JP2001308594A - Apparatus and method for adjusting position - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enhance reliability of angular adjustment performed at the time of mounting a rectangular electronic part while shortening the time required for angular adjustment. SOLUTION: At the time of adjusting the angle of a rectangular electronic part 100 with respect to the mounting position on a circuit board, the angle of the rectangular electronic part 100 is adjusted such that a first shadow S1 of the rectangular electronic part 100 projected onto a linear CCD 65 by a first parallel light L11 from a first light source 61 has a width equal to that of a second shadow S2 of the rectangular electronic part 100 projected onto the linear CCD 65 by a second parallel light L12 from a second light source 62.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position adjusting device and method for positioning a rectangular electronic component with respect to a circuit board, which is used in a mounting apparatus for mounting a rectangular electronic component such as a semiconductor component on a circuit board.

[0002]

2. Description of the Related Art Conventionally, in a component mounting apparatus for mounting a rectangular electronic component on a circuit board, in order to accurately mount the electronic component at a predetermined position on the circuit board, an X-axis is required in a plane direction of the circuit board.
It is necessary to perform the Y position adjustment and the angle adjustment with respect to the mounting position.

In such a component mounting apparatus, when adjusting the angle of a rectangular electronic component, light emitted from a single light source is set as parallel light, and the rectangular electronic component sucked by a nozzle is arranged in the parallel light. I do. In this state, the component mounting device measures the encoder value count and the change in the shadow width connected to the nozzle rotating shaft motor while rotating the rectangular electronic component, and after the rotation is completed, the number of counts at which the shadow width is minimized. Detect whether it has become.

Thus, in the conventional component mounting apparatus, the rectangular rotary electronic component is driven at an accurate angular position on the circuit board by driving the nozzle rotating shaft motor based on the encoder value count when the shadow width is minimized. It was often implemented in.

[0005]

In the conventional component mounting apparatus, since the rotation speed of the nozzle rotation shaft motor is limited, there is a time limitation in measuring the shadow width in a short time. However, when the rotation speed is increased, there is a problem that the accuracy of the angle adjustment is deteriorated.

In the conventional component mounting apparatus, it is necessary to rotate the rectangular electronic component by at least about 100 degrees in order to determine the angular position of the rectangular electronic component with the minimum shadow width, which increases the measurement time. There is a problem that it is.

Further, in the conventional component mounting apparatus, since the angle position at which the shadow width is minimized is obtained by using the encoder value count of the nozzle rotating shaft motor, wiring becomes complicated.
There is a problem that the device configuration becomes complicated.

In view of the above, the present invention has been proposed in view of the above-described circumstances, and improves the reliability of the angle adjustment accuracy performed when mounting a rectangular electronic component.
It is an object of the present invention to provide a position adjusting device and method capable of shortening the time required for angle adjustment.

[0009]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention is a position adjusting device for positioning a rectangular electronic component with respect to a circuit board. A first light source provided at a position for irradiating the first light
A light source, a second light source provided at a position for irradiating the rectangular electronic component with a second light at a second angle, a first light emitted from the first light source, and the second light source An optical element for converting the second light emitted from the light source into a first parallel light and a second parallel light and guiding the same to the rectangular electronic component; and the first parallel light and the second parallel light guided from the optical element. Locating the rectangular electronic component in the parallel light, rotating means for rotating the rectangular electronic component with the center of gravity of the rectangular electronic component as a rotation axis, and detecting the first parallel light and the second parallel light. ,
A first shadow width projected by the rectangular electronic component based on the light detection result of the first parallel light and a second shadow width projected by the rectangular electronic component based on the light detection result of the second parallel light Based on a first shadow width and a second shadow width detected by the light detection means for detecting the shadow width of
Angle adjusting control means for controlling the rotating means so as to rotate the rectangular electronic component to adjust the angular position of the rectangular electronic component with respect to the first parallel light and the second parallel light. Is what you do.

According to the present invention, in a position adjusting method for positioning a rectangular electronic component with respect to a circuit board, a first light emitted from a first light source to the rectangular electronic component at a first angle is converted into a first parallel light. Detecting the first parallel light, detecting a first shadow width projected by the rectangular electronic component based on a light detection result of the first parallel light, and detecting a second angle from a second light source. The second parallel light is detected using the second light irradiating the rectangular electronic component as a second parallel light, and is projected by the rectangular electronic component based on the light detection result of the second parallel light. The second shadow width is detected, and the rectangular electronic component is rotated based on the detected first shadow width and the second shadow width, and the first parallel light and the second parallel light of the rectangular electronic component are rotated. It is characterized in that the angle position with respect to the parallel light is adjusted.

[0011]

Embodiments of the present invention will be described below in detail with reference to the drawings.

The present invention is applied to, for example, a component mounting apparatus 1 as shown in FIG.

The component mounting apparatus 1 includes an electronic component supply unit 2 for supplying a rectangular electronic component, a board holding unit 3 for holding a circuit board on which the rectangular electronic component is mounted, and a rectangular electronic component on the circuit board. The head unit 4 includes an X-axis drive unit 5 that moves the head unit 4 in the X-axis direction, and a Y-axis drive unit 6 that moves the head unit 4 in the Y-axis direction.

In this component mounting apparatus 1, when mounting a rectangular electronic component on a circuit board, first, as shown in FIG. The rectangular electronic component 1 is moved in the Y-axis direction from the component mounting device 1 to the suction nozzle 11 of the head unit 4.
00 is adsorbed.

Next, the component mounting apparatus 1 moves the head unit 4 in the X-axis direction by the X-axis driving unit 5 and moves the head unit 4 in the Y-axis direction by the Y-axis driving unit 6 as shown in FIG. As shown in (b), it is arranged at a predetermined position on the circuit board 101 held by the board holding unit 3. Then, the component mounting apparatus 1 adjusts the angle of the rectangular electronic component 100 by the head unit 4 and mounts the rectangular electronic component 100 on the circuit board 101 at a predetermined angular position.

The head section 4 provided in the component mounting apparatus 1 has a perspective view shown in FIG. 3 and a sectional view shown in FIG.
Suction nozzle 11, motor rotating shaft 12, rotating shaft encoder 13, motor vertical shaft 14, vertical shaft encoder 15,
It includes a sensor head section 16, a rotation drive section 17, and a head block 18.

The suction nozzle 11 has a tube structure for sucking the rectangular electronic component 100 supplied from the electronic component supply unit 2. This suction nozzle 11 is used for the rectangular electronic component 1.
When mounting 00 on the circuit board 101, the rectangular electronic component 100 is sucked from the electronic component supply unit 2 during positioning.

The motor vertical shaft portion 14 is connected to the suction nozzle 11, and is driven to rotate by receiving a driving force from a motor (not shown). The motor up / down shaft section 14 moves the rectangular electronic component 100 in the up / down direction by rotating and driving the rotation drive section 17 in the up / down direction.

The motor vertical shaft portion 14 positions the rectangular electronic component 100 sucked at the tip portion of the suction nozzle 11 at the tip portion 17a of the rotary drive portion 17 at the time of angle adjustment or the like. Further, the motor vertical shaft portion 14 is
When the rectangular electronic component 100 is mounted on the rectangular electronic component 10, the tip of the suction nozzle 11 is moved downward.
0 is mounted on the circuit board 101.

The vertical axis encoder 15 is mechanically connected to the tip of the motor vertical axis section 14 and
4 generates a pulse signal for moving up and down in response to rotation.

The motor rotating shaft 12 is connected to the suction nozzle 11, and is driven to rotate by receiving a driving force from a motor (not shown). The motor rotation shaft section 12 transmits the rotation to the suction nozzle 11 via the rotation drive section 17 to rotate the suction nozzle 11 and rotate the rectangular electronic component 100.

The motor rotation shaft section 12 changes the angle of the rectangular electronic component 100 with respect to the mounting position on the circuit board 101 by rotating the rectangular electronic component 100 during the angle adjustment.

The rotary shaft encoder 13 is mechanically connected to the tip of the motor rotary shaft 12 and
2 generates a rotation pulse signal in response to rotation.

The sensor head section 16 includes the head block 1
8 and has an outer shape in which an opening 16a is formed on one side as shown in FIG. In the sensor head section 16, the tip of the suction nozzle 11 is disposed in the opening 16a, and the rectangular electronic component 100 shown in FIG.
Is arranged.

When two light sources are provided on the first surface 16b in the opening 16a, the sensor head 16
Linear CCD (Charge Coupled Device) on the surface 16c
Is provided. This line sensor has a structure in which CCD elements are arranged in a one-dimensional direction, and is provided at positions corresponding to two light sources provided on the first surface 16b.

In the sensor head section 16, the rectangular electronic component 100 is arranged in the opening 16a,
When performing the angle adjustment and the XY direction adjustment of the rectangular electronic component 100, light is emitted from each light source provided on the first surface 16b, and the light is emitted from each light source by the linear CCD provided on the second surface 16c. Is detected. As a result, the rectangular electronic component 10 is
Angular adjustment and XY direction adjustment are performed by detecting the shadow width of the light projected from each light source and emitted from each light source. The detailed configuration of the sensor head 16 will be described later.

In the component mounting apparatus 1 having the head unit 4 configured as described above, the rectangular electronic component 100 is mounted on the circuit board 1.
When mounting on the sensor head 16, first, the rectangular electronic component 100 is sucked by the suction nozzle 11 from the electronic component supply unit 2, and the motor vertical shaft 14 is operated to move the rectangular electronic component 100 at the tip of the suction nozzle 11. It is raised to a position inside the opening 16a.

Next, in the component mounting apparatus 1, the angle is adjusted based on the light detection signal from the sensor head 16 while rotating the motor rotating shaft 12.

Next, in the component mounting apparatus 1, the center position of the rectangular electronic component 100 is calculated by the sensor head 16 and
Based on the calculation results, the X-axis drive unit 5 is driven to adjust the mounting position in the X-axis direction, and the Y-axis drive unit 6 is driven to adjust the mounting position in the Y-axis direction.

Next, in the component mounting apparatus 1, the suction nozzle 11 is moved by operating the motor vertical shaft portion 14 and the circuit board 101.
The rectangular electronic component 100 is mounted on the circuit board 101.

Next, a functional configuration of the component mounting apparatus 1 will be described with reference to FIG.

The component mounting apparatus 1 includes a sensor control unit 20, a rotation axis motor control unit 30, a vertical axis motor control unit 40, and a host controller 50.

The sensor control section 20 includes the above-described sensor head section 16 and a sensor controller section 21 to which a light detection signal from the sensor head section 16 is input as a video signal.

The sensor head section 16 outputs to the sensor controller section 21 the information of the shadow projected on the linear CCD of the rectangular electronic component 100 as the measured object as a video signal.

The sensor controller 21 sends a control signal to the sensor head 1 so as to control the light emission timing of each light source in accordance with a control signal from the host controller 50.
6

The sensor controller 21 filters the video signal from the linear CCD of the sensor head 16, detects the upper and lower ends of the shadow, calculates the center position of the shadow, and performs other arithmetic processing. And supplies the processing result to the host controller 50.

Further, the sensor controller 21 receives the control command serially from the higher-level controller 50, receives the control command, and obtains the result obtained by the above-described various processes corresponding to the control command.
Supply 0.

The rotating shaft motor control unit 30 includes a motor rotating shaft unit 12, a rotating shaft encoder 13, and a rotating shaft motor driving unit 31.

The rotating shaft motor driving section 31 is an amplifier circuit for generating a driving force (torque) for driving the motor rotating shaft section 12. The rotary shaft motor drive unit 31 receives a torque command value from the host controller 50 as an analog signal, and generates a driving force for rotating the motor rotary shaft unit 12 according to the torque command value.

When the motor rotation shaft 12 is driven to rotate by the rotation shaft motor drive unit 31, the suction nozzle 11 is driven to rotate, and the rotation shaft encoder 13 mechanically connected to the motor rotation shaft 12 is also driven to rotate. The rotation axis encoder 13 supplies the generated rotation pulse signal to the host controller 50.

The rotation pulse signal supplied from the rotary shaft encoder 13 to the upper controller 50 is detected as angular position information, whereby the upper controller 50 determines the angle of rotation of the motor rotary shaft 12. Is detected.

In the component mounting apparatus 1 provided with the rotating shaft motor control unit 30 configured as described above, the host controller 5
0, a rotation axis motor drive unit 31, a motor rotation shaft unit 12, and a rotation axis encoder 13 constitute an angle adjustment loop servo system. Thereby, in the component mounting apparatus 1, the host controller 50 can rotate and stop the motor rotation shaft portion 12 at a desired angular position, and control the angular position of the rectangular electronic component 100.

The vertical axis motor control section 40 includes a motor vertical axis section 14, a vertical axis encoder 15, and a vertical axis motor drive section 41.

The vertical axis motor driving section 41 is an amplifier circuit for generating a driving force (torque) for driving the motor vertical axis section 14. The vertical axis motor drive unit 41 receives a torque command value from the upper controller 50 as an analog signal, and generates a driving force for rotationally driving the motor vertical axis unit 14 according to the torque command value.

When the motor vertical shaft 14 is rotated by the vertical motor driver 41, the suction nozzle 11 is moved up and down, and the vertical encoder 15 mechanically connected to the motor vertical shaft 14 is also driven to rotate. The vertical axis encoder 15 supplies the generated vertical movement pulse signal to the host controller 50.

The up / down movement pulse signal supplied from the up / down axis encoder 15 to the upper controller 50 is detected as up / down position information.
Then, the angle of the motor vertical shaft portion 14 is detected.

In the component mounting apparatus 1 including the vertical axis motor control unit 40 configured as described above, the host controller 5
0, the vertical axis motor drive unit 41, the motor vertical axis unit 14, and the vertical axis encoder 15 constitute a vertical position loop servo system. Thereby, in the component mounting apparatus 1, the upper and lower controllers 50 can rotate and stop the motor vertical shaft portion 14 at the desired vertical position, and control the vertical position of the rectangular electronic component 100.

Next, a detailed configuration of the sensor head section 16 will be described with reference to FIGS. FIG. 8 is a diagram of the optical system in the sensor head unit 16 as viewed from above.
FIG. 9 is a side view of the optical system in the sensor head unit 16.

In the sensor head section 16, a first light source 61, a second light source 62,
A collimator lens 63 is provided, a slitter 64 and a linear CCD 65 are provided on the second surface 16c side, and the rectangular electronic component 100 is disposed in the opening 16a.

The first light source 61 and the second light source 62 are composed of light emitting diodes or laser light sources, and emit light sequentially under the control of the sensor controller 21. This allows
The first light source 61 emits the first light L1 under the control of the sensor controller unit 21, and the second light source 62 emits the second light L2.

The collimator lens 63 includes a first light source 61
The first light L1 from the second light source 62 and the second light L from the second light source 62
2 are arranged on the optical axis. The collimator lens 63 converts the first light L1 into a first parallel light L11 and a second parallel light L11.
The light L2 is referred to as a second parallel light L12.

The first light source 61 and the second light source 62
The inclination of the first parallel light L11 and the inclination of the second parallel light L12 are arranged at positions having a substantially symmetric inclination angle α with respect to a perpendicular from the linear CCD 65. Here, when the inclination angle α of the first parallel light L11 and the inclination angle α of the second parallel light L12 are not the same, the upper controller 50 corrects the inclination angles α so as to be the same. Perform the operation.

The first parallel light L 11 and the second parallel light L 12 transmitted through the collimator lens 63 enter the slitter 64. The slitter 64 includes the first parallel light L11 and the second parallel light L11.
Is filtered in accordance with the traveling direction of the parallel light L12, and light in a direction different from the inclination angle α is blocked. That is, the slitter 64 transmits only the first parallel light L11 and the second parallel light L12 in the predetermined traveling direction to the linear CCD 65.

The linear CCD 65 receives the first parallel light L11 and the second parallel light L12 transmitted through the slitter 64, and generates a light detection signal. This linear CCD 6
Numeral 5 is a one-dimensional arrangement of the charge-coupled devices of the minute pixels, and generates a light detection signal for each minute pixel.
The linear CCD 65 has, for example, 14 pixels per pixel.
μm, and has a resolution of a size per pixel.

In the sensor head section 16 having such an optical system, the first parallel light L11 and the second parallel light L12
A rectangular electronic component 100 is arranged in the
The portion where the first parallel light L11 and the second parallel light L12 are blocked by the 0 side surface is not received by the linear CCD 65. As a result, in the linear CCD 65 of the sensor head section 16, the level of the light detection signal in the portion blocked by the side surface of the rectangular electronic component 100 is low, and the level of the light detection signal in the portion not blocked is high.

In the component mounting apparatus 1 having such a sensor head 16, the angle adjustment of the rectangular electronic component 100, X
In the Y position adjustment, it is necessary to arrange the rectangular electronic component 100 in the first parallel light L11 and the second parallel light L12.

In this way, in the component mounting apparatus 1, the upper controller 50 obtains a light detection signal for one line of the linear CCD 65, and detects an edge portion where the level of the light detection signal greatly changes. (Upper part and lower part of the shadow) and the center position of the shadow can be obtained.

In the sensor head section 16 having such an optical system, in the component mounting apparatus 1, the first parallel light L11 and the second parallel light L12 emitted from the first light source 61 and the second light source 62 are used. Height position H1 and the center position of the rectangular electronic component 100 in the thickness direction must be matched.

At this time, the component mounting apparatus 1 refers to the up / down movement pulse signal from the up / down axis encoder 15 and drives the up / down axis motor drive unit 4 so as to drive the motor up / down axis unit 14.
1 is controlled by the host controller 50, so that the center position in the thickness direction of the rectangular electronic component 100 is controlled to be located at the height position H1.

As a result, in the component mounting apparatus 1, it is possible to prevent erroneous detection in the sensor head unit 16 caused by deviation in the height position control of the rectangular electronic component 100.

When the rectangular electronic component 100 is mounted on the circuit board 101 by using such a component mounting apparatus 1, first, the angle of the rectangular electronic component 100 is adjusted, the coordinates of the center position of the rectangular electronic component 100 are determined, and the XY position is determined. Make adjustments.

When the angle of the rectangular electronic component 100 is adjusted, the upper controller 50 of the component mounting apparatus 1
By driving the motor rotating shaft 12, the suction nozzle 11 is controlled to rotate in the normal rotation direction or the reverse rotation direction. As a result, the host controller 50 sets the rectangular electronic component 10
An angle adjustment process of 0 and an angle correction operation when the rectangular electronic component 100 is mounted are performed. The rotation angle resolution is the motor rotation shaft 1
2 depends on the resolution of the rotary encoder 13 connected to the rotary shaft encoder 2. The rotating shaft encoder 13 is a detector for obtaining angular position information, and preferably has a high resolution in order to perform highly accurate angle adjustment.

When performing the angle adjustment, the host controller 50 is located on the motor vertical shaft portion 14 and has the height position H1.
With the height position of the rectangular electronic component 100 being adjusted, the linear CCD 65 is rotated while rotating the motor rotating shaft 12.
The angle is adjusted by detecting the size of the shadow projected on the electronic component in real time, and then the coordinates of the center position of the rectangular electronic component 100 are measured.

Next, the angle adjustment of the rectangular electronic component 100 by the component mounting apparatus 1 will be described.

In FIGS. 10, 11 and 12, the rectangular electronic component 1 is included in the first parallel light L11 and the second parallel light L12.
In the state where 00 is arranged, the shadow width projected on the linear CCD 65 is shown.

When the rectangular electronic component 100 is arranged in the first parallel light L11 and the second parallel light L12 at an arbitrary angular position in the component mounting apparatus 1, the angular posture of the rectangular electronic component 100 is as shown in FIGS. Belongs to any state.
Here, the width of the shadow S1 due to the first parallel light L11 is the distance between the upper edge T1 of the edge and the lower edge B1 of the edge, and the width of the shadow S2 due to the second parallel light L12 is the upper edge T2 of the edge and the lower edge of the edge. This is the distance from B2.

In the case of FIG. 11, the width of the shadow S1 of the first parallel light L11 is smaller than the width of the shadow S2 of the second parallel light L12 on the linear CCD 65 (S1 <S2).

In the case of FIG. 12, the width of the shadow S1 of the first parallel light L11 is larger than the width of the shadow S2 of the second parallel light L12 on the linear CCD 65 (S1> S2).

In the case of FIG. 10, the width of the shadow S1 by the first parallel light L11 and the width of the shadow S2 by the second parallel light L12 are substantially equal on the linear CCD 65 (S1 = S2).

The higher-level controller 50 is provided in FIG.
The angle is adjusted using the relationship of 2. That is, in the state shown in FIG. 11, for example, the host controller 50 determines that the value obtained by subtracting the width of the shadow S1 from the width of the shadow S2 is positive, and sets the value obtained by subtracting the subtracted value to the negative direction.
2 is driven to rotate. That is, the upper controller 50
Controls the rectangular electronic component 100 to rotate the linear CCD 65 side to the left.

In the state shown in FIG. 12, for example, the host controller 50 determines that the value obtained by subtracting the width of the shadow S1 from the width of the shadow S2 is negative, and the motor rotation is performed so that the value obtained by subtracting the width is the positive direction. The shaft 12 is driven to rotate. That is,
The host controller 50 controls to rotate the linear CCD 65 side of the rectangular electronic component 100 rightward.

As a result, in the upper controller 50,
Finally, the angle is adjusted by controlling so that the width of the shadow S1 is equal to the width of the shadow S2 as shown in FIG.

The host controller 5 that performs such processing
0 is shown in FIG.

According to FIG. 13, first, in step ST1, the host controller 50 causes the first light source 61 to emit light, and the rectangular electronic component 100 by the first parallel light L11.
The edge upper end portion T1 and the edge lower end portion B1 are detected, and the process of subtracting the edge lower end portion B1 from the edge upper end portion T1 (T1-B1) is performed to obtain the width of the shadow S1.

In the next step ST2, the host controller 50 causes the second light source 62 to emit light, and the upper edge T2 of the edge of the rectangular electronic component 100 by the second parallel light L12.
And the edge lower end B2 is detected, and the processing of subtracting the edge lower end B2 from the edge upper end T2 (T2-B2) is performed to obtain the width of the shadow S2.

In the next step ST3, the host controller 50 performs a process of subtracting the width of the shadow S2 from the width of the shadow S1 in order to compare the width of the shadow S1 with the width of the shadow S2 (S1-S2). The upper controller 50 determines whether or not the calculation result (S1-S2) is within a range (-β to + β) set in advance by β (β is an arbitrary value).

That is, first, the host controller 50
When it is determined that the calculation result (S1-S2) is smaller than (-β) and the state is as shown in FIG. 11, (S1-S2
<-Β), rotate the motor shaft 12 to the left (CCW direction)
, And returns to step ST1 again.

On the other hand, if it is determined in step ST3 that the operation result (S1-S2) is larger than (-β) (S1-S2> -β), the process proceeds to step ST4, where the upper controller 50 determines the operation result (S1 −S2) becomes (+
β), the calculation result (S1
-S2) is determined to be within the range of ± β,
The process ends assuming that the state is as shown in FIG.

In step ST4, the calculation result (S1
-S2) is larger than (+ β), and it is determined that the state is as shown in FIG. 12, control is performed to rotate the motor rotation shaft 12 in the right direction (CW direction), and step ST is performed again.
Return to 1.

As a result, the host controller 50
Until it is determined that −β ≦ S1−S2 ≦ + β, the angle adjustment is performed until the state shown in FIG. 10 is obtained by performing the processing shown in steps ST1 to ST4 described above.

Next, the center position adjustment performed after the above-described angle adjustment and before the XY position adjustment of the rectangular electronic component 100 will be described with reference to FIGS.

After the angle has been adjusted as shown in FIG.
The host controller 50 controls the first light source 61 to emit light. Based on a change in the level of the light detection signal from the linear CCD 65, the upper edge T1 and the lower edge B of the shadow S1 are detected.
1 is obtained, and a calculation of (T1 + B1) / 2 is performed to obtain a center position M1 of the shadow S1 (step ST11).

Similarly, the host controller 50 controls the second light source 62 to emit light, and obtains the upper edge T2 and the lower edge B2 of the shadow S2 from the change in the level of the light detection signal from the linear CCD 65. The calculation of (T2 + B2) / 2 is performed to obtain the center position M2 of the shadow S2 (step S2).
T12).

Next, the host controller 50 determines the center position M1 of the shadow S1 obtained in step ST11, the arrangement position of the first light source 61, and the inclination angle α of the first parallel light L11.
, A linear equation (first linear equation) connecting the center position M1 and the first light source 61 is obtained (step ST1).
3).

Similarly, the upper controller 50 sets the center position M2 of the shadow S2 obtained in step ST12,
Is obtained based on the arrangement position of the light source 62 and the inclination angle α of the second parallel light L12 (a second straight line equation) connecting the center position M2 and the second light source 62 (step ST).
14).

Next, the upper-level controller 50 obtains an intersection between the straight line represented by the first straight line formula obtained in step ST13 and the straight line represented by the second straight line formula obtained in step ST14. Here, since the intersection of the straight line represented by the first straight line formula and the straight line represented by the second straight line formula represents the center (center of gravity) position of the rectangular electronic component 100, the first straight line The central position P (see FIG. 10) of the rectangular electronic component 100 can be obtained by solving a linear simultaneous equation of the equation and the second linear equation.

By performing such processing, the rectangular electronic component 10
When the center position of 0 is obtained, the component mounting apparatus 1 drives the X-axis drive unit 5 and the Y-axis drive unit 6 based on the center position P to adjust the XY position of the rectangular electronic component 100.

In such a component mounting apparatus 1, when the rectangular electronic component 100 is mounted on the circuit board 101, the rectangular electronic component 10 is supplied from the electronic component supply unit 2 by the suction nozzle 11.
0, the motor vertical shaft 14 is operated to adjust the rectangular electronic component 100 to the height position H1, and the process shown in FIG. 13 is performed to adjust the angle of the rectangular electronic component 100, and the process shown in FIG. To determine the center position of the rectangular electronic component 100,
The XY position is adjusted, and the rectangular electronic component 100 is arranged and mounted on the mounting position of the circuit board 101.

Therefore, according to the component mounting apparatus 1, the motor shaft 12 is controlled from the two shadows S1 and S2 formed by the first light source 61 and the second light source 62 to adjust the angle. By doing so, the rectangular electronic component 100
Since the drive-in operation is performed until the rotation direction is recognized and the angle is adjusted, the drive-in operation is performed until the position falls within a certain range, the positioning angle accuracy can be guaranteed, and the reliability of the angle accuracy can be improved.

According to the component mounting apparatus 1, when the angle of the rectangular electronic component 100 is adjusted, the motor rotating shaft 12 has conventionally been required to be rotated at least 90 degrees or more. The angle adjustment can be performed by reducing the operation of Step 12, and the time required for the angle adjustment can be shortened.

Further, according to the component mounting apparatus 1, when the center position of the rectangular electronic component 100 is determined, the first light source 6
Only by controlling the first and second light sources 62, the measurement time can be reduced without requiring any other control. Further, according to the component mounting apparatus 1, the center position of the rectangular electronic component 100 can be obtained by a simple algorithm as shown in FIG. 14, and the calculation time can be reduced.

Furthermore, according to the component mounting apparatus 1, the angle can be adjusted without the necessity of inputting the rotation pulse signal of the rotary shaft encoder 13 to the sensor controller section 21 as in the related art, and the apparatus configuration can be simplified. It can be. Further, according to the component mounting apparatus 1, when the accuracy of the angle adjustment is improved, it is possible to respond by simply improving the resolution of the rotary shaft encoder 13. Does not decrease.

[0093]

As described in detail above, the position adjusting apparatus and method according to the present invention provide a rectangular shape based on the first shadow width and the second shadow width by the first light source and the second light source. By rotating the electronic component, it is possible to adjust the angular position of the rectangular electronic component with respect to the first parallel light and the second parallel light, thereby improving the reliability of the angle adjustment accuracy performed when mounting the rectangular electronic component. The time required for the angle adjustment can be shortened.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a component mounting apparatus to which the present invention is applied.

FIG. 2A is a perspective view illustrating that a rectangular electronic component is sucked by a suction nozzle from an electronic component supply unit, and FIG. 2B is a diagram illustrating that a rectangular electronic component is mounted on a circuit board from the suction nozzle. It is a perspective view.

FIG. 3 is a perspective view of a head provided in a component mounting apparatus to which the present invention is applied.

FIG. 4 is a cross-sectional view of a main part of a head provided in a component mounting apparatus to which the present invention is applied.

FIG. 5 is a perspective view of a sensor head provided in a component mounting apparatus to which the present invention is applied.

FIG. 6 is a perspective view showing a rectangular electronic component mounted on a circuit board in a component mounting apparatus to which the present invention is applied.

FIG. 7 is a block diagram illustrating a functional configuration of a component mounting apparatus to which the present invention has been applied.

FIG. 8 is a top view of an optical system in a sensor head provided in a component mounting apparatus to which the present invention is applied.

FIG. 9 is a top view of an optical system in a sensor head provided in a component mounting apparatus to which the present invention is applied.

FIG. 10 shows the width of the shadow S1 due to the first parallel light L11 and the second width.
It is a diagram for explaining that the width of the shadow S2 by the parallel light L12 is substantially the same.

FIG. 11 is a diagram illustrating that the width of a shadow S2 formed by a second parallel light L12 is smaller than the width of a shadow S1 formed by a first parallel light L11.

FIG. 12 is a diagram illustrating that the width of a shadow S2 by a second parallel light L12 is larger than the width of a shadow S1 by a first parallel light L11.

FIG. 13 is a flowchart illustrating a processing procedure for adjusting the angle of a rectangular electronic component by a host controller.

FIG. 14 is a flowchart illustrating a processing procedure for measuring a center position of a rectangular electronic component by a host controller.

[Explanation of symbols]

1 component mounting equipment, 4 heads, 5 X-axis drive, 6
Y-axis drive unit, 11 suction nozzle, 12 motor rotation shaft unit, 13 rotation shaft encoder, 14 motor vertical shaft unit,
15 Vertical axis encoder, 16 Sensor head, 17
Rotation drive unit, 20 sensor control unit, 21 sensor controller unit, 30 rotation axis motor control unit, 31 rotation axis motor drive unit, 40 vertical axis motor control unit, 41 vertical axis motor drive unit, 50 upper controller, 61 first
Light source, 62 second light source, 63 collimator lens, 6
5 linear CCD, 100 rectangular electronic components, 101 circuit board

Continuation of the front page F term (reference) 2F065 AA03 AA37 BB05 CC25 DD00 DD06 FF02 GG04 GG07 GG12 HH03 HH12 JJ02 JJ15 JJ25 LL00 LL28 MM02 PP12 PP22 QQ24 QQ25 QQ32 QQ33 UU04 UU05 5E313 AE03 AE03 AA03 EE03 AE03

Claims (8)

[Claims] 1. A position adjusting device for positioning a rectangular electronic component with respect to a circuit board, comprising: a first light source provided at a position for irradiating the rectangular electronic component with a first light at a first angle; A second light source provided at a position for irradiating the electronic component with a second light at a second angle; a first light emitted from the first light source and a second light emitted from the second light source; An optical element for converting the second light into the first parallel light and the second parallel light and guiding the light to the rectangular electronic component; and forming the rectangular light in the first parallel light and the second parallel light guided from the optical element. Rotating means for rotating the rectangular electronic component with the center of gravity of the rectangular electronic component as a rotation axis; detecting the first parallel light and the second parallel light;
The first shadow width projected by the rectangular electronic component based on the light detection result of the parallel light and the second shadow projected by the rectangular electronic component based on the light detection result of the second parallel light
A light detecting means for detecting the shadow width of the light source, and controlling the rotating means to rotate the rectangular electronic component based on the first shadow width and the second shadow width detected by the light detecting means. And an angle adjustment control means for adjusting an angular position of the rectangular electronic component with respect to the first parallel light and the second parallel light. 2. The light source according to claim 1, wherein the first light source and the second light source include a light emitting diode or a laser light source, and the optical element receives the first light from the first light source to generate a first parallel light. And a single collimator lens that receives the second light from the second light source and converts it into second parallel light, and the light detection means includes a plurality of light detection elements arranged in a one-dimensional direction. The position adjusting device according to claim 1, wherein 3. An angle between an optical axis of the first parallel light and a perpendicular to the photodetector, and an angle between the second parallel light and a perpendicular to the photodetector are symmetrical. The position adjusting device according to claim 2, wherein 4. The angle adjustment control means rotates the rectangular electronic component so that the first shadow width and the second shadow width detected by the light detection means have the same width. 2. The position adjusting device according to claim 1, wherein said rotating means is controlled. 5. A first shadow width center position and a second shadow width based on an end position of the first shadow width and an end position of the second shadow width detected by the light detecting means. A center position is determined, and a first position is determined based on the center position of the first shadow width and the first angle.
And the second straight line formula is obtained based on the center position of the second shadow width and the second angle, and the intersection coordinates of the first straight line formula and the second straight line formula are obtained. 2. The position adjusting device according to claim 1, further comprising a position control means for controlling the position of the rectangular electronic component with respect to the circuit board based on the obtained coordinates of the intersection. 6. A position adjusting method for positioning a rectangular electronic component with respect to a circuit board, wherein the first light emitted from a first light source to the rectangular electronic component at a first angle is defined as a first parallel light. Detecting a first parallel light, detecting a first shadow width projected by the rectangular electronic component based on a light detection result of the first parallel light, and detecting the first shadow width at a second angle from a second light source; The second parallel light is detected by using the second light irradiating the rectangular electronic component as the second parallel light, and the second light projected by the rectangular electronic component is detected based on the light detection result of the second parallel light. 2 based on the detected first shadow width and the detected second shadow width. The rectangular electronic component is rotated, and the first parallel light and the second parallel light of the rectangular electronic component are rotated. A position adjusting method comprising adjusting an angular position with respect to parallel light. 7. When adjusting the angular position of the rectangular electronic component, the rectangular electronic component is rotated such that the first shadow width and the second shadow width have the same width. The position adjusting method according to claim 6, wherein 8. An end position of the first shadow width and the second shadow width.
The center position of the first shadow width and the center position of the second shadow width are obtained based on the end position of the shadow width of the first shadow width. 1 is obtained, and a second linear expression is obtained based on the center position of the second shadow width and the second angle. Intersection coordinates of the first linear expression and the second linear expression 7. The position adjusting method according to claim 6, wherein the position of the rectangular electronic component with respect to the circuit board is controlled with reference to the intersection coordinates.