JP2000124696A - Method and equipment for detecting deviation in position of component recognition reference in mounting apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily detect the deviation in position between a reference position for component recognition of an image pickup means and the reference position for movement of a head unit. SOLUTION: A mounter is so structured that a component is chucked by a head unit removably provided with a nozzle for chucking a component, and then an image of the component chucked by the head unit is picked up by an image pickup means which is a camera 31 for recognizing components to detect the deviation in the chucked position of the component in the nozzle and then the component is mounted, with this deviation taken into consideration. In this mounting apparatus, the head unit is installed with a dummy nozzle having an indicator section for recognition and then is moved to a reference position for image pickup of the image pickup means. Thereafter, the image of the indicator section for recognition is picked up by the image pickup means. Based on the pickup image data and a preliminarily determined data on a reference position for component recognition, the deviation in position of a reference for component recognition is detected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component recognition standard using a component recognition camera in a mounting machine for mounting a chip component such as an IC on a substrate such as a printed circuit board by a head unit having a nozzle for chip component suction. location and,
The present invention relates to a method and a device for detecting a position shift of a component recognition reference for detecting a position shift occurring between the head unit and a movement reference position.

[0002]

2. Description of the Related Art Conventionally, a nozzle for picking up chip components is provided in a head unit movably mounted above a base so as to be able to move up and down. 2. Description of the Related Art There is generally known a mounting machine in which a chip component is mounted on a substrate by moving the chip component onto the substrate. Recently, in this mounting machine,
A component recognition camera is installed on the mounting machine main body, and the component recognition camera captures an image of the component adsorbed on the nozzle member, thereby recognizing a component suction deviation with respect to the nozzle member, and taking this suction deviation into account. Devices for mounting components have been proposed.

In such a mounting machine, various parameters relating to the component recognition criteria, such as the moving reference of the head unit and the positional relationship between the component recognizing camera and the nozzle, are precisely set, and these initial adjustments are made. Performing (calibration) properly is indispensable for improving mounting accuracy. For this reason, conventionally, before the operation of the mounting machine or the like, the components are mounted on the board on a test basis, the mounting state is inspected, and the various parameters described above are adjusted based on the inspection result. Has been done.

[0004]

In the conventional method as described above, when components are mounted on an actual board on a trial basis,
It is not easy to visually check the proper mounting position of the component on the board and the displacement of the component with respect to it,
There is a problem that requires skill in inspecting the mounting state. In addition, even when the initial adjustment is performed by the above method, a change in the ambient temperature or a change with the passage of time, or the like, causes a difference between the component recognition reference position of the imaging unit including the component recognition camera and the movement reference position of the head unit. There is a problem that when a positional shift occurs between them, it cannot be easily detected.

In view of such circumstances, the present invention provides a mounting method that can easily detect when a displacement between a component recognition reference position by the imaging means and a movement reference position of the head unit has occurred. It is an object of the present invention to provide a method and a device for detecting a displacement of a component recognition reference in a machine.

[0006]

In order to achieve the above-mentioned object, a method for detecting a positional deviation based on component recognition according to the present invention comprises a head unit to which a nozzle for component suction is detachably attached, In a mounting machine configured to recognize a component suction deviation with respect to a nozzle by imaging the component adsorbed on the nozzle by an imaging unit and mount the component in consideration of the suction deviation, a dummy having a recognition display portion is provided. With the nozzle attached to the head unit, the head unit is moved to the imaging reference position of the imaging unit, and the imaging unit images the recognition display unit. The positional deviation of the component recognition reference is detected based on the data of the component recognition reference position (claim 1).

According to the above arrangement, after the head unit to which the dummy nozzle having the recognition display section is attached is moved to the imaging reference position by the imaging section, the imaging section captures an image of the recognition display section. By comparing the obtained image data with the preset component recognition reference position data, the positional deviation of the component recognition reference is easily and appropriately detected.

Further, in the above invention, it is preferable that, when it is confirmed that the head unit is in a standby state during the operation of the mounting machine, the displacement of the component recognition reference is detected. (Claim 2).

[0009] According to the above configuration, the standby time of the mounting machine is effectively used, and the displacement of the component recognition reference is easily and appropriately detected.

In a state in which the head unit to which the dummy nozzle is attached is moved to the imaging reference position of the imaging means, the imaging means picks up an image of the dummy nozzle recognition display section, and then rotates the dummy nozzle by a predetermined angle. Then, the recognition display unit may be imaged again, and the positional deviation of the component recognition reference may be detected based on the imaged data.

According to the above configuration, it is possible to prevent a detection error from occurring due to, for example, the dummy nozzle being mounted in an inclined state.

[0012] Further, according to the present invention, there is provided a component recognition criterion misalignment detecting device, wherein a head unit to which a nozzle for picking up a component is detachably attached and an image pick-up unit picking up an image of the component sucked by the head unit. In a mounting machine configured to recognize a component suction deviation with respect to a nozzle and mount a component in consideration of the suction deviation, a dummy nozzle having a display unit for recognition and a head unit to which the dummy nozzle is attached are attached. A head unit control unit that controls the imaging unit to move to the imaging reference position; and imaging data obtained by imaging the recognition display unit of the dummy nozzle that has been moved to the imaging reference position. Displacement detection means for detecting a displacement of the component recognition reference based on the detected component recognition reference position data. It is (claim 4).

According to the above arrangement, after the head unit to which the dummy nozzle having the recognition display section is attached is moved to the imaging reference position of the imaging means by the head unit control means, the imaging means performs the recognition. Imaging data obtained by imaging the display unit for
By comparing the component recognition reference position data set in advance with the displacement detection means, the displacement of the component recognition reference can be easily and properly detected.

[0014]

1 and 2 show the overall structure of a mounting machine to which the present invention is applied. In these drawings, a conveyor 2 for transporting substrates is arranged on a base 1, and a substrate 3 is transported on the conveyor 2 and stopped at a predetermined mounting work position. Component supply units 4 are arranged on both sides of the conveyor 2. Also,
Above the base 1, a head unit 5 is mounted. Further, a nozzle replacement station 30 is provided at a predetermined location on the base 1.

The component supply section 4 includes a plurality of rows of tape feeders 4a.
Chip-shaped chip components such as ICs are stored and held at predetermined intervals on a tape led out from a reel, and the chip components are sequentially supplied as the head unit 5 picks up the chip components.

The head unit 5 can move in the X-axis direction (the direction of the conveyor 2) and the Y-axis direction (the direction orthogonal to the X axis on a horizontal plane). That is, a pair of fixed rails 7 extending in the Y-axis direction and a ball screw shaft 8 driven to rotate by a Y-axis servomotor 9 are disposed on the base 1, and a head unit is mounted on the fixed rail 7. A support member 11 is provided, and a nut portion 12 provided on the support member 11 is screwed to the ball screw shaft 8. A guide member 13 extending in the X-axis direction and a ball screw shaft 14 driven by an X-axis servomotor 15 are disposed on the support member 11 so that the head unit 5 can move on the guide member 13. A nut portion (not shown) provided in the head unit 5 is screwed to the ball screw shaft 14.

The ball screw shaft 8 is rotated by the operation of the Y-axis servo motor 9 to move the support member 11 in the Y-axis direction, and the ball screw shaft 14 is rotated by the operation of the X-axis servo motor 15. The head unit 5 moves in the X-axis direction with respect to the support member 11. The Y-axis servo motor 9 and the X-axis servo motor 15 are provided with rotary encoders, respectively.
Thus, the movement position of the head unit 5 is detected.

The head unit 5 is provided with a nozzle member 20 for adsorbing chip components. In the illustrated embodiment, three nozzle members 20 are provided. Each nozzle member 20
Can move up and down (movement in the Z-axis direction) and rotate around the nozzle center axis (R-axis) with respect to the frame of the head unit 5, respectively, and are operated by a Z-axis servomotor 17 and an R-axis servomotor 18. It has become so.
The servo motors 17 and 18 are provided with rotary encoders, respectively, so that the operating positions of the nozzle members 20 are detected.

Further, the base 1 is provided with an image pickup means comprising a component recognition camera 31 for recognizing a suction state of the component sucked by the head unit 5, and a state in which the head unit 5 sucks the component. After being moved to the imaging reference position above the component recognition camera 31,
By picking up an image of the suction component by the component recognition camera 31, image data of the suction component can be obtained.

As shown in FIG. 3, a nozzle shaft 24 having a leaf spring 28 for detachably holding an upper end flange portion 26 of a nozzle 25 is provided at the tip end of the nozzle member 20. A large number of nozzles 25 housed in 30 are selectively attached to the nozzle shaft 24.

The nozzle replacement station 30 accommodates a dummy nozzle 32 configured as shown in FIGS. 4 and 5 in addition to the component suction nozzle 25. The dummy nozzle 32 is used to detect a displacement of a component recognition reference in the mounting machine, has the same outer shape as the component suction nozzle 25, and has Flange part 2 held by leaf spring 28
6 are formed. On the tip end surface 27 of the dummy nozzle 32, as shown in FIG. 5, there is provided a recognition display section comprising a pattern 33 formed by arranging square reflectors having metallic luster vertically and horizontally at predetermined intervals. Is provided.

A specific example of a device for detecting a positional deviation based on component recognition using the dummy nozzle 32 will be described with reference to a block diagram shown in FIG. The position shift detecting device is a board 3 to be mounted by the mounting machine during the operation of the mounting machine.
State determination means 35 for determining whether or not the mounting machine is in a standby state according to a detection signal of a board sensor 34 for detecting whether or not the mounting apparatus is present on the conveyor 2; When it is confirmed at 35 that the mounting machine is in the standby state, control is performed such that the head unit 5 is moved to the imaging reference position of the component recognition camera 31 with the dummy nozzle 32 attached to the head unit 5. Head unit control means 36, data storage means 37 for storing data of the component recognition reference position, and displacement detection means 38 for detecting a displacement of the component recognition reference.
And

The data storage means 37 moves the head unit 5 to which the dummy nozzle 32 is attached to the imaging reference position of the component recognition camera 31 before the operation of the mounting machine. The camera unit 31 captures an image of the recognition display section composed of the pattern 33 of the dummy nozzle 32, and according to the image data, sets the head unit 5 so that the center of the recognition display section matches the imaging center of the component recognition camera 31. The coordinate data of the head unit 5 when is moved is stored as the component recognition reference position.

When the standby state discriminating unit 35 confirms that the mounting machine is in the standby state, the position shift detecting unit 38 moves the head unit 5 with the dummy nozzle 32 attached thereto to the imaging reference position. In the moved state, the image data of the recognition display section composed of the pattern 33 of the dummy nozzle 32 imaged by the camera for component recognition 31 and the data of the component recognition reference position output from the data storage means 37 Is compared between the component recognition reference position by the component recognition camera 31 and the movement reference position when the head unit 5 is moved to the imaging reference position due to a change in environmental temperature or the like. It is configured to detect the misalignment. In other words, if there is a deviation between the center coordinates of the reference head when the head unit 5 is moved to the imaging reference position and the imaging center coordinates of the imaging means, it is caused by a change in the environmental temperature or the like. It is determined that the resulting positional deviation has occurred, and the deviation amount of the center coordinates is detected as the positional deviation of the component recognition reference.

Then, in the displacement detecting means 38, a component recognition reference position by the component recognition camera 31 and
If it is confirmed that there is a positional deviation from the movement reference position of the head unit 5, based on the detection data of the positional deviation, the mounting of each part of the mounting machine is adjusted as necessary, or the mounting is performed. Calibration data of parameters related to the accuracy is obtained, and a control signal is output to the head unit control means 36 for correcting the above-mentioned positional deviation, so that the control signal is reflected in the subsequent control during mounting.

A control operation for detecting a position deviation based on the component recognition reference by the position deviation detecting device will be described with reference to a flowchart shown in FIG. When the control operation starts, the standby state determination means 35 determines whether or not the mounting machine is in a standby state (step S1).
When it is determined as O, the mounting control of the component by the mounting machine is executed (step S2), and the process returns to step S1.

If the result of the determination in step S1 is YES and it is confirmed that the mounting machine is in the standby state, the reference head of the head unit 5, for example, the nozzle member 20 located at the center of the head unit 5, It is determined whether or not a nozzle 25 for component suction is attached to the nozzle shaft 24 (step S3). If the determination is YES, the nozzle 25 is removed and the nozzle 25 is removed to a predetermined position in the nozzle replacement station 30. Store (Step S
4).

Next, the nozzle exchange station 30
The dummy nozzle 32 stored in the head unit 5
(Step S5), the head unit 5 is moved to the imaging reference position of the component recognition camera 31 (Step S6), and the pattern of the dummy nozzle 32 is moved by the component recognition camera 31. An image of the image 33 is taken and the image data is input (step S7). Then, based on the image data and the data of the component recognition reference position stored in the data storage means 37, the position displacement detection means 38 detects a component recognition reference displacement (step S8), and then performs a control operation. To end.

The head unit 5 to which the component suction nozzle 25 is detachably attached as described above, and the component sucked by the head unit 5 are connected to the component recognition camera 3.
In a mounting machine configured to recognize a suction shift of a component with respect to the nozzle 25 by capturing an image with an imaging unit including a component 1 and mount a component in consideration of the suction shift,
Dummy nozzle 3 having a display for recognition consisting of pattern 33
After the head unit 5 is moved to the imaging reference position of the imaging unit in a state where the head unit 2 is mounted on the head unit 5, the imaging unit images the recognition display unit of the dummy nozzle 32, and Since the configuration is such that the positional deviation of the component recognition reference is detected based on the data and the preset component recognition reference position data, the initial setting of the recognition reference position is easily and appropriately performed without requiring skill. In addition to this, it is possible to easily and properly detect a displacement of the component recognition reference caused by a change in environmental temperature or the like thereafter.

That is, when components are mounted on the actual board 3 on a test basis before the operation of the mounting machine, the proper mounting position of the components on the board 3 and the displacement of the components relative thereto are visually inspected. Without the need for complicated work such as
With the head unit 5 to which the dummy nozzle 32 is attached being moved to the installation position of the component recognition camera 31, an image of the recognition display portion including the pattern 33 of the dummy nozzle 32 is taken by the component recognition camera 31. Then, the coordinate data of the head unit 5 when the head unit 5 is moved so that the center of the recognition display unit coincides with the imaging center of the component recognition camera 31 according to the image data is converted to the component recognition reference position. By storing the data in the data storage means 37, the initial setting of the recognition reference position can be automatically performed.

After the initial setting, the head unit 5 to which the dummy nozzle 32 is attached is moved to the imaging reference position of the component recognition camera 31 at a predetermined timing. The camera 31 captures an image of the recognition display section composed of the pattern 33 of the dummy nozzle 32, and compares this imaged data with preset component recognition reference position data, thereby automatically detecting the displacement of the component recognition reference. Can be detected. Therefore, by outputting a control signal to the head unit control means 36 so as to correct the displacement during the subsequent mounting operation of the component, the detection error caused by an environmental change or a temporal change can be prevented. Based on the image data of the recognition camera 31, the nozzle 2
It is possible to properly recognize the suction state of the component that has been sucked by the device 5.

In the above embodiment, when it is confirmed that the head unit 5 provided in the mounting machine is in a standby state during the operation of the mounting machine, the detection of the displacement of the component recognition reference is performed. Therefore, there is an advantage that the position shift of the component recognition reference can be detected by effectively utilizing the standby time without stopping the work machine.

When the component suction nozzle 25 is not attached to the reference head of the head unit 5, a dummy nozzle 32 is attached to the reference head when the component is mounted by the mounting machine. Thus, it is possible to detect the positional deviation of the component recognition reference simultaneously with the mounting operation of the component.

When detecting the displacement of the component recognition reference, the head unit 5 to which the dummy nozzle 32 is attached is moved to the imaging reference position of the imaging unit, and the dummy unit 32 is moved by the imaging unit. Nozzle 32
After the imaging of the recognition display section is performed, the dummy nozzle 31 is rotated by a predetermined angle to image the recognition display section again, and the positional deviation of the component recognition reference is detected based on the image data. Is also good. With such a configuration, for example, even when the dummy nozzle 32 is attached to the head unit 5 in an inclined state, it is possible to appropriately detect the displacement of the component recognition reference without causing a detection error. There is an advantage.

That is, when the dummy nozzle 32 is attached to the head unit 5 in an inclined state,
Since the displacement caused by the inclination of the dummy nozzle 32 is taken into the image data of the image pickup means,
In the case of detecting the position shift of the component recognition reference based on one image pickup data, the position shift detection is performed irrespective of the fact that the head unit 5 is moved to an appropriate image pickup reference position. It is inevitable that the means 38 will erroneously detect that there is a displacement of the component recognition reference.

On the other hand, after the imaging means has taken an image of the recognition display portion of the dummy nozzle 32 as described above, the dummy nozzle 31 is rotated, for example, by 180 ° to image the recognition display portion again. In the case of detecting the displacement of the component recognition reference based on the image data, the dummy nozzle 3 is detected based on the detected data.
Since it is possible to accurately detect that there is a position shift due to the inclination of 2, the occurrence of the erroneous detection can be prevented.

[0037]

As described above, according to the present invention, a head unit to which a nozzle for picking up a component is detachably attached, and a component picked up by the head unit are picked up by an image pickup means so that a component for the nozzle is picked up. In a mounting machine configured to recognize a suction shift and mount a component in consideration of the suction shift, in a state where a dummy nozzle having a recognition display unit is attached to the head unit, After being moved to the imaging reference position of the imaging means, the image of the recognition display section is imaged by the imaging means, and the position shift of the component recognition reference is performed based on the imaged data and preset component recognition reference position data. Because it was configured to detect, without the need for skill, while the initial setting of the recognition reference position can be easily and properly performed, Positional deviation of the component recognition criteria due to changes in environmental temperature has the advantage of easily and appropriately detected after.

[Brief description of the drawings]

FIG. 1 is a plan view showing a mounting machine to which the present invention is applied.

FIG. 2 is a front view showing the mounting machine.

FIG. 3 is a sectional view showing an attached state of a component suction nozzle.

FIG. 4 is a front view showing a configuration of a dummy nozzle.

FIG. 5 is a bottom view showing a configuration of a dummy nozzle.

FIG. 6 is a block diagram showing an embodiment of a displacement detection apparatus according to the present invention.

FIG. 7 is a flowchart illustrating an embodiment of a displacement detection method according to the present invention.

[Explanation of symbols]

 5 Head Unit 31 Component Recognition Camera (Imaging Means) 32 Dummy Nozzle 33 Pattern (Recognition Display Unit) 36 Head Unit Control Means 38 Positional Displacement Detection Means

Claims (4)

[Claims] 1. A head unit to which a nozzle for picking up components is detachably attached, and a pick-up of a component picked up by the head unit is recognized by picking up an image of a component picked up by the head unit by an image pickup means. In the mounting machine configured to mount the added components, the head unit was moved to the imaging reference position of the imaging unit in a state where the dummy nozzle having the recognition display unit was attached to the head unit. Thereafter, the recognition display section is imaged by the imaging means, and a position shift of the component recognition reference is detected based on the imaged data and preset component recognition reference position data. A method for detecting a displacement of a component recognition reference in a mounting machine. 2. The mounting according to claim 1, wherein, when it is confirmed that the head unit is in a standby state during operation of the mounting machine, the positional deviation of the component recognition reference is detected. A method for detecting the amount of misalignment based on component recognition criteria in a machine. 3. In a state where a head unit to which a dummy nozzle is attached is moved to an imaging reference position of an imaging means,
After imaging the display section for recognition of the dummy nozzle by the imaging means, the dummy nozzle is rotated by a predetermined angle to image the display section for recognition again, and based on the image data, the positional deviation of the component recognition reference is detected. 3. The method according to claim 1, wherein the component misalignment is detected based on a component recognition reference. 4. A head unit to which a nozzle for picking up a component is detachably attached, and an image pick-up unit picking up an image of the component sucked by the head unit to recognize a suction shift of the component with respect to the nozzle, and recognize the suction shift. In a mounting machine configured to mount the added components, control is performed such that a dummy nozzle having a display unit for recognition and a head unit to which the dummy nozzle is attached are moved to an imaging reference position of the imaging unit. A head unit control unit, and a component recognition reference based on imaging data obtained by imaging the recognition display unit of the dummy nozzle moved to the imaging reference position and preset component recognition reference position data. And a displacement detection unit for detecting a displacement of a component recognition reference in the mounting machine. Output device.