CN1681382A - Support pin identifying method and device, screen printer and surface installation machine - Google Patents
Support pin identifying method and device, screen printer and surface installation machine Download PDFInfo
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- CN1681382A CN1681382A CN 200510065735 CN200510065735A CN1681382A CN 1681382 A CN1681382 A CN 1681382A CN 200510065735 CN200510065735 CN 200510065735 CN 200510065735 A CN200510065735 A CN 200510065735A CN 1681382 A CN1681382 A CN 1681382A
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Abstract
Disclosed is a backup pin recognition method and device. A usage area U0 corresponding to the size of a substrate to be processed in a backup plate 36 is specified, and the usage area U0 is assigned to a plurality of unit areas U1 corresponding to the field of view of a camera that has a wide-angle field of view enough to pick up a plurality of set holes adjoining to each other. The set hole 36a is picked up for each of the unit areas U1 by the camera, and the presence or absence of a backup pin in the respective set holes 36a is discriminated from the image, so as to recognize the arrangement of the backup pins in the used area U0. The invention can improve the productivity of substrates by recognizing the image of a backup pin efficiently.
Description
Technical field
The present invention relates to the silk-screen printing device of the paste of coating paste scolder and so on the substrate of printed base plate etc. or the surface mounting apparatus etc. of part is installed on this substrate, substrate is carried out the recognition methods and the recognition device thereof of the described fulcrum post the device of operation and silk-screen printing device and surface mounting apparatus with this fulcrum post recognition device from its rear side with fulcrum post supporting.
Background technology
In the time of on the surface that electronic component is installed in printed base plate, the back side, print (coating paste), electronic component is installed at the side surface of installation assembly line substrate, by reflow ovens (reflow furnace) electronic component is carried out the processing of the fixing grade of conducting again, make substrate overturn then, processing such as print on the opposite side surface to this substrate on hookup wire again, installation and conducting are fixing.In the device of silk-screen printing device that the opposite side surface is carried out various operations and surface mounting apparatus etc., because the part that will avoid before having burn-on supports substrate, so under the state that substrate is supported from its rear side (with the face of scope of operation opposition side) with the upright supporting station (plate) that is provided with fulcrum post, substrate is carried out various processing.In addition, same installation assembly line is often adopted in the installation of electronic component on substrate surface, the back side, and deals with by carrying out the operation adjustment.Therefore, even only electronic component is installed at the substrate single face, in the silk-screen printing device, distributor, the testing fixture that the paste coating state is checked, the surface mounting apparatus that constitute installation assembly line and the installation check device that the installment state of electronic component is checked etc., often also substrate is supported with fulcrum post.
Because the number of fulcrum post and to arrange be to have or not various conditions such as the part of burn-oning earlier according to the size of substrate and thickness or at the back side of substrate and different, so this class device is provided with rectangular location hole mostly in advance on supporting station, by with fulcrum post manually or automatically relatively this location hole insert and extract, but the just number and the assortment of change fulcrum post such as the kind of counterpart substrate.
In addition, when the arrangement adjustment of fulcrum post produces mistake, for preventing under this state, to proceed operation, for example patent documentation 1 (the open communique spy of Japan Patent opens flat 11-340693) has disclosed a kind of by with camera image recognition being carried out in the arrangement of fulcrum post with the identification of the substrate on the head in the element installation with lift-launch, discerned arranging the surface mounting apparatus that adjusted fulcrum post is arranged.
In surface mounting apparatus etc., exist in the situation that the arrangement of frequently carrying out fulcrum post in the work is adjusted in order to tackle in recent years many kinds, produced in small quantities, in order to enhance productivity,, and the identification of after this pin also required to carry out efficiently not only to the arrangement adjustment of fulcrum post.
Yet, in the existing apparatus that above-mentioned patent documentation 1 is disclosed, owing to directly use the narrow and small substrate identification in the visual field that the micro marks (reference mark fiducial mark) that is marked on the substrate is made a video recording to come the location hole on the supporting station is taken one by one with camera, so spended time is wanted in the image recognition of fulcrum post, and efficient is poor.Therefore, need to improve this situation.
In addition, in surface mounting apparatus etc.,, or supporting station itself is changed for the size that changes fulcrum post or arrangement pitches because the substrate of new size becomes manipulating object, so, also must carry out the image recognition of fulcrum post efficiently with respect to the supporting station after changing in this occasion.
Summary of the invention
The objective of the invention is to, provide a kind of can be by efficiently fulcrum post being carried out fulcrum post recognition methods and the device thereof that image recognition improves substrate production efficient.
For achieving the above object, fulcrum post recognition methods of the present invention, utilization can be inserted fulcrum post, be inserted into the described fulcrum post of the base supporting mechanism in the described location hole of support plate with a plurality of location holes with extracting, substrate is supported and when implementing various operation, before carrying out above-mentioned operation, earlier the arrangement of described fulcrum post is discerned, this fulcrum post recognition methods for determine corresponding in the described support plate as the use zone of the size of the substrate of manipulating object, use has the visual field that can take simultaneously a plurality of location holes near each other, and can be described relatively support plate make the filming apparatus that relatively moves, at the described location hole that uses the zone to be comprised, whenever a plurality of location holes that enter the described visual field are taken simultaneously, have or not fulcrum post by from this image, differentiating in each location hole, discern the described arrangement of using the fulcrum post in the zone.
Adopt this method, use approaching a plurality of location holes in the location hole that is comprised in the zone owing to take simultaneously, so can carry out image recognition to the arrangement of fulcrum post efficiently.
On the other hand, fulcrum post recognition device of the present invention, fulcrum post can be extracted having, be inserted into the base supporting mechanism in the described location hole of the support plate that is provided with a plurality of location holes with inserting, and utilize the described fulcrum post of this base supporting mechanism that substrate is supported, arrangement with the described fulcrum post that this substrate carried out installed in the apparatus for work of regulation operation is discerned, this recognition device is characterised in that, have: storage device, the arrangement information of the described location hole of described support plate and the dimension information that becomes the substrate of manipulating object are stored: filming apparatus, described relatively support plate can relatively move, and has the visual field that to take simultaneously a plurality of described location hole near each other; Distributor according to the use zone that the described dimension information as the substrate of manipulating object extracts described support plate, will use the zone further to be distributed into and the corresponding a plurality of unit areas in the visual field of described filming apparatus again; Mobile controller is used in the relative support plate of described filming apparatus of taking the constituent parts zone after distributing and relatively moves; And pin row row recognition device, according to the image in the constituent parts zone that photographs by described filming apparatus, have or not fulcrum post to differentiate, and discern the arrangement of the fulcrum post in this use zone from this differentiation result described the use in the interior constituent parts hole, zone.
Adopt this device,, will extract the corresponding unit area in the visual field of region allocation one-tenth and filming apparatus again according to the use zone that the dimension information of substrate extracts support plate.And, take these unit areas successively by filming apparatus, just can take a plurality of location holes that the constituent parts zone is comprised simultaneously.Therefore, can implement above-mentioned recognition methods well, can take a plurality of location holes efficiently, and can carry out image recognition the arrangement of fulcrum post.
In this recognition device, comparatively it is desirable to, described distributor can distribute so that a unit area comprises a plurality of location holes as far as possible described unit area.
Adopt this structure, can reduce the quantity of the unit area that is assigned with as far as possible.That is to say, owing to can reduce the shooting number of times of filming apparatus as far as possible, so can discern the arrangement of fulcrum post more efficiently.
In addition, in above-mentioned each device, also can have the order setting device that the shooting of the unit area that is assigned with is set in proper order, this order setting device preferably is set at initial shooting area with unit area in the described unit area, be set at next shooting area by the unit area that filming apparatus is as far as possible little with respect to the rate of travel of this unit area, and be set at next shooting area, thereby set the shooting order in described constituent parts zone by successively that filming apparatus is as far as possible little with respect to the rate of travel of the unit area that before had been taken unit area.
Adopt this structure, the rate of travel of the relative support plate of filming apparatus when taking the constituent parts zone is reduced.Therefore, can carry out image recognition to the arrangement of fulcrum post more efficiently.
On the other hand, silk-screen printing device of the present invention, have fulcrum post can be extracted base supporting mechanism in the described location hole that is inserted into the support plate with a plurality of location holes with inserting, under the state that substrate is supported by this base supporting mechanism, supply with pastes such as paste scolder from the top that overlaps the half tone (mask sheet) on this substrate, and utilize the running of scraper plate (squeegee) that this paste diffusion is coated on the substrate, this silk-screen printing device is characterised in that, has described fulcrum post recognition device, as the device that the arrangement that is inserted into the fulcrum post on the described support plate is carried out image recognition.
In addition, surface mounting apparatus of the present invention, have fulcrum post can be extracted base supporting mechanism in the described location hole that is inserted into the support plate with a plurality of location holes with inserting, under the state that substrate is supported by this base supporting mechanism, utilize displaceable head with the element carrying and installation on this substrate, this surface mounting apparatus is characterised in that to have described fulcrum post recognition device, as the device that the arrangement that is inserted into the fulcrum post on the described support plate is carried out image recognition.
Adopt these silk-screen printing devices and surface mounting apparatus, owing to have described fulcrum post recognition device, so can arrange identification to the fulcrum post in the base supporting mechanism efficiently.For example, the occasion that support plate is changed or the occasion of production new varieties substrate afterwards, be stored in respectively in the described storage part by the arrangement information of the location hole in the support plate after will changing or the dimension information of substrate (new varieties substrate), then no matter any occasion all can be carried out image recognition to the arrangement of fulcrum post efficiently.
Described surface mounting apparatus also can have base supporting mechanism relatively and make the head unit that relatively moves, be equipped with described installation head on this head unit, and be equipped with the 1st camera that to take with mark the substrate identification that is marked on the described substrate and the 2nd camera of the described filming apparatus of conduct that constitutes by the field range camera more roomy than the 1st camera.
Adopt this structure, can utilize the mobile location hole that makes on camera (the 2nd camera) the shooting support plate of head unit.That is, because the special structure that makes as the 2nd camera movement of filming apparatus is not set, just can be to the enterprising line scanning of support plate, so can realize rational structure.
Adopt above-mentioned fulcrum post recognition methods and above-mentioned fulcrum post recognition device, a plurality of owing to taking simultaneously to the location hole that is comprised in the use zone corresponding in the support plate with substrate size, so can discern the arrangement of fulcrum post efficiently.Especially adopt above-mentioned recognition device, can reduce the shooting number of times of filming apparatus as far as possible, the displacement in the time of also can as far as possible reducing to take is so can discern the arrangement of fulcrum post more efficiently.
In addition, adopt above-mentioned silk-screen printing device and above-mentioned surface mounting apparatus, owing to have an above-mentioned fulcrum post recognition device, so can carry out a series of identification processing to fulcrum post efficiently, its result just can improve the production efficiency of substrate.
Description of drawings
Fig. 1 is the front view of expression silk-screen printing device of the present invention (having used the silk-screen printing device of fulcrum post recognition device of the present invention).
Fig. 2 is the vertical view of expression silk-screen printing device.
Fig. 3 is the block diagram of the control system of expression silk-screen printing device.
Fig. 4 is the block diagram of the functional structure (functional structure of part related to the present invention) of expression operational part.
Fig. 5 is the flow chart of explanation pin identification with the making processing sequence of data.
Fig. 6 is the explanation pin identification concept map with the production order of data, (a) be to distribute on support plate the stage of using zone and initial unit area, (b) is the stage of having distributed behind the 2nd unit area.
Fig. 7 is the expression control device operates an example of control to silk-screen printing device a flow chart.
Fig. 8 is the vertical view of expression surface mounting apparatus of the present invention (having used the surface mounting apparatus of fulcrum post recognition device of the present invention).
Embodiment
One example of best example of the present invention now is described with reference to the accompanying drawings.
Silk-screen printing device of the present invention (having used the silk-screen printing device of fulcrum post recognition device of the present invention) represented in Fig. 1 and Fig. 2 summary, and Fig. 1 is the front view of this printing equipment, and Fig. 2 is the vertical view of this printing equipment.Be specific direction, represented X-axis, Y-axis and Z axle among the figure.
Silk-screen printing device shown in these figure (below abbreviate printing equipment as), be with paste coatings such as paste scolders on the assigned position of printed base plate W (below abbreviate substrate W as) and have the device of the audit function that this coating state is checked concurrently, it has framework 10, half tone 15, printing element 20, platform unit 30 and filming apparatus 40 etc.
Described framework 10 constitutes the housing of printing equipment, has: pedestal 11; The upright column 12 that is located on these four angles of pedestal 11 upper surfaces; Two upper frames 13, its top with the column arranged along Y direction in the described column is connected; And cross bar 14, it is coupling together described upper frame 13 than its length direction central part slightly along X-direction near the position on right side.In addition, in this printing equipment, the left-half of this framework 10 is printing zone PA, and the right half part that comprises described cross bar 14 is inspection area CA.
Described half tone 15 is to have and printed pattern corresponding opening sheet metal partly, installs and removes to be fixed on possibly on the upper frame 13 in printing zone PA.This half tone 15 is under the state that is assembled on the not shown auxiliary equipment, and the fastener card that the card anti-avulsion is opened possibly with upper frame 13 ends, and can change according to the kind of substrate W.
Described printing element 20 has pair of right and left scraper plate 21 and scraper plate 21 is carried out cylinder 22 that lifting drives etc., and is provided in the top of described half tone 15.
Described printing element 20 is connected with travel mechanism, and this travel mechanism is made of feed screw 24 and the servomotor 25 that drives it, and by the driving of described motor 25, printing element 20 just moves to Y direction along the guide rail 23 that is fixed on the upper frame 13.
Described unit 30 in printing zone PA, be arranged on half tone 15 below, and have sandwich construction, begin to be followed successively by Y-axis platform 31, X-axis platform 32, R pillow block 33, lifting platform 34 and base supporting mechanism 35 from downside.
Described Y-axis platform 31 is connected with travel mechanism, this travel mechanism is made of feed screw 31a and its servomotor 61 of driving, driving by described motor 61, described Y-axis platform 31 just moves to Y direction along the guide rail 31b that is fixed on pedestal 11, moves by this platform unit 30 is moved between job position in the printing zone PA shown in the solid line and the job position in the inspection area CA shown in the double dot dash line integratedly in the figure.
Described X-axis platform 32 with the travel mechanism of X-axis servomotor 62 (shown in Figure 3) as drive source is connected, running by this motor 62, described X-axis platform 32 just moves along Y direction relative to Y-axis platform 31, R pillow block 33 with the rotating mechanism of R axle servomotor 63 (shown in Figure 3) as drive source is connected, by the running of this motor 63, described R pillow block 33 just relative Y-axis platforms 31 rotate around the Z axle.In addition, lifting platform 34 with the elevating mechanism of Z axle servomotor 64 (shown in Figure 3) as drive source is connected, by the running of this motor 64, described lifting platform 34 just moves (lifting) relative to R pillow block 33 along Z-direction.
Described base supporting mechanism 35 is located on the lifting platform 34, has support plate 36 that substrate W is supported from its downside (being printed the rear side of face) and substrate W is fixed on anchor clamps 37 on this support plate 36.
The upright many fulcrum posts (below abbreviate pin as) that are provided with on support plate 36 are by this pin supporting substrates W (diagram is omitted).According to the kind of substrate W, the number of variable pin and position.That is, shown in Fig. 6 (a), on support plate 36, be provided with a plurality of location hole 36a, roughly be rectangular, this pin changes the number and the arrangement of pin by manually or can extract insertion from these location holes 36a automatically with this.
In addition, the structure of anchor clamps 37 is, by the running of not shown actuator, changeable one-tenth clamped condition and unclamped state are under clamped condition, then with the state fixing base W of described relatively support plate 36 location.
Return Fig. 1 and Fig. 2, described filming apparatus 40 is located at inspection area CA.This filming apparatus 40 has the 1st camera 41 that is used for substrate identification, the 2nd camera 42 and the not shown lighting device that is used to check.
In addition, in these cameras 41,42, the 2nd camera 42 that is used to check is compared with the 1st camera 41 of identification reference mark, have wide-angle lens, have the field range enough bigger than the 1st camera 41, at least can described location hole 36a to support plate 36 in more approaching a plurality of location hole 36a field range of taking simultaneously.
The structure of the control system of above-mentioned printing equipment then, is described with the block diagram of Fig. 3.
Described printing equipment is provided with control device 50 as shown in Figure 3.Control device 50 has master control part 51, electromotor control circuit 52, filming apparatus control circuit 53, printing element control circuit 54 and input-output device control circuit 55.
This master control part 51 is read in operational part 51a from described storage part 51b with program, data as required, with this program etc. the information of being imported from each control circuit 52～56 is carried out computing, by this operation result is sent to mechanical parts such as described motor through each control circuit 52～56, thereby in the lump the running or the various processing of control device 50 are controlled.
Filming apparatus control circuit 53 is, according to from the control signal of described master control part 51 and described camera 41 grades are carried out drive controlling, and camera 41,42 picture signals of being exported (view data) sent to master control part 51.In addition, the view data that sends to master control part 51 is temporarily stored in the not shown video memory of master control part 51.Operational part 51a reads the interior data of this video memory and various images is handled, and carries out following processing thus: the identification of substrate W; Judge whether printing treatment is good; Judge pin row row described later whether well (unanimity); Or make to carry out this pin of judging usefulness identification with data etc.
Printing element control circuit 54 is, according to from the control signal of described master control part 51 and the various motor and the actuator (for example described cylinder 22) of printing element 20 carried out drive controlling.
Input/output control circuit 55 is that the various input/output units of monitor (CRT) 68, keyboard etc. are communicated by letter with described master control part 51 to be connected possibly.
Fig. 4 represents in the contained functional structure of described operational part 51a and function associated structure of the present invention with block diagram, and whether well the pin row row identification of promptly bearing described support plate 36 handled and judged this arrangements part of the processing of (consistent).
As shown in the drawing, as above-mentioned functional structure, operational part 51a has distributor 70, order setting device 71, pin row row recognition device 72 and decision maker 73.
In addition, so-called support plate data, be the size about support plate 36, the arrangement of location hole 36a and the data (arrangement information of location hole) of its spacing, so-called substrate data is about the data (dimension information of substrate) as the shape and size of the substrate W of manipulating object.In addition, so-called field range data are the data in the relevant zone that can be taken by the 2nd camera 42.Any data all can be by the operator keyboard etc. operation and deposited in described storage part 51b in advance.
Pin row row recognition device 72 is, according to abideing by the above-mentioned pin identification image (view data) of data by the location hole 36a of the 2nd camera 42 actual photographed, and to having or not pin to differentiate among the location hole 36a, differentiate the result from this simultaneously, the arrangement that is inserted into the pin in the described location hole 36a in the described use zone is discerned.
Below, specify pin identification that operational part 51a (distributor 70, order setting device 71) carried out making handling process with reference to Fig. 6 and by the flow chart of Fig. 5 with data.Here be to be that the situation of object describes at substrate W with rectangle (rectangle).
Make when handling beginning, at first shown in Fig. 6 (a), extract actual zone (using regional U0) of using in the support plate 36 according to the size of the substrate W that becomes manipulating object.Specifically, when utilizing anchor clamps 37 to be positioned at substrate W on the support plate 36, the zone that this substrate W is occupied, promptly in the support plate 36 with the overlapping part of substrate W as using regional U0 to extract (step S1).In this example, extract the regional U0 of use as benchmark with the lower left corner of support plate 36.
Then, again according to the field range of the 2nd camera 42, should use regional U0 to be distributed into unit area U1.
Specifically, at first the location hole 36a as benchmark distributes (step S2) among the location hole 36a that regional U0 comprises to using.This distributes shown in blacking part among this figure, is the location hole 36a that is arranged in four angles of using regional U0 is carried out near the location hole 36a of the position of positioning reference (lower left corner).Then, baseline positioning hole 36a is included in the visual field of the 2nd camera 42, and the shooting area that comprises the 2nd camera 42 of location hole 36a as much as possible in this visual field is distributed (step S3) as unit area U1.
And, the Zone Full that uses regional U0 is judged whether the distribution of unit area U1 finishes, promptly judge and use whole location hole 36a that regional U0 comprised whether to be included in (step 4) among any unit area U1.Here, when being judged to be "No", enter step S7, and after next baseline positioning hole 36a is distributed, enter step S3.Thus, shown in Fig. 6 (b), carry out the distribution of next unit area U1.In addition, the distribution of baseline positioning hole 36a among the step S7 is at the location hole 36a beyond the location hole 36a that belongs to the unit area U1 after being assigned with and with respect to carrying out as the baseline positioning hole 36a air line distance of the benchmark location hole 36a for the shortest position in the previous distribution.
On the other hand, when being judged as "Yes" in step S4, U1 sets shooting order (step S5) to the constituent parts zone.Shooting order is so carried out: with the unit area U1 after the initial allocation as initial shooting area, the as far as possible little unit area U1 of rate of travel of the 2nd camera 42 relative this unit area U1 is set at next shooting area, then, equally the as far as possible little unit area U1 of the rate of travel of the 2nd camera 42 is set at next shooting area successively.
Like this, when distribution that finish to use regional U0 and unit area U1, when finishing the setting of shooting order of unit area U1, just leave these data among the storage part 51b (step S6) with data as the pin identification corresponding with the size of described substrate W, this flow process finishes.
Then, the flow chart according to Fig. 7 illustrates the running control that the described control device 50 of the printing equipment that as above constitutes is carried out.
When this printing equipment begins to produce, at first,, the change of production lot judges whether produce substrate (as the substrate W of manipulating object) needs change (step S11) along with waiting.
Here, when being judged as "Yes", judge again whether the operation adjustment of the support plate 36 that the change of production substrate is brought finishes, for example judge whether to wait the information (step S12) that the adjustment of indication operation has finished of having imported by operator.In addition, when in step S11, being judged as "No", enter step S23.
In step S12, when being judged as operation adjustment end,, that is, judge that the pin row of support plate 36 is listed as the substrate W corresponding (step S13) that whether is altered to as manipulating object to whether having the arrangement change of pin to judge.Here, when being judged as "No", enter step S15.On the contrary, when being judged as "Yes", whether identification has been judged (step S14) with data by making to pin again.Here, when being judged as "No", enter step S22, and make pin identification data.Specifically, abide by the flow chart of above-mentioned Fig. 5, make pin identification data according to the substrate data of after changing substrate W.
When in step S14, being judged as "Yes", just read as the pin identification of the substrate W of object and use data from storage part 51b, according to these data, take the described constituent parts zone U1 (S15 suddenly) of support plates 36 by the 2nd camera 42.Specifically, driving by Y-axis platform 31 makes platform unit 30 move to inspection area CA, by each 32,33,34 is carried out drive controlling, dispose support plate 36 again so that the 2nd camera 42 be distributed in support plate 36 on unit area U1 in initial shooting area relative.And, after this unit area U1 is taken, move with respect to the 2nd camera 42, thereby successively the long-pending U1 in constituent parts zone is taken according to the order of setting (being the order of setting among the step S5 of Fig. 5) by making support plate 36.
When the shooting of whole unit area U1 finishes, according to each image to having or not pin to differentiate among each location hole 36a, differentiate the ordered state of the pin among the regional U0 of identification use the result from this, and the pin row columns certificate of reading this substrate W that is stored among the storage part 51b, judge this array data whether with pin row row consistent (step S16,17) based on the reality of image recognition.
And, when being judged as "No" herein, this situation (mistake demonstration) is presented at (step S18) on the monitor 68.At this moment, concrete demonstration is the not enough quantity and the not enough position of pin for example, or the position of arranging the pin that makes a mistake.And the operator shows according to the mistake of monitor 68 and after the pin row row are revised, according to operator's input operation, carries out and this input corresponding processing of content (step S19).Promptly, judge whether to exist once more the pin row row are carried out the indication input A of whole identification, only carry out the indication input B of local identification or do not discern once more and enter any one indication input among the indication input C of printing running immediately revising the rear section, when being judged as the input content is when indicating input A, enter step S15, when being judged as is when indicating input B, entering step S20, is when indicating input C, to enter step S23 when being judged as.In addition, though not shown, when any at the appointed time indication input does not all have, silk-screen printing device is remained on holding state, and urge demonstration at monitor 68, supervise the operator to do the indication input with this.
In step S20, with the pin row row of the error section of the part identification of error section only, this part and pin row columns according to comparing.And whether misjudgment is eliminated, promptly the pin row of misjudgment processing section row whether with the pin row columns according to consistent, when being judged as mistake herein when being eliminated, enter step S23.And when being judged as mistake when not being eliminated, silk-screen printing device is remained on holding state with the stipulated time, and this situation (mistake is not eliminated) is presented on the monitor 68, thereby supervise the operator to remake correction, after time, entering step S20 through afore mentioned rules.
On the contrary, when when step S17 is judged as "Yes", enter step S23.Here carry out the printing running of substrate W and check running.Specific as follows described.
At first, drive Y-axis platform 31, platform unit 30 is moved to printing zone PA from inspection area CA, will place on the platform unit 30 by the substrate W that not shown conveyer is brought, and this unit 30 is placed on the assigned position of printing zone PA.Specifically, substrate W is supported by the pin of the described support plate 36 of base supporting mechanism 35, fixing by anchor clamps 37.And, drive each 31,32,33,34, make substrate W under the state of checking and approving through the position on X, Y, the R direction of principal axis, overlap with it from half tone 15 downsides.
Like this, after making substrate W and half tone 15 overlaps, drive not shown feedway, pastes such as paste soldering material are supplied with on half tone 15, drive printing element 20 again, paste is spread on half tone 15.In detail, move back and forth along Y direction, make described a pair of scraper plate 21 alternately liftings on the other hand by making printing element 20, and make its alternately with half tone 15 sliding contacts, thus, utilize scraper plate 21 to make the paste diffusion.And, by this diffusion, through the half tone opening and with paste coating on substrate W.
When the coating of paste on substrate W finishes, drive lifting platform 34, substrate W is removed towards the below from half tone 15, by driving Y-axis platform 31 platform unit 30 is moved again, substrate W is moved on to inspection area CA from printing zone PA.
After substrate W is moved on to inspection area CA, according to the shooting of the 1st camera 41 reference mark is carried out image recognition, and according to this recognition result, drive each 31,32,33, thus substrate W is placed the inspection position of regulation.And, by partly taking, this coating part is carried out image recognition by the paste coating on 42 couples of substrate W of the 2nd camera, judge according to this image recognition whether substrate W is good.At this moment,, all paste coatings that are coated on the substrate W are partly taken, and the state of this coating part is carried out image recognition by driving described 31,32, the 2nd camera 42 relative substrate W being relatively moved.
Like this, when the inspection of substrate W finishes, platform unit 30 is reset to printing zone PA, utilize not shown conveyer that substrate W is taken out of next operation from platform unit 30.Thus, a series of operation for this substrate W just finishes.
Adopt the printing equipment of above explanation, when support plate 36 being carried out operation when adjusting along with producing the substrate change, take by 42 pairs of support plates 36 of the 2nd camera, image recognition is carried out in arrangement to pin, when the pin row row make a mistake,, report to the operator owing to show by this situation being carried out monitor, so when the arrangement of pin makes a mistake, this incident of proceeding operation under this state can be prevented trouble before it happens.
And, in this device, have simultaneously can be to being formed at the 2nd camera 42 of the wide-angle view that a plurality of location hole 36a near each other among the location hole 36a on the support plate 36 take owing to use, take a plurality of location hole 36a simultaneously, so with the use conventional device, the device that promptly uses the narrow and small camera in the visual field that location hole is taken is one by one compared, and can take location hole 36a at short notice.Therefore, can carry out image recognition, the corresponding production efficiency that improves substrate W to the pin row row efficiently.
Especially, in this device, carry out the branch timing at shooting area (unit area U1), because allocation unit zone U1 as described above to the 2nd camera 42, so that comprise location hole 36a as much as possible in the visual field of the 2nd camera 42, so can reduce the quantity of the unit area of identification as far as possible.That is to say, can reduce the shooting number of times of the 2nd camera 42 as far as possible.In addition, when setting the shooting order, because the order of setting next shooting area for by the as far as possible little unit area U1 of rate of travel that will make the previous relatively unit area U1 that takes of the 2nd camera 42 is set the shooting order of constituent parts zone U1, so can reduce the rate of travel of employed support plate 36 of the shooting of location hole 36a and the 2nd camera 42 as far as possible.Therefore, compare, can shorten the needed time of shooting of location hole 36a efficiently, can carry out image recognition to the pin row row more efficiently with the situation that does not adopt said method.
In addition, increasing the occasion of the production substrate of new size afterwards, import the substrate data and the pin row columns certificate of new production substrate, be the size of change fulcrum post and the occasion that arrangement pitches changes plate, as long as the support plate data of the support plate 36 that input is new are automatically carried out the image recognition of pin row row with regard to available said sequence.Therefore, changing the occasion of support plate 36 grades afterwards, also the advantage that can carry out image recognition to the pin row row efficiently even have.
In addition, in this printing equipment, owing to carry out the filming apparatus that image recognition is used for pin row row to support plate 36 the paste coating state being carried out the 2nd camera 42 dual-purposes that image recognition uses, therefore, also have and to come efficiently pin row to be listed as the advantage of carrying out image recognition with the Rational structure of using existing camera 42.
In addition, more than Shuo Ming silk-screen printing device is an example of printing equipment of the present invention (using the silk-screen printing device of fulcrum post recognition device of the present invention), and its concrete structure can be done suitable change.
For example, in the silk-screen printing device of example, move by the 2nd camera 42 that makes platform unit 30 relative fixed be located at framework 10 (cross bar 14), take constituent parts zone U1, but also the 2nd camera 42 for example can be configured to and can move relative to framework 10, make the 2nd camera 42 move and take location hole 36a relative to substrate W.At this moment, also can move round about mutually, the 2nd camera 42 is positioned with respect to unit area U1 by making substrate W and the 2nd camera 42 both sides.
In addition, in example, be that the 1st camera 41 that the reference mark of substrate W is discerned and the 2nd camera 42 that the paste coating state of substrate W is discerned are set respectively, and it is a camera (the 2nd camera 42) is shared for being used for the camera of pin row row identification, but for example also the camera with zoom function can be set, focusing is switched according to reference object (being reference mark, paste coating position and location hole 36a), and camera is integrated into one.At this moment, as required, as long as drive platform unit 30, the interval of adjusting substrate W and camera gets final product.Adopt this structure, the camera of inspection area CA can be integrated into one, constitute rational structure more.
In addition, in example, the example that fulcrum post recognition device of the present invention is applied to silk-screen printing device has been described, but, also can have used this fulcrum post recognition device for for example surface mounting apparatus.The following describes its example.
An example of the surface mounting apparatus of fulcrum post recognition device of the present invention represented to use in Fig. 8 summary.As shown in the drawing, on the pedestal 101 of surface mounting apparatus, dispose the conveyance road 102 that is used for the printed base plate conveyance, printed base plate W (below abbreviate substrate W as) by conveyance, and is stopped at the installation exercise position of regulation on the conveyer that constitutes this conveyance road 102.
In the installation exercise position, be provided with the elevating mechanism 105 that substrate W is positioned.This elevating mechanism 105 has liftable support plate 105a (below abbreviate plate 105a as), this plate 105a has fulcrum post (below abbreviate pin as), when substrate W is moved into the installation exercise position, this plate 105a rises, and substrate W lifted from described conveyer, with substrate W from downside by being pressed on the guide plate that is equipped on conveyer top, it is positioned.
Though diagram is omitted, but identical with the base supporting mechanism 35 (support plate 36) of above-mentioned silk-screen printing device, on plate 105a, be provided with a plurality of location holes, roughly be rectangular, extract, insert by manually or automatically selling from these location holes, thus the number of variable pin and arrangement.
Dispose component feeding portion 104 in the both sides in conveyance road 102.In these component feeding portions 104, be provided with the belt feeder 104a of multiple row side by side along X-direction, be used to supply with scutellate chip components such as transistor, capacitor.
In addition, head unit 106 is housed above described pedestal 101, this head unit 106 has a plurality of installations 106a that is used for the element installation.This head unit 106 can move between component feeding portion 104 and installation exercise position, can move along X-direction (direction in conveyance road 102) and Y direction the direction of X-axis quadrature (on the horizontal plane with).Promptly, on pedestal 101, be equipped with the fixed guide 107 of Y direction and utilize Y-axis servomotor 109 and the ball screw axle 108 that is driven in rotation, dispose head unit supporting member 111 on described fixed guide 107, the nut portion 112 that is located on this supporting member 111 screws togather with described ball screw axle 108.In addition, on described supporting member 111, be equipped with the ways 113 of X-direction and utilize X-axis servomotor 115 and driven ball screw axle 114, be held displaceable head unit 106 on described ways 113, the nut portion (diagram is omitted) that is located on this head unit 106 screws togather with described ball screw axle 114.And by the running of Y-axis servomotor 109, described supporting member 111 just moves to Y direction, and the running by X-axis servomotor 115, and head unit 106 just moves to X-direction relative to supporting member 111.
On head unit 106, also be equipped with the 1st camera 120 that is used for substrate identification and the 2nd camera 121 that is used for support plate identification.These cameras 120,121 all are the cameras with CCD area sensor, and 120 pairs of reference marks that are marked on the substrate W of the 1st camera are taken.On the other hand, the 2nd camera 121 is cameras that the location hole of described plate 105a is taken, have the field range wideer than the 1st camera 120, specifically, have can location hole to plate 105a in more approaching a plurality of location holes field range of taking simultaneously.
Be provided with control device at this surface mounting apparatus, this control device comprises: the CPU of actuating logic computing; With the various programs etc. of this CPU of control stored ROM in advance; And the RAM that in the device running, various data is temporarily stored etc., the running of described head unit 106 grades is controlled (not shown) in the lump by this control device.And, on this control device, be equipped with and above-mentioned silk-screen printing device identical functions structure, promptly be equipped with: the pin of making plate 105 is discerned the functional structure of using with data; And whether the pin row of judging plate 105a is listed as excellent function structure (with reference to Fig. 4).
Adopt above-mentioned surface mounting apparatus, in running is installed, head unit 106 moves between component feeding portion 104 and installation exercise position, simultaneously, utilize and install with a 106a from belt feeder 104a absorptive element, this element conveyance to the substrate W of installation exercise position, and is installed in assigned position place on this substrate.And, in this running, for example change along with the change of production lot, thus the pin of plate 105a carried out operation when adjusting when the kind of producing substrate W, just judge automatically whether this pin row is listed as good.Specifically, by with above-mentioned silk-screen printing device flow process (part among Fig. 7 except that step S23) in identical order whether well judge.That is, come drive controlling head unit 106 according to pin identification with data, and the 2nd camera 121 relative plate 105a are relatively moved, thus, among the plate 105a, the location hole in the zone (use regional) corresponding with after changing production substrate can be taken a plurality of simultaneously.And, according to this shooting results, discern the arrangement of pin, and carry out the whether good judgement of this arrangement (by the arrangement after the image recognition whether with the pin row columns of storage in advance according to corresponding to judgement).In addition, in judging the whether good processing of this pin row row, when the pin identification of after changing production substrate W is not made into data, by above-mentioned control device carry out with above-mentioned silk-screen printing device flow process (Fig. 5) in identical processing, make the pin identification flow process of this production substrate W after changing.
Adopt above-mentioned surface mounting apparatus, identical with above-mentioned silk-screen printing device, when in elevating mechanism 105 (plate 105a), carrying out the operation adjustment along with the change of producing substrate W, pin row on plate 105a row are carried out image recognition, when this arrangement makes a mistake, by this situation is shown with monitor, this incident that continues operation under the state that makes a mistake can be prevented trouble before it happens.And, owing to can take simultaneously, carry out image recognition, production efficiency that can corresponding raising installation base plate so can be listed as pin row efficiently to a plurality of location holes near each other in the location hole that is formed at plate 105a.
In addition, except that silk-screen printing device and surface mounting apparatus, in distributor, the testing fixture that the paste coating state is checked or installation check device that the installment state of electronic component is checked etc., also can use fulcrum post recognition device of the present invention, if use this fulcrum post recognition device, these devices also can be discerned the arrangement of the fulcrum post in the support plate efficiently, can improve the production efficiency of installation base plate.
Claims (7)
1. fulcrum post recognition methods, utilization can be inserted fulcrum post the described fulcrum post of the base supporting mechanism in the described location hole that is inserted into the support plate with a plurality of location holes with extracting, substrate is supported and implement various operations, before carrying out above-mentioned operation, earlier the arrangement of described fulcrum post is discerned, this fulcrum post recognition methods is characterised in that
Determine corresponding in the described support plate as the use zone of the size of the substrate of manipulating object, use has the visual field that a plurality of location holes near each other are taken simultaneously, and described relatively support plate is made the filming apparatus that relatively moves, at the described location hole that uses the zone to be comprised, whenever a plurality of location holes that enter the described visual field are taken simultaneously, have or not fulcrum post by from this image, differentiating in each location hole, discern the described arrangement of using the fulcrum post in the zone.
2. fulcrum post recognition device, to having the base supporting mechanism that fulcrum post can be extracted in the described location hole that is inserted into the support plate that is provided with a plurality of location holes with inserting, and utilize the described fulcrum post of this base supporting mechanism that substrate is supported, arrangement with the described fulcrum post that this substrate carried out installed in the apparatus for work of regulation operation is discerned, this fulcrum post recognition device is characterised in that to have:
Storage device is stored the arrangement information of the described location hole of described support plate and the dimension information that becomes the substrate of manipulating object;
Filming apparatus relatively moves and has the visual field that can take simultaneously a plurality of described location hole near each other with respect to described support plate;
Distributor, it is according to the use zone that the described dimension information as the substrate of manipulating object extracts described support plate, will use region allocation to become corresponding a plurality of unit areas in the visual field with described filming apparatus again;
Mobile controller is used in the relative support plate of described filming apparatus of taking the constituent parts zone after distributing and relatively moves; And
Pin row row recognition device, it has or not fulcrum post to differentiate according to the image in the constituent parts zone that is photographed by described filming apparatus to described the use in each interior location hole of zone, and discerns the arrangement of the fulcrum post in this use zone from this differentiation result.
3. fulcrum post recognition device as claimed in claim 2 is characterized in that described distributor distributes described unit area, makes a unit area comprise a plurality of location holes as far as possible.
4. as claim 2 or 3 described fulcrum post recognition devices, it is characterized in that also having the order setting device that the shooting of the unit area that is assigned with is set in proper order,
This order setting device, unit area in the described unit area is set at initial shooting area, be set at next shooting area by the unit area that filming apparatus is as far as possible little with respect to the rate of travel of this unit area, and be set at next shooting area, thereby set the shooting order in described constituent parts zone by successively that filming apparatus is as far as possible little with respect to the rate of travel of the unit area that before had been taken unit area.
5. silk-screen printing device, have fulcrum post can be extracted base supporting mechanism in the described location hole that is inserted into the support plate with a plurality of location holes with inserting, under the state that substrate is supported by this base supporting mechanism, supply with pastes such as paste soldering material from the top that overlaps the half tone on this substrate, and utilize the running of scraper plate that this paste diffusion is coated on the substrate, it is characterized in that
Has each described fulcrum post recognition device in the claim 2 to 4, as the device that the arrangement that is inserted into the fulcrum post on the described support plate is carried out image recognition.
6. surface mounting apparatus, have fulcrum post is inserted into the base supporting mechanism that forms in the described location hole of the support plate with a plurality of location holes with can extracting insertion, under the state that substrate is supported by this base supporting mechanism, utilize movably install with head with the element carrying and installation on this substrate, it is characterized in that
Has each described fulcrum post recognition device in the claim 2 to 4, as the device that the arrangement that is inserted into the fulcrum post on the described support plate is carried out image recognition.
7. surface mounting apparatus as claimed in claim 6, it is characterized in that, this has the head unit that described relatively base supporting mechanism work relatively moves, be equipped with described installation head on this head unit, and be equipped with the 1st camera that to take with mark the substrate identification that is marked on the described substrate and the 2nd camera of the described filming apparatus of conduct that constitutes by the field range camera more roomy than the 1st camera.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004113337A JP4381867B2 (en) | 2004-04-07 | 2004-04-07 | Backup pin recognition device, screen printing device and surface mounting machine equipped with the recognition device |
| JP2004113337 | 2004-04-07 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1681382A true CN1681382A (en) | 2005-10-12 |
| CN100521905C CN100521905C (en) | 2009-07-29 |
Family
ID=35067747
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005100657353A Active CN100521905C (en) | 2004-04-07 | 2005-04-06 | Support pin identifying method and device, screen printing device and surface installation machine |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP4381867B2 (en) |
| CN (1) | CN100521905C (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1942059B (en) * | 2005-09-28 | 2010-09-29 | 雅马哈发动机株式会社 | Mark recognition method and printing apparatus |
| CN104956788A (en) * | 2013-01-30 | 2015-09-30 | 松下知识产权经营株式会社 | Device for assisting determination of support pin positioning, and method for assisting determination of support pin positioning |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017037949A1 (en) * | 2015-09-04 | 2017-03-09 | 富士機械製造株式会社 | Operation machine |
| JP6823156B2 (en) * | 2017-03-01 | 2021-01-27 | ヤマハ発動機株式会社 | Backup pin recognition method and component mounting device |
| CN109041436B (en) * | 2018-10-19 | 2023-06-23 | 深圳市克鲁斯机器人科技有限公司 | Automatic tear gluey, move back PIN machine |
| JP7402998B2 (en) | 2020-10-16 | 2023-12-21 | 株式会社Fuji | Backup component placement support device and placement support method |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0629695A (en) * | 1992-07-08 | 1994-02-04 | Taiyo Yuden Co Ltd | Electronic component mounting machine |
| JPH11340693A (en) * | 1998-05-21 | 1999-12-10 | Sanyo Electric Co Ltd | Backup pin recognizer of electronic component mounting apparatus |
| JP2000353897A (en) * | 1999-06-10 | 2000-12-19 | Matsushita Electric Ind Co Ltd | Method and apparatus for optimizing recognition of part mounting position and part mounter employing the same |
| JP4038054B2 (en) * | 2002-02-22 | 2008-01-23 | 富士機械製造株式会社 | Supporting member arrangement related data processing apparatus and wiring board working system |
-
2004
- 2004-04-07 JP JP2004113337A patent/JP4381867B2/en not_active Expired - Lifetime
-
2005
- 2005-04-06 CN CNB2005100657353A patent/CN100521905C/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1942059B (en) * | 2005-09-28 | 2010-09-29 | 雅马哈发动机株式会社 | Mark recognition method and printing apparatus |
| CN104956788A (en) * | 2013-01-30 | 2015-09-30 | 松下知识产权经营株式会社 | Device for assisting determination of support pin positioning, and method for assisting determination of support pin positioning |
| CN105103669A (en) * | 2013-01-30 | 2015-11-25 | 松下知识产权经营株式会社 | Device for assisting determination of support pin positioning, and method for assisting determination of support pin positioning |
| CN104956788B (en) * | 2013-01-30 | 2017-09-01 | 松下知识产权经营株式会社 | The configuration of lower supporting pin determines that servicing unit and configuration determine householder method |
| US10070566B2 (en) | 2013-01-30 | 2018-09-04 | Panasonic Intellectual Property Management Co., Ltd. | Support pin arrangement determination assisting method |
| US11212950B2 (en) | 2013-01-30 | 2021-12-28 | Panasonic Intellectual Property Management Co., Ltd. | Support pin arrangement determination assisting apparatus |
| US11778796B2 (en) | 2013-01-30 | 2023-10-03 | Panasonic Intellectual Property Management Co., Ltd. | Support pin arrangement determination assisting apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100521905C (en) | 2009-07-29 |
| JP2005302833A (en) | 2005-10-27 |
| JP4381867B2 (en) | 2009-12-09 |
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