JP2000200998A - Component installation head and equipment thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a component installation head, which is simple in structure and can quickly gain a stable picked up image of a component chucked by a chucking head and to provide a component installation equipment provided with the head. SOLUTION: Chucking nozzles 82a, 82b are provided in a head base 81. An image pickup camera 85 picks up image respectively via submirrors 87a, 87b installed below the chucking nozzles 82a, 82b and a main mirror 87c installed below the image pickup camera 85. The submirrors 87a, 87b and the main mirror 87c are installed so as to be rotated by a motor. The mirrors 87a-87c are disposed in forward and backward circular motions by a motor with a vertical movement of the chucking nozzles 82a, 82b. As a result, stable image of a component can be obtained, with a simple structure and the efficient installation of the component can be realized.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement of a component mounting head having a nozzle for sucking and holding an electronic component such as a chip component, and a component mounting device having the component mounting head mounted thereon.

[0002]

2. Description of the Related Art Conventionally, a component mounting apparatus for mounting a chip component such as an IC, a resistor or a capacitor on a printed wiring board is, for example, mounted on a movable base which can be freely moved in the XY directions by an XY robot. A mounting head is mounted, and a suction head is mounted on the component mounting head so as to be vertically movable and rotatable.

FIGS. 8 and 9 are a front view and a plan view, respectively, showing a conventional component mounting apparatus. In the component mounting apparatus, as shown in FIG. A substrate transport mechanism 3 for transporting the printed wiring boards 2 in the direction is provided, and a substrate supply mechanism 4 for supplying the printed wiring boards 2 to the substrate transport mechanism 3 one by one, and receiving and storing the printed wiring boards 2 from the substrate transport mechanism 3. A substrate storage mechanism 5 is mounted.

[0004] A component supply mechanism 6 is provided in parallel with the board transport mechanism 3, and the component 7 supplied by the component supply mechanism 6 is mounted on the printed wiring board 2 by the component mounting head 8. The head transfer mechanism 9 includes the component mounting head 8
Is a movement base configured to be freely movable in the XY directions.

[0005] As shown in FIG.
An X-direction moving mechanism 9a for moving the component mounting head 8 in the X-direction, and a Y-direction moving mechanism 9b for moving in the Y-direction via the X-direction moving mechanism 9a.

The component mounting head 8 is, as shown in an enlarged view in FIG.
A pair of suction nozzles 82a and 82b for sucking the component 7 are configured to be vertically movable and rotatable by nozzle lifting mechanisms 83a and 83b and nozzle rotation mechanisms 84a and 84b, respectively. These suction nozzles 82a and 82b are suction hoses. It is connected to a suction device such as a vacuum pump via 82aa and 82ba.

An imaging camera 85 such as a CCD camera is provided on a base plate 81 intermediate the pair of suction nozzles 82a and 82b, and the components 7 sucked and held by the suction nozzles 82a and 82b are printed by the head transfer mechanism 9. While being transferred onto the wiring board 2 and being mounted at a predetermined position on the printed wiring board 2, the imaging camera 85 takes an image of the component 7 sucked by the suction nozzles 82 a and 82 b in the middle thereof, and processes the image signal by image processing. Supply to the device 10.

Therefore, as shown in FIG. 11, on the back side of the head base 81, in order to shorten the time from the suction of the component 7 to the mounting thereof, a mirror (see FIG. 1) located below the pair of suction nozzles 82a and 82b. A mirror (mirror) moving mechanism 86 for moving the mirror (mirror) box and the prism in the horizontal (X-Y) direction is provided, and auxiliary mirrors provided corresponding to the suction nozzles 82a and 82b and the imaging camera 85, respectively. It is configured to drive mirrors (mirrors) 87a and 87b and a main mirror (mirror) 87c.

That is, each of the two moving sub-mirrors 87
The optical image of the component 7 sucked by each of the suction nozzles 82a and 82b via the main mirror 87c and the imaging mirror 85 provided between the suction nozzles 82a and 82b.
Supplied to

A mirror moving mechanism 86 provided on the back side of the head base 81 includes a motor 861, a cam plate 862 attached to a rotation shaft of the motor, and rollers 863a and 863b which are in rolling contact with the outer peripheral surface of the cam plate 862. Arm 864a, 864b, respectively, and pins 865a, 865b that rotatably support the arms 864a, 864b in a vertical plane.
64a and 864b are connected to each other by a coil spring 866 so as to pull each other.

Further, the mirror moving mechanism 86 slides slide members 867a and 867b connected to one ends of the arms 864a and 864b via pins, respectively, and slides the slide members 867a and 867b in the horizontal (X-Y) direction. And a slide guide 868 for freely supporting the slide member 867a.
9a, the secondary mirror 87a and the slide member 86
One sub-mirror 87b and main mirror 87c are connected to 7b via the other connecting member 869b.

According to the component mounting apparatus as described above, the position of the component 7 is recognized while the component suction head 8 is moved from the suction position to the mounting position without stopping, and the position is corrected. The mounting on the printed wiring board 2 is performed.

Further, as shown in FIG. 10, the component suction head 8 is provided with an illuminator 88, and the corresponding components are sequentially passed through a prism 88a, a beam splitter 88b, a main mirror 87c, and sub-mirrors 87a and 87b. The components 7 sucked by the suction nozzles 82a and 82b are irradiated with light, and a bright and clear image is obtained.

Therefore, in the conventional component mounting apparatus, as shown in FIG. 12, an image signal of the component 7 obtained by the imaging camera 85 is supplied to the image processing apparatus 10 and processed by the suction nozzle 8.
The position of the component 7 sucked by the components 2a and 82b is grasped, and a position correction amount is obtained from a difference between the grasped position and a predetermined reference position. And main (main) controller 1
2 respectively.

The position correcting controller 11 is configured to control the suction nozzle rotating mechanisms 84a and 84b and adjust the position and orientation of the component 7 while receiving a command from the main controller 12.

The main controller 12 is provided with nozzle rotating mechanisms 84a, 84 in the controller 11 for correcting the position and orientation of the component 7 from the image processing apparatus 10.
4b, the substrate transport mechanism 3, the electronic component supply mechanism 6, the head transport mechanism 9, and the suction nozzle elevating mechanism 83a in the head plate 8 while receiving the correction operation.
83b, the lighting device 88, and the motor 861 are controlled.

[0017]

As described above, in the conventional component mounting apparatus, the component mounting head 8 is
The mirror moving mechanism 86 is operated to move each of the mirrors 87a to 87c in the horizontal direction so that the component 7 on which the component 5 has been picked up can be imaged, but blur occurs at its forward and backward ends. In particular, the blur in the optical axis direction generated at the forward end which is the position at the time of shooting (image capturing position) is reduced by the imaging camera 85 and the component 7.
Therefore, there is a problem in that the image captured by the image capturing camera 85 becomes unstable, and it takes time until a good image is obtained, and the mounting efficiency is significantly reduced.

As described above, the motor 861 resists the pulling force of the spring 866 and the like, and the slide member 867
Since each of the mirrors 87a to 87c is driven via a and 867b, a large driving force is required, the weight of the mirror moving mechanism 86 increases, and there is an inevitable disadvantage that the mirror is enlarged.

As a result, the weight of the entire suction head 8 becomes large, and the moving base has a large inertial force, which makes it difficult to cope with a high speed required for the component mounting apparatus.

It is conceivable that each of the mirrors 87a to 87c is driven by a cylinder in order to simply simplify and reduce the weight of the mirror moving mechanism 86. At the time of a sudden stop at the retreat end, blurring in the direction of the optical axis still occurred, and a reduction in mounting efficiency due to this was inevitable.

[0021]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned conventional problems, and a first invention is a component mounting head, comprising: a suction nozzle attached to a head base; A mirror provided rotatably below the nozzle; and an imaging camera attached to the head base so as to capture an image of the component sucked by the suction nozzle via the mirror. .

According to the first aspect of the present invention, since the mirror is rotatably provided, the blur in the optical axis direction of the imaging camera is negligible at the end of the rotation. Images can be obtained quickly.

According to a second aspect of the present invention, a suction nozzle is attached to a head base, and an imaging camera attached to the head base is provided below a sub-mirror provided below the suction nozzle and below the imaging camera. In the component mounting head configured to capture an image of the component sucked by the suction nozzle via the main mirror, the sub mirror is rotatably provided.

As described above, according to the second aspect of the present invention, since the auxiliary mirror is rotatably provided, at the end of the rotation, the movement of the imaging camera in the optical axis direction via the main mirror is equal to the first mirror. As in the present invention, it becomes negligible, and a stable component image can be quickly obtained with a simple configuration.

According to a third aspect of the present invention, a pair of suction nozzles are mounted on a head base, and an imaging camera mounted between the pair of suction nozzles includes an auxiliary mirror provided below each suction nozzle, and In a component mounting head configured to image a component sucked by the pair of suction nozzles via a main mirror provided below the imaging camera, the sub-mirror and the main mirror are rotatable. It is characterized by being provided in.

As described above, according to the third aspect, the component mounting head is provided with the sub mirror and the main mirror so as to be rotatable. It is possible to quickly obtain a suction component image.

According to a fourth aspect of the present invention, there is provided a component mounting apparatus including at least the component mounting head according to any one of the first to third aspects.

As described above, according to the fourth aspect of the present invention, since the head capable of obtaining a stable and quick component image is provided, the efficiency of component mounting can be improved.

[0029]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a component suction head and a component mounting apparatus equipped with the component suction head according to the present invention will be described below in detail with reference to FIGS. The same components as those of the conventional configuration shown in FIGS. 8 to 12 are denoted by the same reference numerals, and detailed description is omitted.

FIG. 1 is a front view showing a first embodiment of a component suction head according to the present invention, and FIG. 2 is a plan view thereof.

The component suction head 8 is, as shown in FIG.
Sub mirrors 87a and 87b are provided below the suction nozzles 82a and 82b, respectively.
The main mirror 87 is located below the imaging camera 85 between 7a and 87b.
c was placed.

Each of the sub-mirrors 87a and 87b has reflecting surfaces 87aa and 87ba inclined (θ) by approximately 45 degrees with respect to the horizontal (X-Y) plane as shown in the figure, and 82b) is reflected in the horizontal direction, and the mirror rotation mechanism 87a is driven by a motor.
b and 87bb, so as to be rotatable about the vertical direction. Therefore, at the time of the suction operation of the component 7 by the suction nozzles 82a and 82b and at the time of mounting on the printed wiring board 2, the sub mirrors 87a and 87b are rotated by the mirror rotating mechanisms 87ab and 87bb.
a and 82b are rotated and moved to positions where they do not hinder the movement operation in the vertical direction.

As shown in FIG. 2, the main mirror 87c is also rotatable about the Y direction as a rotation axis by a mirror rotation mechanism 87ca by a motor vertically mounted on the back side of the head base 81. Due to the rotation, the reflection surface of the main mirror 87c is turned into two sub-mirrors 87a and 87.
b is selected and faces each of the sub-mirrors 87a and 87b with an inclined surface of approximately 45 degrees.

Therefore, the image of each component 7 sucked by the suction heads 82a and 82b is transferred to the upper mirror 87c via the corresponding sub-mirrors 87a and 87b and the main mirror 87c switched correspondingly by the rotation control. It is supplied toward the imaging camera 85.

The above operation is performed by the left and right suction nozzles 8.
The operation is linked with the operation of attaching the component 7 to the substrate 2 by the suction of the components 2a and 82b, and a series of operations will be described with reference to FIGS.

That is, when the suction nozzles 82a and 82b attempt to suck the component 7, the respective sub mirrors 87a and 87
7b is avoided by the drive of the mirror rotating mechanisms 87ab and 87bb to the retracted position which does not hinder the suction operation (FIG. 4A).

In this state, the nozzle elevating mechanisms 83a, 83
By the operation of b, the suction nozzles 82a and 82b descend,
After sucking the component 7 (FIG. 4B), it rises to the original position (FIG. 4C).

Next, the mirror rotating mechanism 87ab rotates the sub-mirror 87a by 90 degrees to move it to the image capturing position by the imaging camera 85, and the main controller 12 turns on the lamp of the lighting fixture 88. Therefore, the imaging camera 85 takes an image of the component 7 on the sub-mirror 87a side via the sub-mirror 87a and the main mirror 87c with the reflection surface facing the position facing the sub-mirror 87a (FIG. 4D), so that the position is corrected. The controller 11 controls the rotation of the suction nozzle rotation mechanism 84a based on the position correction signal from the image processing apparatus 10.

Next, the sub-mirror 87b is rotated 90 degrees by the rotation of the mirror rotation mechanism 87bb to move to the image capturing position by the imaging camera 85, and the main mirror 87c is rotated by the rotation of the mirror rotation mechanism 87ca. Similarly, the component 7 sucked by the other suction nozzle 82b
(FIG. 4E), rotation control of the suction nozzle rotating mechanism 84b in the nozzle axis direction is performed, and mounting to the printed wiring board 2 by the head base 8 is performed after the positioning correction.

The component mounting head according to this embodiment is configured as described above, and each of the sub mirrors 87a, 87b and the main mirror 87c is controlled by a motor to pick up, move, and print components of the suction nozzles 82a, 82b. The rotation is controlled in synchronization with the cycle of mounting on the wiring board, and the imaging camera 85 supplies an image of the sucked component 7. Each of the sub mirrors 87 a and 87 b is connected to each of the suction nozzles 82 a and 87.
Since the mirror is rotated by the mirror rotating mechanisms 87ab and 87bb having a rotation axis parallel to the attracting direction of 82b, the reflection surface is less displaced in the optical axis direction when positioned at the image capturing position than in horizontal movement, and is stable. The obtained captured image is obtained.

Further, since the main mirror 87c also rotates about the optical axis, the reflection surface is less deflected in the optical axis direction, and similarly, a stable captured image can be obtained.

Further, according to this embodiment, since the spring and the cam mechanism are not employed unlike the conventional case, the weight of the mirror moving mechanism can be reduced, and the component mounting head 8 having a small inertia as a whole can be constructed. In the component mounting apparatus, high-speed component mounting is possible.

In this embodiment, the configuration of the component mounting apparatus shown in FIG. 3 corresponds to the configuration shown in FIG. 12 of the conventional apparatus, but FIG. Mechanisms 87aa, 87bb, 87
It differs from FIG. 12 in that ca is controlled.

In the first embodiment, each sub mirror 8
Although the nozzles 7a and 87b are rotated with the nozzle (vertical) direction of the suction nozzles 82a and 82b as a rotation axis, the direction of each of the sub mirrors 87a and 87b can be changed when the component 7 is imaged and when the component 7 is sucked by the suction nozzles 83a and 83b. Therefore, the same function can be obtained by changing the rotation axis of the sub-mirrors 87a and 87b.

FIG. 5 shows the auxiliary mirrors 87a and 87b.
FIG. 13 is a front view showing a second embodiment of the component mounting head according to the present invention, in which the rotation axis is provided in the same direction as the mirror rotation mechanism 87ca of the main mirror 87c.

As shown in FIG. 5, the rotation axes of the mirror rotating mechanisms 87ab and 87bb for rotating the sub mirrors 87a and 87b are attached to the head base 81 so as to be in a direction perpendicular to the suction direction of the suction nozzles 82a and 82b. The same operation and effect as in the first embodiment can be obtained by performing the 45-degree switching rotation control.

FIG. 6 shows the auxiliary mirrors 87a and 87b.
FIG. 10 is a front view showing a third embodiment of the component mounting head according to the present invention, in which the direction of the rotation shaft is changed and the direction of the suction nozzles 82a and 82b is inclined by 45 degrees.

As shown in FIG. 6, the mirror rotating mechanism 8
The same operation and effect as in the first and second embodiments can also be obtained by providing 7ab and 87bb and rotating the reflection surface facing the main mirror 87c by 90 degrees or more, for example, 180 degrees. Can be.

Further, in the first to third embodiments, the illuminator 88 for irradiating the sucked component 7 is configured to be attached to the head base 81. Since the image of the suction component 7 is obtained with a good contrast, the image is not irradiated from below through the prism 88a, the beam splitter 88b, and the mirrors 87c, 87a, 87b. By irradiating light from the back side of 7, the imaging camera 85 can be configured to obtain an image with good contrast.

FIG. 7 shows the suction nozzles 82a and 82a.
It is a front view showing a 4th embodiment of a parts mounting head by the present invention which attached a lamp of lighting fixture 88 to 2b.

FIG. 7 does not show the mirror mechanism, but a lighting device 88 is attached to each of the suction nozzles 82a and 82b via a bracket 88c also serving as a light reflecting plate.

As described above, the lighting fixture 88 is connected to each suction nozzle 8.
The components 7 attached to the components 2a and 82b can be configured to irradiate the sucked component 7 from behind, and a clear outline of the component 7 can be captured by the imaging camera 85.

With this configuration, there is no need to configure the prism 88a and the beam splitter 88b, and the light is directly radiated to the component 7, so that there is an advantage that the amount of light from the illumination device 88 can be reduced.

In the above embodiments, the component mounting apparatus has been described as having the pair of suction nozzles 82a and 82b provided on the head base 81. However, the present invention is not necessarily limited to the one provided with a pair of suction nozzles. Suction nozzle 82
a and the main mirror 87c is fixed.
Similar effects can be obtained. Furthermore, the main mirror 87c is omitted, and the imaging camera 85 is arranged at the position of the main mirror 87c, and the horizontal (horizontal) direction is set so that the optical axis of the imaging camera 85 is directly directed to the sub-mirror (87a or 87b). May be arranged.

As described above, the component mounting head of the present invention employs a rotating mechanism for the displacement of the mirror, so that the weight can be reduced, and the component position can be detected and recognized stably, and the assembly efficiency can be increased at high speed. And a component mounting apparatus with good quality can be provided.

[0056]

As described above, according to the present invention, it is possible to realize a component mounting head capable of performing high-speed and stable component recognition with a simple configuration, and to apply the same to a component mounting apparatus to reduce the manufacturing efficiency. The effect can be improved, and the effect obtained in practical use is large.

[Brief description of the drawings]

FIG. 1 is a front view showing a first embodiment of a component mounting head according to the present invention.

FIG. 2 is a plan view of the component mounting head shown in FIG.

3 is a circuit configuration diagram of a component mounting apparatus employing the component mounting head shown in FIG.

FIG. 4 is an explanatory diagram illustrating an operation procedure of the component mounting head illustrated in FIG. 1;

FIG. 5 is a front view showing a component mounting head according to a second embodiment of the present invention.

FIG. 6 is a front view showing a third embodiment of the component mounting head according to the present invention.

FIG. 7 is a front view showing a fourth embodiment of the component mounting head according to the present invention.

FIG. 8 is a front view showing a component mounting apparatus employing a conventional component mounting head.

9 is a plan view of the device shown in FIG.

10 is a front view of a component mounting head mounted on the apparatus shown in FIG.

FIG. 11 is a rear view of the component mounting head shown in FIG. 10;

12 is a circuit configuration diagram of the component mounting device shown in FIG.

[Explanation of symbols]

 Reference Signs List 6 component supply mechanism 7 component 8 component mounting head 81 base plate 82a, 82b suction nozzle 83a, 83b nozzle elevating mechanism 84a, 84b nozzle rotating mechanism 85 imaging camera 86, 86a, 86b, 86c mirror moving mechanism 87a, 87b sub mirror 87c main mirror 88 Lighting Fixture

Claims (6)

[Claims] 1. A suction nozzle attached to a head base, a mirror rotatably provided below the suction nozzle, and a component picked up by the suction nozzle via the mirror. A component mounting head, comprising: an imaging camera mounted on a head base. 2. A suction nozzle is mounted on a head base, and an imaging camera mounted on the head base includes a sub mirror provided below the suction nozzle and a main mirror provided below the imaging camera. A component mounting head configured to capture an image of a component sucked by the suction nozzle through the sub-mirror, wherein the sub-mirror is rotatably provided. 3. A pair of suction nozzles are mounted on a head base, and an imaging camera mounted between the pair of suction nozzles includes an auxiliary mirror provided below each of the suction nozzles, and an imaging camera of the imaging camera. In the component mounting head configured to image the component sucked by the pair of suction nozzles via the main mirror provided below, the sub mirror and the main mirror are rotatably provided. A component mounting head characterized in that: 4. A beam splitter is provided between the imaging camera and the main mirror, and light is applied to the component sucked by the suction nozzle via the beam splitter, the main mirror, and the sub mirror in order. The component mounting head according to claim 1, wherein a lighting fixture is attached to the head base so as to perform the operation. 5. The lighting device according to claim 1, wherein a lighting device is attached to the suction nozzle so as to irradiate light to the component sucked by the suction nozzle. The described component mounting head. 6. A component mounting apparatus comprising the component mounting head according to claim 1. Description: