JP2001077594A - Component recognition device and component mounting machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a component recognition device which can accurately recognize a component without being affected by the kind of the component and a component mounting machine equipped with it. SOLUTION: The device is equipped with a 1st illuminating source 121 which irradiates the back side of a component 1 held by a holding means 110 with light to obtain 1st image light of the component, a 2nd illuminating source 122 which irradiates the front side of the component held by the holding means with light to obtain 2nd image light of the component, a reflecting means 123 which reflects the 1st or 2nd image light at a specific angle, and an image pickup means 124 which receives the 1st or 2nd image light reflected by the reflecting means to pick up an image of the component.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component recognizing device for recognizing components held by holding means, and a component mounter having the same.

[0002]

2. Description of the Related Art FIG. 6 is a plan view showing a rotary head and a component recognition device in a conventional component mounting machine. The rotary head 10 has a base shaft 11 and a disk-shaped nozzle support portion 12 provided at a lower end of the base shaft 11.
A plurality of suction nozzles 13 for suctioning and transporting the component 1 are arranged and supported on the outer peripheral edge of the nozzle support portion 12. The base shaft 11 is rotatably supported by a horizontally movable support body 14 so that the axis of the base shaft follows the vertical direction, and the suction nozzle 13 is also rotatable by the nozzle support 12 in a direction extending in the vertical direction. And supported so as to be able to move up and down.

[0003] The component recognition device 20 has a total reflection mirror 21 and a camera 22. The total reflection mirror 21 is disposed at a predetermined angle below one suction nozzle 13 positioned at a predetermined shooting position. The camera 22
The component 1 sucked by the suction nozzle 13 is disposed at a position where an image can be taken via the total reflection mirror 21.

An operation example of such a configuration will be described. First, the support 14 moves horizontally and the base shaft 11 rotates to position the predetermined suction nozzle 13 at a predetermined suction position. Then, the suction nozzle 13 descends, adsorbs the component 1 on its tip, and rises to return to the original position. Next, the base shaft 11 is rotated again, and the suction nozzle 13 holding the component 1 is positioned at a predetermined photographing position. The camera 22 takes an image of the component 1 sucked by the suction nozzle 13 through the total reflection mirror 21 and checks the suction state of the component 1, that is, whether the component 1 is suctioned by the suction nozzle 13 in a correct posture. I do.

That is, the light source (not shown) is
Translucent disk-shaped backlight unit 15 attached to
Is irradiated with light L to illuminate the upper and lower surfaces of the backlight unit 15, and the outline of the component 1 emerges with a large contrast with the lower surface of the backlight unit 15 as a background. The camera 22 compares the built-in grid coordinates with the posture obtained from the outline of the component 1 to check the orientation of the component 1 and the amount of deviation of the suction nozzle 13 from the center. Then, based on the confirmation result, the suction nozzle 13 rotates to correct the direction of the component 1, and the support 14 moves horizontally to correct the amount of displacement of the component 1.

Thereafter, the base shaft 11 is rotated again, and the suction nozzle 13 whose posture of the component 1 is corrected is positioned at a predetermined mounting position. Then, the suction nozzle 13 moves down to mount the component 1 on the board, and moves up to return to the original position. The above operation is repeated until component mounting on the board is completed.

[0007]

As described above, the suction nozzle 1 is controlled by the camera 22 of the conventional component recognition apparatus 20.
When photographing the component 1 adsorbed on the component 3, the outline of the component 1 is made to emerge with a large contrast with the lower surface of the backlight unit 15 as a background. For this reason, depending on the constituent material of the component 1, it may be difficult to make the outline of the component 1 stand out with a large contrast, and when the outer shape of the component 1 is smaller than the outer diameter of the suction nozzle 13, the component 1 may Therefore, there is a problem that the outline of the component 1 cannot be recognized because of the shadow of the component 13.

The present invention has been made in view of the above circumstances, and provides a component recognition apparatus capable of accurately recognizing a component regardless of the type of the component and a component mounting machine provided with the same. With the goal.

[0009]

According to the present invention, there is provided a component recognizing apparatus for recognizing a component held by a holding means, wherein a back surface of the component held by the holding means is provided. A first light source that irradiates light to the first side to generate first image light of the component; and a first light source that irradiates light to the front side of the component held by the holding unit and emits light to the first side of the component. A second light source for generating the second image light, a reflection unit for reflecting the first image light or the second image light at a predetermined angle, and the first image light or the second light reflected by the reflection unit. Image capturing means for capturing the second image light to image the component.

Further, according to the present invention, the object is provided with holding means for holding a component, and a component recognizing device for recognizing the component held by the holding means. In a component mounter that mounts the component held by the holding unit on a substrate based on a recognition result, the component recognition device irradiates light to a back side of the component held by the holding unit. And a first light source for forming a first image light of the component, and a light source for irradiating light to a front side of the component held by the holding unit to obtain a second image light of the component. A second light source, a reflecting means for reflecting the first image light or the second image light at a predetermined angle, and taking in the first image light or the second image light reflected by the reflecting means. Imaging means for imaging the component with It is achieved by providing.

According to the above arrangement, there are provided means for recognizing a component by irradiating light from the back side of the component and means for recognizing the component by irradiating light from the front side of the component. In the case where the part falls behind the holding means, the outline of the part can be raised by irradiating light from the front side of the part. Further, even when the brightness of the base of the component is different, for example, white or black, the outline of the component can be raised by switching the brightness of the background portion of each of the above-mentioned units and the holding unit.

[0012]

Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings. Note that the embodiments described below are preferred specific examples of the present invention,
Although various technically preferable limits are given, the scope of the present invention is not limited to these modes unless otherwise specified in the following description.

FIG. 1 is a schematic perspective view showing an embodiment of a component mounter provided with an embodiment of the component recognition apparatus of the present invention. On a base 101 of the component mounter 100, a conveyor 102 for transporting a substrate is erected in the X direction, and two gate-shaped columns 103 straddling the conveyor 102 are spaced along the conveyor 102. It is arranged with a gap. The X beam 104 is between the two columns 103.
The Y beam 105 is arranged below the X beam 104 in the Y direction.

On the Y beam 105 above the base 101, a component mounting head 110 for mounting components on a substrate and a component recognizing device 120 for recognizing images of the components picked up by the component mounting head 110 are provided. Have been.
The component mounting head 110 and the component recognition device 120 can be moved in the XY directions by the X beam 104 and the Y beam 105.

Further, an operation program and the like for controlling the component mounter 100 are stored inside the base 101,
A control unit (not shown) for controlling the component mounter 100 is provided. Although not shown, two component supply devices in which a plurality of component supply cassettes for supplying components are arranged on both sides of the base 101 on both sides of the conveyor 102 in a detachable manner. It is supposed to be.

FIG. 2 shows the component mounting head 110 shown in FIG.
2 is a partial cross-sectional side view showing details of the component recognition device 120. FIG. The component mounting head (holding means) 110 includes a suction nozzle 111, a turret 112, a turret shaft 113a, a turret reducer 114a, a turret motor 115a, a nozzle shaft 113b, a nozzle reducer 114b, a nozzle motor 115b, and the like. These are provided integrally with the head support 110a.

The turret shaft 113a is inserted into the inner diameter of the nozzle shaft 113b, and the head support portion 1 is tilted at an angle of about 20 ° with respect to the Z direction.
10a. The turret shaft 113a and the nozzle shaft 113b can be independently rotated around the same axis.
a.

The turret reducer 114a is connected to the turret motor 115a, and the nozzle reducer 1
14b is connected to the nozzle motor 115b,
The output shafts of the speed reducers 114a and 114b are turret shaft 113a and nozzle shaft 113b.
Are supported by the head support portion 110a so as to be parallel to the axis of.

The pulley 116a fitted to the output shaft of the turret reducer 114a and the pulley 117a fitted to the turret shaft 113a are connected via a belt 118a, and A pulley 116b fitted to the output shaft 114b;
Pulley 11 fitted to nozzle shaft 113b
7b is connected via a belt 118b. Thus, the turret shaft 113a and the nozzle shaft 113b are independently rotated around the same axis by the driving of the turret motor 115a and the nozzle motor 115b.

The turret 112 is formed in a disk shape.
The turret shaft 113a is fixed coaxially to the tip of the shaft 113a. The suction nozzle 111 has a component 1
A conical nozzle background plate 111a is detachably attached near the front end, and a gear 111b is fitted near the rear end. Then, for example, a plurality of suction nozzles 111 of about 20 are arranged at equal intervals along the outer peripheral edge of the turret 112, and the shaft is arranged so that the tip faces outward.
It is supported at an angle of about 20 ° with respect to the axis a. These suction nozzles 111 are supported by a turret 112 so as to be able to move up and down along the axis and rotate around the axis. Further, the gear 11 of each suction nozzle 111
1b meshes with a nozzle gear 119 fitted to the nozzle shaft 113b.

As a result, the turret 112 rotates together with the suction nozzles 111 according to the rotation of the turret shaft 113a, and the suction nozzles 111 rotate according to the rotation of the nozzle shaft 113b. Then, the suction nozzle 111 located at the lowest point of the turret 112 is perpendicular to the component 1 in the component supply section of the component supply cassette or the substrate 2 surface in the component mounting position, so that the component 1 is supplied. It can be taken out of the unit or mounted on the substrate 2. Therefore, in the component mounter 100, the position of the lowest point of the turret 112 is used as a component removal position or a component mounting position.

On the other hand, the suction nozzle 111 located at the uppermost point of the turret 112 is the suction nozzle 1 located at the lowermost point.
Even if the component 1 is farthest from the component 11 and is recognized at the highest point, the component mounting operation is not hindered.
Therefore, in the component mounter 100, the turret 112
Is used as the component recognition position.

This component recognition device 120 is used for the first light source 1
21, second light source 122, reflecting means 123, first imaging means 124, third light source 125, second imaging means 126
These are provided integrally with the recognition device support 120a. The first light source 121 emits light having a wavelength of, for example, 660 Hz arranged in a ring shape.
It is composed of ED (Light Emitting Diode). The second light source 122 is configured by a plurality of LEDs that emit light having a wavelength of, for example, 660 Hz, which are arranged in a ring. The reflection means 123 is constituted by, for example, a total reflection mirror. The first imaging unit 124 is, for example, a CCD (Charge Coupled Device).
e) It consists of a camera.

The first light source 121 is supported by the recognition device support 120a so as to irradiate the nozzle background plate 111a of the suction nozzle 111 located at the highest point of the turret 112 with light. The reflection unit 123 is configured to reflect the light of the first light source 121 reflected by the nozzle background plate 111a at a predetermined angle so that the recognition device support unit 120a can reflect the light.
It is supported by. The second light source 122 is
3, the light is reflected once by the reflection means 123 at the same angle as the reflection angle of the light from the first light source 121, and then irradiates the component 1 sucked at the tip of the suction nozzle 111 located at the highest point of the turret 112. It is supported by the recognition device support 120a as possible. First imaging means 124
Is supported by the recognition device support 120a so that the light of the first light source 121 and the light of the second light source 122 reflected by the reflection means 123 can be incident.

As described above, the first light source 121 is provided between the nozzle background plate 111a of the suction nozzle 111 and the reflection means 123, and the second light source 122 is provided in the first imaging means 1
24 and the reflection means 123. As a result, the first light source 121 emits the light L reflected on the nozzle background plate 111a of the suction nozzle 111, as shown by the arrow in FIG. By irradiating from the back side of 1 and blocking and passing, the passing light can be used as the first image light.

As shown by the arrow in FIG. 4, the second light source 122 irradiates and reflects the light L
Is irradiated from the front side of the component 1 sucked to the tip of the suction nozzle 111 and reflected, whereby the reflected light can be used as the second image light. Then, as shown in FIG. 3 or FIG. 4, the first imaging unit 124 outputs the first image light L1 or the second image light L1 reflected by the reflection unit 123.
The component 1 can be imaged by taking in the image light L2.

The third light source 125 is composed of, for example, an LED that emits light having a wavelength of 470 Hz. The second imaging means 126 is constituted by, for example, a CCD camera.
Then, the third light source 125 is configured to irradiate the recognition device supporting portion 120a so as to irradiate the side surface of the component sucked at the tip of the suction nozzle 111 located at the highest point of the turret 112.
It is supported by. The second imaging unit 126 is supported by the recognition device support unit 120a so that light from the third light source 125 can be directly incident.

Accordingly, the third light source 125 irradiates the light from the side surface of the component 1 sucked to the tip of the suction nozzle 111 to shield and pass the light, thereby making the passing light into the third image light. be able to. Then, the second imaging means 126 can take in the third image light and image the component 1. The recognition device support portion 120a of the component recognition device 120 is fixed to the head support portion 110a of the component mounting head 110, and the head support portion 110a of the component mounting head 110 is supported by the Y beam 105 so as to be movable in the Y direction. I have.

An operation example of such a configuration will be described. First, the board 2 is carried in by the conveyor 102 and positioned at the component mounting position. Next, the component mounting head 110 and the component recognition device 120 are moved to the component supply unit of the component supply cassette by the X beam 104 and the Y beam 105. The turret 112 of the component mounting head 110
The suction nozzles 111 are moved up and down while rotating, and the components 1 in the component supply unit are sequentially suctioned to the tips of the suction nozzles 111 and taken out.

Thereafter, the suction state of each component 1 sucked while rotating the turret 112 of the component mounting head 110, that is, each suction nozzle 111 with each component 1 in a correct posture.
It is sequentially confirmed by the component recognition device 120 whether or not it is sucked. Then, based on the confirmation result, each suction nozzle 111 is rotated to correct the direction of each component 1, and X
Each suction nozzle 11 is controlled by the beam 104 and the Y beam 105.
Each component 1 is sequentially mounted at a predetermined position on the substrate 2 while horizontally moving the component 1 and correcting the amount of displacement of each component 1. Thereafter, the mounting of the components is controlled by the same operation, and the board 2 on which all the components have been mounted is unloaded by the conveyor 102 and transported to the next step.

Here, the component 1 by the component recognition device 120
The operation for confirming the suction state of is described in detail. FIG.
As shown in (A), when the base 1a of the component 1 is a material having a high brightness, for example, a connector made of white ceramic or the like, when the component 1 sucked by the suction nozzle 111 is illuminated from the front side, the component 1 The base 1a and the electrode portion 1b cannot be distinguished from each other, and the contour is hardly formed. Therefore, in this case, a semi-transparent nozzle background plate 111a made of, for example, Delrin is used, and the first light source 121 irradiates the nozzle background plate 111a with light and reflects the light. Irradiate from

Thus, the outline of the component 1 can be clearly distinguished with a black silhouette, and the coordinates of the grid included in the first image pickup means 124 and the posture obtained from the outline of the component 1 can be compared. It is possible to confirm the direction of 1 and the amount of deviation of the suction nozzle 111 from the center.

As shown in FIG. 5B, when the base 1a of the component 1 is made of a material having low brightness, for example, a resistor made of black plastic or the like, or the external shape of the component 1 is outside the suction nozzle 111. When the diameter is smaller than the diameter, the light is directly emitted from the front side of the component 1 by the second light source 122 using the black nozzle background plate 111a.

Thus, the component 1 and the nozzle background plate 111
a, or the contrast between the component 1 and the suction nozzle 111 can be added to make the outline of the component 1 stand out clearly, and can be obtained from the grid coordinates and the outline of the component 1 built in the first imaging means 124. The orientation of the component 1 and the amount of displacement of the suction nozzle 111 with respect to the center can be confirmed by comparing the posture of the suction nozzle 111 with the posture of the component 1. As described above, by performing the component recognition by switching between the first light source 121 and the second light source 122, the external shape of the component 1 can be clearly recognized regardless of the type of the component 1.

Irrespective of the type of the component 1, light is directly emitted from the side of the component 1 by the third light source 125, and the outline of the side of the component 1 is confirmed by the second imaging means 126. Thereby, the suction nozzle 11 commonly called standing suction is used.
It is possible to confirm a defective suction in which the component 1 has sucked the side surface of the component 1, and the component can be eliminated.
In addition, since the wavelength of the light of the first light source 121 or the second light source 122 and the wavelength of the light of the third light source 125 at the time of the component recognition are different, they do not interfere with each other.
Component recognition can be performed accurately. Since the component recognition device 120 is integrated with the component mounting head 110, the component recognition described above can be performed while the component mounting head 110 is moving, and the number of component mounting steps can be significantly reduced.

[0036]

As described above, according to the present invention,
The component can be accurately recognized without being affected by the type of the component.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view showing an embodiment of a component mounter provided with an embodiment of a component recognition device of the present invention.

FIG. 2 is a partial cross-sectional side view showing details of the component mounting head and the component recognition device shown in FIG.

FIG. 3 is a first perspective view showing a component recognition operation in the component recognition device shown in FIG. 1;

FIG. 4 is a second perspective view showing a component recognition operation in the component recognition device shown in FIG. 1;

FIG. 5 is a plan view showing a component recognition state in the component recognition device shown in FIG. 1;

FIG. 6 is a plan view showing a rotary head and a component recognition device in a conventional component mounting machine.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Component, 2 ... Substrate, 100 ... Component mounter, 101 ... Base, 102 ... Conveyor, 103
... Support, 104 ... X beam, 105 ... Y beam, 110 ... Component mounting head, 110a ... Head support, 111 ... Suction nozzle, 111a ...
Nozzle background plate, 112 ... turret, 113a ...
・ Turret shaft, 113b ・ ・ ・ Nozzle shaft, 114a ・ ・ ・ Turret reducer, 114b ・
..Nozzle reducer, 115a ... turret motor, 115b ... nozzle motor, 116a, 116
b, 117a, 117b... pulleys, 118a, 11
8b: belt, 119: gear for nozzle, 120
... Part recognition device, 120a recognition device support, 121
... 1st light source, 122 ... 2nd light source, 123
..Reflection means, 124... First imaging means, 125.
..Third light source, 126... Second imaging means

Claims (10)

[Claims] 1. A component recognizing device for recognizing a component held by a holding means, wherein a first side of the component is irradiated by irradiating light to a back side of the component held by the holding means. A first light source configured to emit image light, a second light source configured to irradiate light to a front side of the component held by the holding unit to generate a second image light of the component, A reflecting means for reflecting the image light or the second image light at a predetermined angle, and an imaging means for capturing the first image light or the second image light reflected by the reflecting means and imaging the component And a component recognition device. 2. The light source according to claim 1, wherein the first light source is disposed in a ring shape between the holding unit and the reflection unit, and the light irradiated and reflected on the holding unit is held by the holding unit. The component recognition device according to claim 1, wherein the component recognition device according to claim 1, irradiating the component from a rear side thereof to block and pass the component, thereby making the passing light the first image light. 3. The second light source is disposed in a ring shape between the imaging means and the reflection means, and the light irradiated and reflected on the reflection means is held by the holding means. The component recognition device according to claim 1, wherein the component is illuminated and reflected from the front side of the component, and the reflected light is used as the second image light. 4. A third light source that irradiates light to a side surface of the component held by the holding unit to generate a third image light of the component, and captures the third image light. 2. The component recognition apparatus according to claim 1, further comprising: a second imaging unit configured to image the component. 5. The component recognition apparatus according to claim 4, wherein the light wavelengths of the first and second light sources are different from the light wavelength of the third light source. 6. A holding device for holding a component, and a component recognizing device for recognizing the component held by the holding device, wherein the component is held by the holding device based on a recognition result by the component recognizing device. A component mounter that mounts the component on a board, wherein the component recognition device irradiates light to a back side of the component held by the holding unit and emits first image light of the component. A first light source that emits light; a second light source that irradiates light to a front side of the component held by the holding unit to generate second image light of the component; and a first image light. Or, a reflection unit that reflects the second image light at a predetermined angle, and an imaging unit that captures the component by capturing the first image light or the second image light reflected by the reflection unit. Component mounting characterized by . 7. The first light source is disposed in a ring shape between the holding means and the reflecting means, and holds the light irradiated and reflected on the holding means by the holding means. 7. The component mounter according to claim 6, wherein the component is mounted on the rear side of the component, and is shielded and passed, so that the transmitted light is used as the first image light. 8. The second light source is disposed in a ring shape between the imaging means and the reflection means, and the light irradiated and reflected on the reflection means is held by the holding means. 7. The component mounter according to claim 6, wherein the component mounting device is configured to irradiate and reflect the component from the front side to make the reflected light into the second image light. 9. A third light source that irradiates light to a side surface of the component held by the holding unit to generate third image light of the component, and captures the third image light. 7. The component mounter according to claim 6, further comprising: a second imaging unit configured to image the component. 10. The component mounter according to claim 9, wherein the light wavelengths of the first and second light sources are different from the light wavelength of the third light source.