting head can adsorption element.
Patent documentation 1: TOHKEMY 2002-57496 communique
But, in parts are installed, the leading section of ozzle can rheological parameters' change with time with respect to the positional offset amount of the rotating shaft of ozzle.In this case, preferably, the leading section of results of regular determination ozzle is with respect to the positional offset amount of the rotating shaft of ozzle.But in this case, the mounting head after installing component, before reaching new parts, is taken by camera in order to incite somebody to action the not ozzle of the state of adsorption element, mounting head need to be moved to the top of the camera that is disposed at assigned position.Therefore, if the leading section of results of regular determination ozzle with respect to the positional offset amount of the rotating shaft of ozzle, the parts installation effectiveness of apparatus for mounting component can reduce.
Summary of the invention
Therefore, problem of the present invention be in the situation that the leading section of installation effectiveness results of regular determination ozzle that does not reduce parts with respect to the positional offset amount of the rotating shaft of ozzle.
In order to solve above-mentioned problem, according to a first aspect of the invention, provide a kind of apparatus for mounting component, its parts that will be supplied in the parts absorption position are arranged on substrate, and it has:
Mounting head, it possesses from the ozzle of top absorption holding member and the ozzle rotating mechanism that ozzle is rotated around rotating shaft, and moves between the parts installation site on the substrate of installing component and parts absorption position;
Shoot part, it is disposed at the position that the mounting head moved with beeline towards the parts absorption position from the parts installation site is passed through its top; And
The positional offset amount determination part, it measures the positional offset amount of the leading section of ozzle with respect to the rotating shaft of ozzle,
Wherein,
The ozzle rotating mechanism makes the ozzle rotation when the parts absorption position moves from the parts installation site in mounting head,
Shoot part is in the mounting head moved with beeline towards the parts absorption position from the parts installation site by above it the time, and the ozzle from below to mounting head is taken,
The positional offset amount determination part obtains a plurality of photographic images that the anglec of rotation of the ozzle rotated utilizing the ozzle rotating mechanism is taken by shoot part when different, and the position relationship of the ozzle leading section shown respectively according to a plurality of photographic images that obtain, measure the positional offset amount of the leading section of ozzle with respect to the rotating shaft of ozzle.
According to a second aspect of the invention, provide a kind of apparatus for mounting component as described as first aspect, wherein, there is a plurality of parts installation site on a plurality of parts absorption positions and substrate,
Shoot part possesses from vertical sees respectively the shooting area intersected with the straight line that links a plurality of parts installation site and corresponding parts absorption position.
According to a third aspect of the invention we, provide a kind of apparatus for mounting component as described as second aspect, wherein, shoot part is by a plurality of linear camera module compositions,
A plurality of linear camera modules have respectively the camera that comprises imageing sensor, and described imageing sensor possesses the wire shooting area,
The mode that a plurality of linear camera modules are intersected with the straight line that links a plurality of parts installation site and corresponding parts absorption position respectively with the wire shooting area of seeing camera from vertical and the wire shooting area of the camera of adjacent two linear camera modules partially overlaps at the Width of wire shooting area configures.
According to a forth aspect of the invention, provide a kind of apparatus for mounting component as described as the third aspect, wherein, a plurality of linear camera modules are configured to respectively in a zigzag.
According to a fifth aspect of the invention, provide a kind of apparatus for mounting component as described as first aspect, wherein, there is a plurality of parts installation site on a plurality of parts absorption positions and substrate,
Also have shoot part travel mechanism, it makes shoot part along see respectively the rail moving intersected with the straight line that links a plurality of parts installation site and corresponding parts absorption position from vertical,
Shoot part travel mechanism forms in the mode of seeing the position configuration shoot part the track intersected with the straight line that links this parts installation site and corresponding parts absorption position when mounting head moves from the parts installation site to the parts absorption position from vertical.
According to a sixth aspect of the invention, provide the described apparatus for mounting component of either side in a kind of as the first to the 5th aspect, wherein,
Also there is ozzle rotating shaft determination of tilt section,
Described ozzle rotating shaft determination of tilt section obtains leading section when ozzle and is positioned at a plurality of the first photographic images that the anglec of rotation of the first height and position and ozzle is taken by shoot part when different, the position relationship of the ozzle leading section shown respectively according to a plurality of the first photographic images is calculated the rotating shaft position of the ozzle on the first horizontal plane that is positioned at the first height and position
And obtain leading section when ozzle and be positioned at a plurality of the second photographic images that the anglec of rotation of second height and position different from the first height and position and ozzle is taken by shoot part when different, the position relationship of the ozzle leading section shown respectively according to a plurality of the second photographic images is calculated the rotating shaft position of the ozzle on the second horizontal plane that is positioned at the second height and position
The inclination of the rotating shaft of ozzle with respect to vertical, according to the rotating shaft position of the ozzle on first and second horizontal plane, calculated by described ozzle rotating shaft determination of tilt section.
According to a seventh aspect of the invention, provide a kind of as the 6th described apparatus for mounting component in aspect, wherein, also there is notification unit, notification alert when its angle of inclination at the rotating shaft of the ozzle of being measured by ozzle rotating shaft determination of tilt section surpasses predetermined angular.
According to an eighth aspect of the invention, provide a kind of component mounting method, the method, by apparatus for mounting component, is arranged on the parts that are supplied in the parts absorption position on substrate, wherein,
Described apparatus for mounting component has:
Mounting head, it possesses from the ozzle of top absorption holding member and the ozzle rotating mechanism that ozzle is rotated around rotating shaft, and moves between the parts installation site on the substrate of installing component and parts absorption position; And
Shoot part, it is disposed at the position that the mounting head moved with beeline towards the parts absorption position from the parts installation site is passed through its top,
When mounting head moves from the parts installation site to the parts absorption position, utilize the ozzle rotating mechanism to make the ozzle rotation,
During top when the mounting head moved with beeline towards the parts absorption position from the parts installation site by shoot part, utilize shoot part from below the ozzle to mounting head taken,
Obtain a plurality of photographic images that the anglec of rotation of the ozzle rotated when utilizing the ozzle rotating mechanism is taken by shoot part when different,
The position relationship of the ozzle leading section shown respectively according to a plurality of photographic images that obtain, measure the positional offset amount of the leading section of ozzle with respect to the rotating shaft of ozzle.
According to the present invention, can measure the leading section of ozzle of rheological parameters' change with time with respect to the positional offset amount of the rotating shaft of ozzle in the situation that do not reduce the installation effectiveness of the parts of apparatus for mounting component.
The accompanying drawing explanation
Fig. 1 is that skeleton diagram is seen in the top of the apparatus for mounting component of embodiment of the present invention 1;
Fig. 2 is the skeleton diagram of the mounting head of the apparatus for mounting component shown in Fig. 1;
Fig. 3 means the block diagram of the control system of apparatus for mounting component;
Fig. 4 is the figure of the configuration for a plurality of linear camera module that forms filming apparatus is described;
Fig. 5 means the figure of the front end center of ozzle with respect to the position deviation of ozzle rotating shaft;
Fig. 6 is front end center for ozzle the is described figure with respect to the assay method of the positional offset amount of ozzle rotating shaft;
Fig. 7 is that skeleton diagram is seen in the top of the apparatus for mounting component of embodiment of the present invention 2;
Fig. 8 is the figure of the assay method of the inclination for the ozzle rotating shaft is described.
Symbol description
10 apparatus for mounting component
12 mounting heads
22 shoot parts (filming apparatus)
30 ozzles
38 ozzle rotating mechanisms
52 positional offset amount determination parts
The P parts
Lm parts installation site
Ls parts absorption position
The CL rotating shaft
Δ d positional offset amount
Embodiment
Below, illustrate referring to the drawings embodiments of the present invention.
(execution mode 1)
Fig. 1 carries out summary to the structure of the apparatus for mounting component of embodiment of the present invention 1 and means, is to see the figure of apparatus for mounting component from top.
As shown in Figure 1, apparatus for mounting component 10 is at the device of substrate W upper mounting component P, has: parts P is arranged on to the mounting head 12 on substrate W, the X-axis beam 14 that makes mounting head 12 (X-direction and Y direction) movement in the horizontal direction and Y-axis beam 16, maintenance the board carrying section 18 of carrying substrate W, the parts supply unit 20 of supply part P, the shoot part 22 for from below, mounting head 12 being taken.
Fig. 2 carries out summary to the structure of mounting head 12 and means, is to see the figure of mounting head 12 in Y direction.In addition, Fig. 3 means the block diagram of the control system of apparatus for mounting component 10.
As shown in Figure 2, mounting head 12 possesses a plurality of ozzles 30 for parts P is adsorbed from the upper side and keeps.Ozzle 30 is installed on the lower end of the ozzle axle 32 extended in vertical (Z-direction) replaceably via ozzle support 34.Ozzle axle 32 lifting on vertical, and rotate centered by the central shaft CL of the ozzle axle 32 in the vertical extension.Particularly, the body 12a of ozzle axle 32 by being equipped on mounting head 12, the lifting on vertical by the ozzle elevating mechanism 36 (with reference to Fig. 3) formed such as ball-screw slide block mechanism or linear motor slide block mechanism etc.In addition, by the ozzle rotating mechanism 38 such as consisting of motor etc., ozzle axle 32 rotates centered by the central shaft CL of ozzle axle 32.By this ozzle axle 32, be installed on ozzle 30 lifting on vertical of the lower end side of ozzle axle 32, and take the central shaft CL of ozzle axle 32 and be the rotating shaft rotation.It should be noted that, the control part 50 of ozzle elevating mechanism 36 and ozzle rotating mechanism 38 apparatus for mounting component 10 is as shown in Figure 3 controlled.
X-axis beam 14 and Y-axis beam 16, by being controlled by control part 50, move mounting head 12 on X-direction and Y direction.
Parts supply unit 20 is for example the part cartridge feed appliance, in the mode of from the ozzle 30 supply part P to mounting head 12, forms.Parts supply unit 20 forms in the also mode of the parts absorption position Ls supply part P of the regulation of holding member of adsorbing from top of the ozzle 30 to mounting head 12.
The device of shoot part 22 for from below, the ozzle 30 of mounting head 12 being taken of apparatus for mounting component 10, consist of a plurality of linear camera module 22a.Linear camera module 22a has respectively camera, the imageing sensor that it comprises the shooting area Ai that possesses wire.
Fig. 4 is the figure of the configuration of a plurality of linear camera module 22a for shoot part 22 is described.It should be noted that, in Fig. 4, for the configuration of linear camera module 22a is described, omit the diagram of mounting head 12 and X-axis beam 14.
As shown in Figure 4, have a plurality of parts absorption position Ls and a plurality of parts installation site Lm in apparatus for mounting component 10, the position of the parts P that ozzle that a plurality of parts absorption position Ls are mounting heads 12 30 adsorption element supply units 20 are supplied with, a plurality of parts installation site Lm is the position of installing on the substrate W of the parts P that ozzle 30 keeps.In Fig. 4, a plurality of parts installation site Lm links by straight line (dotted line) with corresponding parts absorption position Ls.
At this said " parts absorption position Ls corresponding with parts installation site Lm ", refer to, the mounting head 12 after the Lm installing component P of the parts installation site of substrate W in order and then to carry out next installation action, reach parts P towards the parts absorption position Ls of parts supply unit 20.That is track when, connecting member installation site Lm means that with the straight line (dotted line) of corresponding parts absorption position Ls mounting head 12 moves with beeline.It should be noted that, if illustrate the installation action to the parts P of substrate W, after the parts absorption position Ls of corresponding parts supply unit 20 adsorbs holding member P in turn, mounting head 12 moves towards substrate W a plurality of ozzles 30 of mounting head 12 respectively.And, after the parts P that a plurality of ozzles 30 keep is mounted to respectively the parts installation site Lm on corresponding substrate W, in order to carry out next installation action, mounting head 12 moves towards the parts absorption position Ls of parts supply unit 20.
A plurality of linear camera module 22a are with the wire shooting area Ai of the camera of a plurality of linear camera module 22a and link a plurality of parts installation site Lm and the mode that the straight line of corresponding parts absorption position Ls intersects in vertical (Z-direction), are disposed between a plurality of parts absorption position Ls (parts supply unit 20) and a plurality of parts installation site Lm (substrate W).
In the situation that the apparatus for mounting component 10 of present embodiment 1, due to a plurality of parts installation site Lm and a plurality of parts absorption position Ls clamps a plurality of linear camera module 22a and in the Y direction subtend, simultaneously arranged side by side in X-direction, therefore, between a plurality of parts installation site Lm and a plurality of parts absorption position Ls, a plurality of linear camera module 22a configure in the mode of X-direction extension with the wire shooting area Ai of camera.
Particularly, a plurality of linear camera module 22a be take the mode that the wire shooting area Ai of camera of adjacent linear camera module 22a partially overlaps at the Width (in the situation that present embodiment 1 is Y direction) of wire shooting area Ai and are configured.For example, shown in Fig. 4, a plurality of linear camera module 22a preferred disposition zig zags.By a plurality of linear camera module 22a being configured to in a zigzag, can dwindle the size of the Y direction that space is set of shoot part 22 (a plurality of linear camera module 22a).Configuration by so a plurality of linear camera module 22a, when mounting head 12 is got parts P from parts installation site Lm to corresponding parts absorption position Ls, the ozzle 30 of this mounting head 12 is reliably by arbitrary shooting area Ai of a plurality of linear camera module 22a, and by this camera module, 22a is taken.
It should be noted that, if why the shoot part that the ozzle 30 of mounting head 12 is taken from below 22 consists of because shoot part 22 is consisted of a linear camera module 22a a plurality of linear camera module 22a, this linearity camera module 22a need to have the expensive camera of the imageing sensor of the length length that comprises wire shooting area Ai.That is, a plurality of camera module 22a of the camera of the cheapness by having respectively the short imageing sensor of the length that comprises wire shooting area Ai form cheap shoot part 22.But apparatus for mounting component 10 is small-sized, by formed the situation that makes shoot part 22 cheapnesss by a linear camera module 22a, does not do this and limit.
According to this shoot part 22, the mounting head 12 after parts P is arranged on to substrate W is gone with beeline during parts supply unit 20 gets the way of new parts P, can be from below the ozzle 30 of holding member P be not taken reliably.That is, do not reduce the installation effectiveness of the parts P of apparatus for mounting component 10, just can be taken from below by the ozzle 30 of 22 pairs of mounting heads 12 of shoot part.
According to the photographic images of the ozzle 30 of the mounting head 12 of taking from below by this shoot part 22, with the leading section of results of regular determination ozzle 30, the mode with respect to the positional offset amount of the rotating shaft CL of ozzle 30 forms the apparatus for mounting component 10 of present embodiment 1.
Particularly, as shown in Figure 2, the leading section of ozzle 30, be specially front end center (for the attraction Kou center of adsorption element P) C ideally (design) be positioned at the rotating shaft CL (the central shaft CL of ozzle axle 32) of ozzle 30.But in fact, as shown in Figure 5, due to the making error of ozzle 30 and ozzle 30, to alignment error of ozzle support 34 etc., the front end center C of ozzle 30 departs from for example Δ d from the rotating shaft CL of ozzle axle 32 (ozzle 30).
In addition, the leading section of ozzle 30 can rheological parameters' change with time in the installation action of parts P with respect to the positional offset amount Δ d of the rotating shaft CL of this ozzle 30.Therefore, for ozzle 30 center of adsorption element P accurately, and, for ozzle 30 is arranged on parts P on substrate W accurately, the positional offset amount Δ d of ozzle 30 that needs the mounting head 12 of results of regular determination rheological parameters' change with time, according to the positional offset amount Δ d of this mensuration, position (coordinate) while revising adsorption element P and that parts P was arranged on to the ozzle 30 of substrate W when upper.
Next, to the leading section based on ozzle 30, the position correction with respect to the ozzle 30 of the positional offset amount Δ d of the rotating shaft CL of ozzle 30 is specifically described.
At first, for the leading section of the measuring ozzle 30 positional offset amount Δ d with respect to the rotating shaft CL of ozzle 30, the mode that shoot part 22 is taken from below towards the ozzle 30 of the mounting head 12 of the parts absorption position Ps of corresponding parts supply unit 20 with beeline with the parts installation site Pm to from substrate W forms.And as shown in Figure 3, the mode that the photographic images of the image that shoot part 22 is seen with the below that will show ozzle 30 (data) is sent to the control part 50 of apparatus for mounting component 10 forms.
In addition, mounting head 12 after being arranged on substrate W by parts P is at every turn when parts absorption position Ls moves with beeline, or before mounting head 12 is passed through the shooting area Ai of shoot part 22, ozzle 30 take to become a plurality of different rotary angle θ i (i=1 that predesignate that rotating shaft CL is benchmark, 2, the mode of an anglec of rotation 3,4) is by 38 rotations of ozzle rotating mechanism.This is the ozzle 30 that shows anglec of rotation θ 1 (for example 0 °) in order to obtain, the ozzle 30 of anglec of rotation θ 2 (for example 90 °), the ozzle 30 of anglec of rotation θ 3 (for example 180 °), also have image that ozzle 30 below separately of anglec of rotation θ 4 (for example 270 °) sees, show the anglec of rotation four width photographic images of the below picture with the aid of pictures of different ozzles 30 respectively.Show the anglec of rotation reason of four width photographic images of the below picture with the aid of pictures of different ozzles 30 respectively, narration in the back about obtaining.
In addition, when the ozzle 30 by 22 pairs of mounting heads 12 in parts absorption position Ps moves with beeline of shoot part is taken, the leading section of ozzle 30 (front end center C) is adjusted to the specified altitude corresponding with the focal length of taking (Z-direction position) Zp by ozzle elevating mechanism 36.Particularly, the front end center C of ozzle 30 is passed through the shooting area Ai of shoot part 22 with this specified altitude Zp.It should be noted that, this specified altitude Zp is preferably parts setting height(from bottom) (height when parts installation site Lm starts parts P installation), or parts absorption height (height when parts absorption position Ls starts parts P absorption).Thus, can Min. ground suppress the change of ozzle 30 height, can suppress the reduction of installation effectiveness of the parts P of the apparatus for mounting component 10 that the height change by ozzle 30 causes.
For four width photographic images of the below picture with the aid of pictures of the ozzle 30 based on showing anglec of rotation θ 1～θ 4 are measured the positional offset amount Δ d of the leading section of ozzle 30 with respect to the rotating shaft CL of ozzle 30, as shown in Figure 3, the control part 50 of apparatus for mounting component 10 has positional offset amount determination part 52.
The positional offset amount determination part 52 of the control part 50 of apparatus for mounting component 10 is with the photographic images of the below picture with the aid of pictures that obtains the ozzle 30 that shows anglec of rotation θ 1, carries out image by the photographic images to obtaining and processes to infer the mode of position of leading section (front end center C) of the ozzle 30 of anglec of rotation θ 1 and form.For example, positional offset amount determination part 52 is to process the contour shape that detects the mouth of the attraction for adsorption element P of the front end that is formed at ozzle 30 on photographic images by image, using the position deduction of the center C of this contour shape as ozzle, the mode of 30 front end center C forms.It should be noted that, also can replace attracting the contour shape of mouth, detect the peripheral shape of ozzle 30, the center of peripheral shape is inferred to the front end center C as ozzle 30.
Similarly, three width photographic images of the below picture with the aid of pictures of the ozzle 30 of 52 couples of demonstration anglec of rotation θ 2～θ 4 of positional offset amount determination part carry out the image processing, infer the position of the leading section (front end center C) of the ozzle 30 of anglec of rotation θ 2～θ 4.
The center of ozzle 30 front ends under each anglec of rotation that Fig. 6 means to be inferred by positional offset amount determination part 52, the position relationship of the front end center C (θ 4) of the front end center C (θ 3) of the ozzle 30 when the front end center C (θ 2) of the ozzle 30 when the front end center C (θ 1) of the ozzle 30 while particularly, meaning anglec of rotation θ 1, anglec of rotation θ 2, anglec of rotation θ 3, the ozzle 30 while reaching anglec of rotation θ 4.Particularly, Fig. 6 means the X-Y plane of the Zp of Z-direction position.
Four front end center C (θ 1), C (θ 2), C (θ 3), and the position of C (θ 4) the asynchronous ozzle 30 of the anglec of rotation that is ozzle 30 be the front end center C, therefore, in the situation that the front end center C is that rotating shaft CL departs from from the front end center of ozzle 30 ideally, as shown in Figure 6, for example be positioned on same round R.If know the position of four differences on same circle, the center of this same circle and radius just can be determined for how much so, therefore, based on four front end center C (θ 1), C (θ 2), C (θ 3), and the position of C (θ 4), can calculate position (position on the X-Y plane of Z=Zp) and the positional offset amount Δ d of the rotating shaft CL of ozzle 30.Based on this geometrical concept, positional offset amount determination part 52, according to four front end center C (θ 1), C (θ 2), C (θ 3), and the position relationship of C (θ 4), is measured the positional offset amount Δ d of the front end center C of (calculating) ozzle 30 with respect to the rotating shaft CL of ozzle 30.
In addition, according to four front end center C (θ 1), C (θ 2), C (θ 3), and position and the positional offset amount Δ d of C (θ 4), front end center C in the time of can obtaining ozzle 30 for any anglec of rotation θ, ozzle 30 with respect to the X-direction of the rotating shaft CL of ozzle 30 depart from composition Δ x and Y direction depart from composition Δ y.That is the front end center C that, can obtain the anglec of rotation θ of ozzle 30 and ozzle 30 departs from composition Δ x, departs from the corresponding relation of composition Δ y with respect to the rotating shaft CL's of ozzle 30.
Positional offset amount Δ d according to, leading section ozzle 30 that measure by positional offset amount determination part 52 with respect to the rotating shaft CL of ozzle 30, the position of 54 pairs of ozzles 30 of ozzle position correction section of the control part 50 of the apparatus for mounting component 10 shown in Fig. 3 is revised.The position (coordinate) of for example, ozzle 30 when, 54 pairs, ozzle position correction section is stored in the position (coordinate) of ozzle 30 storage part (not shown) of control part 50, during ozzle 30 adsorption element P and ozzle 30 parts P is arranged on to substrate W as data is revised.
If regularly carry out the position correction of the leading section based on ozzle 30 as above with respect to the ozzle 30 of the positional offset amount Δ d of the rotating shaft CL of ozzle 30, even the positional offset amount Δ d rheological parameters' change with time of the ozzle 30 of mounting head 12, apparatus for mounting component 10 (ozzle 30 of mounting head 12) also can be continuously adsorption element P accurately, accurately parts P is arranged on substrate W simultaneously.
According to present embodiment 1, do not reduce the installation effectiveness of the parts P of apparatus for mounting component 10, just the leading section of the ozzle 30 of energy results of regular determination rheological parameters' change with time is with respect to the positional offset amount Δ d of the rotating shaft CL of ozzle 30.
(execution mode 2)
The structure of the apparatus for mounting component of present embodiment 2 is except the shoot part of the ozzle of mounting head being taken from below, identical with the structure of the apparatus for mounting component 10 of above-mentioned execution mode 1.Therefore, the filming apparatus of present embodiment 2 described.
Fig. 7 carries out summary to the structure of the apparatus for mounting component of present embodiment 2 and means, is to see the figure of apparatus for mounting component from top.It should be noted that, in Fig. 7, omitted the diagram of mounting head and X-axis beam.In addition, the identical structural element of structural element of the apparatus for mounting component 10 with execution mode 1 marked to identical symbol.
The shoot part 122 of the apparatus for mounting component 110 of present embodiment 2 consists of a linear camera module 122a movably.Linear camera module 122a has camera, and it comprises the imageing sensor that possesses wire shooting area Ai.
The mode of track T (chain-dotted line) movement that linear camera module 122a intersects with the straight line (dotted line) of the parts absorption position Ls along see (Z-direction is seen) and a plurality of parts installation site Lm that links substrate W and corresponding parts supply unit 20 in vertical forms.
For example, in the situation that the apparatus for mounting component 110 of present embodiment 2, because a plurality of parts absorption position Ls of a plurality of parts installation site Lm on substrate W and parts supply unit 20 clamp linear camera module 122a and in the Y direction subtend, simultaneously arranged side by side in X-direction, therefore, between a plurality of parts absorption position Ls of a plurality of parts installation site Lm and parts supply unit 20, with the track T (chain-dotted line) along extending in X-direction, mobile mode forms linear camera module 122a.
The shoot part travel mechanism that linear camera module 122a is moved along the track T extended in X-direction is by the ball-screw 124 that for example supports linear camera module 122a and extend in X-direction and the motor 126 of ball-screw 124 rotations is formed.Linear camera module 122a makes ball-screw 124 rotations by motor 126 and position (X-direction position) on adjustable track T.
Form and make shoot part travel mechanism that linear camera module 122a moves so that the parts absorption position Ls from the parts installation site Lm of substrate W to parts supply unit 20 moves with beeline in mounting head 12 by ball-screw 124 and motor 126, from vertical (Z-direction) and the mode that links the position configuration linearity camera module 122a the track T (chain-dotted line) that the straight line (dotted line) of this parts installation site Lm and parts absorption position Ls intersects form.Thus, the mounting head 12 after parts P is arranged on to substrate W is gone with beeline during parts supply unit 20 gets the way of new parts P, and linear camera module 122a can take from below reliably to the ozzle 30 of the state of holding member P not.That is, do not reduce the installation effectiveness of the parts P of apparatus for mounting component 110, just can be taken from below by the ozzle 30 of 122 pairs of mounting heads 12 of shoot part.
It should be noted that, configure the position on the track T of linear camera module 122a and can calculate according to the mobile route of the mounting head 12 in the installation of parts P on the opportunity of the linear camera module of this position configuration 122a.
By this shoot part 122 from below the ozzle 30 to mounting head 12 taken, identical with mounting means 1, if regularly carry out leading section based on ozzle 30 position correction with respect to the ozzle 30 of the positional offset amount Δ d of the rotating shaft CL of ozzle 30, even positional offset amount Δ d rheological parameters' change with time, apparatus for mounting component 110 (ozzle 30 of mounting head 12) also can be continuously adsorption element P accurately, can accurately parts P be arranged on substrate W simultaneously.
According to present embodiment 2, identical with execution mode 1, do not reduce the installation effectiveness of the parts P of apparatus for mounting component 110, the leading section of ozzle 30 that just can the results of regular determination rheological parameters' change with time is with respect to the positional offset amount Δ d of the rotating shaft CL of ozzle 30.In addition, the shoot part 122 formed by the linear camera module 122a by having camera can be taken ozzle 30, and this camera comprises (comparing with execution mode 1) imageing sensor that wire shooting area Ai is short.
Enumerate above-mentioned execution mode and describe the present invention, but the present invention is not limited to above-mentioned execution mode.
For example, in the situation that above-mentioned execution mode, for the leading section of the measuring ozzle 30 positional offset amount Δ d with respect to the rotating shaft CL of ozzle 30, and obtain, show that the anglec of rotation is respectively the four width photographic images of below picture with the aid of pictures of the ozzle 30 of θ 1, θ 2, θ 3, θ 4.But the present invention is not limited to this.At least, if show the anglec of rotation respectively the photographic images of different ozzles 30 have two width at least, just can measure the positional offset amount Δ d of the leading section of (calculating) ozzle 30 with respect to the rotating shaft CL of ozzle 30.But, in the situation that use two width photographic images to be measured positional offset amount Δ d, need to use two width photographic images of the different ozzle 30 that shows that the anglec of rotation is 180 degree.In this situation, the mid point of the straight line that the position of the rotating shaft CL of ozzle 30 by the front end center C of the leading section of ozzle 30 that two width photographic images are shown respectively linked.In addition, from this mid point to ozzle, the distance of the position of 30 front end center C is suitable with respect to the positional offset amount Δ d of the rotating shaft CL of ozzle 30 with the leading section of ozzle 30.
In addition, in the situation that above-mentioned execution mode, shoot part 22 (122) is the positional offset amount Δ d with respect to the rotating shaft CL of ozzle 30 for the leading section of measuring ozzle 30, but the present invention is not limited to this.The inspection of the posture of the inspection of the parts P that shoot part 22 (122) also can keep for ozzle 30 self and the parts P kept by ozzle 30.In this situation, the parts P ozzle 30 of the mounting head 12 that moves with beeline to corresponding parts installation site Lm from parts absorption position Ls kept by shoot part 22 (122) is taken.Thus, do not reduce the installation effectiveness of parts P, just can carry out the inspection of the posture of the inspection of the parts P self that ozzle 30 keeps or parts P.
In addition, apparatus for mounting component 10 (110) of the present invention also can have the rotating shaft CL of ozzle 30 with respect to the inclination of vertical, be the ozzle rotating shaft determination of tilt section (not shown) that ozzle axle 32 is measured with respect to the inclination (angle between the lifting direction of vertical and ozzle axle 32) of vertical.
The rotating shaft CL of ozzle 30 can be measured (calculating) with respect to the inclination of vertical.In the situation that above-mentioned execution mode, as shown in Figure 6, the height of being made a video recording by the leading section to ozzle 30 in the position of the rotating shaft CL of ozzle 30 is the Z-direction position is that calculate position on X-Y plane at the first height and position Zp.Therefore, as shown in Figure 8, calculate equally the position of the rotating shaft CL of for example, ozzle 30 on the X-Y plane of the second height and position Zp ' (being installed on the height and position of the leading section of ozzle 30 corresponding to setting height(from bottom) on substrate W with parts P) of the Z-direction position different from the first height and position Zp, calculate result as this, in the situation that the horizontal direction position (X-direction position and Y direction position) of the rotating shaft CL of the ozzle 30 on the first height and position Zp and the second height and position Zp ' X-Y plane separately is different, the rotating shaft CL of known ozzle 30, be that ozzle axle 32 tilts with respect to vertical (Z-direction).In addition, according to the position of the rotating shaft CL of the ozzle 30 on two different X-Y planes, can calculate ozzle 30 rotating shaft CL, be angle and the incline direction of ozzle axle 32 with respect to vertical.It should be noted that, the second height and position Zp ' is preferably with respect to the first height and position Zp and differs predetermined a certain amount of height in Z-direction.
Idea based on such, ozzle rotating shaft determination of tilt section obtains a plurality of the first photographic images of being taken by shoot part 22 (122) when the anglec of rotation of the first height and position Zp and ozzle 30 is different when the leading section of ozzle 30.The position relationship of the leading section of the ozzle 30 that a plurality of the first photographic images that ozzle rotating shaft determination of tilt section obtains according to this show respectively (position relationships of front end center C (θ 1), C (θ 2), C (θ 3), (θ 4)), calculate the position of the rotating shaft CL of the ozzle 30 on the first horizontal plane (Z=Zp) that is positioned at the first height and position Zp.
Below, ozzle rotating shaft determination of tilt section obtains a plurality of the second photographic images of being taken by shoot part 22 (122) when the anglec of rotation of the second height and position Zp ' and ozzle 30 is different when the leading section of ozzle 30.The position relationship of the leading section of the ozzle 30 that a plurality of the second photographic images that ozzle rotating shaft determination of tilt section obtains according to this show respectively (position relationship of front end center C (θ 1) ', C (θ 2) ', C (θ 3) ', (θ 4) '), calculate the position of the rotating shaft CL of the ozzle 30 on the second horizontal plane of being positioned at the second height and position Zp ' (Z=Zp ').
And the inclination of the rotating shaft CL of ozzle 30, according to the position of the rotating shaft CL of the ozzle 30 on the first horizontal plane (Z=Zp) and the second horizontal plane (Z=Zp '), is calculated by ozzle rotating shaft determination of tilt section.
Related to this, apparatus for mounting component 10 (110) also can have for example notification unit (not shown), when its angle of inclination at the rotating shaft CL of the ozzle 30 of being measured by ozzle rotating shaft determination of tilt section surpasses predetermined angular to user's notification alert.
Industrial applicibility
Possess the apparatus for mounting component that can make from the top absorption mounting head that also ozzle of holding member rotates so long as have, the present invention just can be suitable for.
Claims (8)
1. an apparatus for mounting component, its parts that will be supplied in the parts absorption position are arranged on substrate, and it has:
Mounting head, it possesses from the ozzle of top absorption holding member and the ozzle rotating mechanism that ozzle is rotated around rotating shaft, and moves between the parts installation site on the substrate of installing component and parts absorption position;
Shoot part, it is disposed at the position that the mounting head moved with beeline towards the parts absorption position from the parts installation site is passed through its top; And
The positional offset amount determination part, it measures the positional offset amount of the leading section of ozzle with respect to the rotating shaft of ozzle,
Wherein,
The ozzle rotating mechanism makes the ozzle rotation when the parts absorption position moves from the parts installation site in mounting head,
Shoot part is in the mounting head moved with beeline towards the parts absorption position from the parts installation site by above it the time, and the ozzle from below to mounting head is taken,
The positional offset amount determination part obtains a plurality of photographic images that the anglec of rotation of the ozzle rotated utilizing the ozzle rotating mechanism is taken by shoot part when different, and the position relationship of the ozzle leading section shown respectively according to a plurality of photographic images that obtain, measure the positional offset amount of the leading section of ozzle with respect to the rotating shaft of ozzle.
2. apparatus for mounting component as claimed in claim 1, wherein,
There is a plurality of parts installation site on a plurality of parts absorption positions and substrate,
Shoot part possesses from vertical sees respectively the shooting area intersected with the straight line that links a plurality of parts installation site and corresponding parts absorption position.
3. apparatus for mounting component as claimed in claim 2, wherein,
Shoot part is by a plurality of linear camera module compositions,
A plurality of linear camera modules have respectively the camera that comprises imageing sensor, and described imageing sensor possesses the wire shooting area,
The mode that a plurality of linear camera modules are intersected with the straight line that links a plurality of parts installation site and corresponding parts absorption position respectively with the wire shooting area of seeing camera from vertical and the wire shooting area of the camera of adjacent two linear camera modules partially overlaps at the Width of wire shooting area configures.
4. apparatus for mounting component as claimed in claim 3, wherein,
A plurality of linear camera modules are configured to respectively in a zigzag.
5. apparatus for mounting component as claimed in claim 1, wherein,
There is a plurality of parts installation site on a plurality of parts absorption positions and substrate,
Also have shoot part travel mechanism, it makes shoot part along see respectively the rail moving intersected with the straight line that links a plurality of parts installation site and corresponding parts absorption position from vertical,
Shoot part travel mechanism forms in the mode of seeing the position configuration shoot part the track intersected with the straight line that links this parts installation site and corresponding parts absorption position when mounting head moves from the parts installation site to the parts absorption position from vertical.
6. apparatus for mounting component as described as any one in claim 1～5, wherein,
Also there is ozzle rotating shaft determination of tilt section,
Described ozzle rotating shaft determination of tilt section obtains leading section when ozzle and is positioned at a plurality of the first photographic images that the anglec of rotation of the first height and position and ozzle is taken by shoot part when different, the position relationship of the ozzle leading section shown respectively according to a plurality of the first photographic images is calculated the rotating shaft position of the ozzle on the first horizontal plane that is positioned at the first height and position
And obtain leading section when ozzle and be positioned at a plurality of the second photographic images that the anglec of rotation of second height and position different from the first height and position and ozzle is taken by shoot part when different, the position relationship of the ozzle leading section shown respectively according to a plurality of the second photographic images is calculated the rotating shaft position of the ozzle on the second horizontal plane that is positioned at the second height and position
The inclination of the rotating shaft of ozzle with respect to vertical, according to the rotating shaft position of the ozzle on first and second horizontal plane, calculated by described ozzle rotating shaft determination of tilt section.
7. apparatus for mounting component as claimed in claim 6, wherein,
Also there is notification unit, notification alert when its angle of inclination at the rotating shaft of the ozzle of being measured by ozzle rotating shaft determination of tilt section surpasses predetermined angular.
8. a component mounting method, the method, by apparatus for mounting component, is arranged on the parts that are supplied in the parts absorption position on substrate, wherein,
Described apparatus for mounting component has:
Mounting head, it possesses from the ozzle of top absorption holding member and the ozzle rotating mechanism that ozzle is rotated around rotating shaft, and moves between the parts installation site on the substrate of installing component and parts absorption position; And
Shoot part, it is disposed at the position that the mounting head moved with beeline towards the parts absorption position from the parts installation site is passed through its top,
When mounting head moves from the parts installation site to the parts absorption position, utilize the ozzle rotating mechanism to make the ozzle rotation,
During top when the mounting head moved with beeline towards the parts absorption position from the parts installation site by shoot part, utilize shoot part from below the ozzle to mounting head taken,
Obtain a plurality of photographic images that the anglec of rotation of the ozzle rotated when utilizing the ozzle rotating mechanism is taken by shoot part when different,
The position relationship of the ozzle leading section shown respectively according to a plurality of photographic images that obtain, measure the positional offset amount of the leading section of ozzle with respect to the rotating shaft of ozzle.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012-124983 | 2012-05-31 | ||
| JP2012124983A JP2013251398A (en) | 2012-05-31 | 2012-05-31 | Component mounting apparatus and component mounting method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103458669A true CN103458669A (en) | 2013-12-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201310072079 Pending CN103458669A (en) | 2012-05-31 | 2013-03-07 | Part installation device and part installation method |
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| Country | Link |
|---|---|
| JP (1) | JP2013251398A (en) |
| CN (1) | CN103458669A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104270933A (en) * | 2014-09-12 | 2015-01-07 | 苏州承腾电子科技有限公司 | LED lamp electronic plate plug-in installation line |
| CN111788878A (en) * | 2018-03-23 | 2020-10-16 | 株式会社富士 | Component mounting apparatus |
| CN114902825A (en) * | 2020-02-07 | 2022-08-12 | 株式会社富士 | Adsorption position adjusting device |
| CN110023992B (en) * | 2016-12-05 | 2023-08-08 | 索尼互动娱乐股份有限公司 | Information processing system, apparatus, method, and non-transitory tangible medium |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6744316B2 (en) * | 2015-08-20 | 2020-08-19 | 株式会社Ｆｕｊｉ | Component mounting device |
-
2012
- 2012-05-31 JP JP2012124983A patent/JP2013251398A/en active Pending
-
2013
- 2013-03-07 CN CN 201310072079 patent/CN103458669A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104270933A (en) * | 2014-09-12 | 2015-01-07 | 苏州承腾电子科技有限公司 | LED lamp electronic plate plug-in installation line |
| CN104270933B (en) * | 2014-09-12 | 2017-02-15 | 苏州承腾电子科技有限公司 | LED lamp electronic plate plug-in installation line |
| CN110023992B (en) * | 2016-12-05 | 2023-08-08 | 索尼互动娱乐股份有限公司 | Information processing system, apparatus, method, and non-transitory tangible medium |
| CN111788878A (en) * | 2018-03-23 | 2020-10-16 | 株式会社富士 | Component mounting apparatus |
| CN111788878B (en) * | 2018-03-23 | 2021-09-21 | 株式会社富士 | Component mounting apparatus |
| CN114902825A (en) * | 2020-02-07 | 2022-08-12 | 株式会社富士 | Adsorption position adjusting device |
| CN114902825B (en) * | 2020-02-07 | 2024-04-02 | 株式会社富士 | Adsorption position adjusting device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2013251398A (en) | 2013-12-12 |
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Application publication date: 20131218 |