JP2002124800A - Method and device for adjusting position of square part in part mounting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve reliability in precision at angular adjustment performed at mounting of a square part, and to shorten a time required for the angular adjustment. SOLUTION: At mounting a square part 100 to a mounting position on a circuit board 101 by adjusting an angle, a first parallel light L11 irradiated at a first angle from a first light source crosses a second parallel light L12 irradiated from a second light source at a second angle across the parallel light L11. At the intersection, the square part 100 is brought to a prescribed measurement-start angle position, and it is turned at a constant speed as far as a measurement-end angle position away from the measurement-start angle by a prescribed turning angle in one direction. At the turning, a first shade width S1 generated by projection of the parallel light L11 and a second shade width S2 generated by projection of the parallel light L12 are detected. The square part 100 is turned for correction to such angular position as the shade widths S1 and S2 are identical, thus an angular position relative to the parallel light L11 and the parallel light L12 is adjusted.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for mounting rectangular electronic components such as capacitors, resistors and semiconductor components, and rectangular mechanical components (hereinafter collectively referred to as "rectangular components") at predetermined positions on a circuit board. The present invention relates to a position adjusting device and a method for positioning a rectangular component with respect to a circuit board, which is used in a mounting device mounted on a circuit board.

[0002]

2. Description of the Related Art In a prior art component mounting apparatus for mounting a rectangular component on a circuit board, in order to accurately mount the rectangular component on a predetermined position of the circuit board, X is required in a plane direction of the circuit board.
The position is adjusted in the axial and Y-axis directions, and the angle is adjusted with respect to the mounting position.

In such a component mounting apparatus, when adjusting the angle of a rectangular component, the light emitted from a single light source is made into parallel light, and the nozzle is sucked by vacuum suction from a component supply unit with a nozzle. The component is arranged in the parallel light, and its long side and short side are projected on the linear sensor. In this state,
In this component mounting apparatus, while rotating the rectangular component sucked by the nozzle, the encoder value count connected to the nozzle rotation shaft motor and the change in the shadow width are measured. Is used to detect whether the shadow width has become minimum.

Thus, in the conventional component mounting apparatus, the nozzle rotating shaft motor is driven on the basis of the encoder value count when the shadow width is minimized, and the rectangular component is placed on the circuit board at an accurate angular position. Was implemented.

[0005]

However, in this conventional component mounting apparatus, since the rotation speed of the nozzle rotation shaft motor is limited, it takes time to measure the shadow width in a short time. There is a limit. Therefore, it is conceivable to increase the rotation speed. However, when the rotation speed is increased, there is a problem that the accuracy of the angle adjustment is deteriorated.

Further, in the conventional component mounting apparatus, it is necessary to rotate the rectangular part at least about 100 ° in order to determine the angular position of the rectangular part having the minimum shadow width, which increases the measurement time. There is a problem.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to solve such a problem and to improve the reliability of angle adjustment accuracy when mounting a rectangular component, and to improve the angle of the rectangular component which is sucked by a nozzle. But actually, ± 15
Paying attention to the fact that there is no large deviation, the turning angle required for adjusting the angle of the rectangular part is less than 90 °, and at the practical level, it is suppressed to about 60 °, and the turning time is greatly reduced. Accordingly, it is an object of the present invention to provide a method for adjusting the position of a rectangular component in a component mounting apparatus and a device that can greatly reduce the total measurement time.

[0008]

According to the first aspect of the present invention, in a component mounting apparatus for mounting a rectangular component at a predetermined position on a circuit board, the rectangular component is positioned with respect to the predetermined position on the circuit board. The first parallel light emitted from the first light source at a first angle and the second parallel light emitted from the second light source at a second angle intersecting with the first parallel light. The rectangular part is brought to a predetermined measurement start angle position at the intersection with the parallel light of No. 2, and is rotated at a constant speed to a measurement end angle position that is separated from the measurement start angle by a predetermined rotation angle in one direction. Detecting a first shadow width generated by the projection of the first parallel light and a second shadow width generated by the projection of the second parallel light during the rotation, and detecting the first shadow width and Correcting and rotating the rectangular part based on the second shadow width, the first parallel light and Adopts a method of adjusting the angular position relative to the serial second collimated light, and solve the problems.

According to a second aspect of the present invention, in the method for adjusting the position of a rectangular component in the component mounting apparatus according to the first aspect, when adjusting the angular position of the rectangular component,
The rectangular component may be corrected and rotated so that the first shadow width and the second shadow width have the same width.

According to the third aspect of the present invention, in the method for adjusting the position of a rectangular component in the component mounting apparatus according to the first aspect, the rotation angle from the fixed measurement start angle is about 60 °. It is characterized by.

Further, in the invention according to claim 4,
2. The end position of the first shadow width and the second position in the method for adjusting the position of a rectangular component in the component mounting apparatus according to claim 1.
The center position of the first shadow width and the center position of the second shadow width are determined based on the end position of the shadow width of the first shadow width, and the second position is determined based on the center position of the first shadow width and the first angle. 1 is obtained, and a second linear expression is obtained based on the center position of the second shadow width and the second angle, and the first linear expression and the second linear expression are obtained.
And determining the position of the rectangular component with respect to the circuit board with reference to the intersection coordinates.

Further, according to the present invention, in a component mounting apparatus for mounting a rectangular component at a predetermined position on a circuit board, a position adjusting device for positioning the rectangular component with respect to the predetermined position on the circuit board is provided. A first light source provided at a position for irradiating the rectangular component with a first light at a first angle, and a second light at a second angle at the rectangular component. A second light source provided at an irradiation position; a first light emitted from the first light source and a second light emitted from the second light source are converted into a first parallel light and a second light. An optical element formed into parallel light and guided to the rectangular part, and a unit for positioning the rectangular part at a measurement start angle position in the first parallel light and the second parallel light guided from the optical element; The first parallel light guided from the optical element; Means for positioning the rectangular part at a measurement end angle position located at an angular position separated by a predetermined rotation angle from the measurement start angle position in the second parallel light, and moving the rectangular part from the measurement start angle position A rotation unit configured to rotate in one direction around the position of the center of gravity at the measurement end angle position, detecting the first parallel light and the second parallel light, and detecting the first parallel light; A light detection method for detecting a first shadow width projected by the rectangular component based on the detection result and a second shadow width projected by the rectangular component based on the light detection result of the second parallel light. And controlling the rotation means to rotate the rectangular component based on the first shadow width and the second shadow width detected by the light detection means,
Angle adjustment control means for adjusting the angular position of the rectangular part with respect to the first parallel light and the second parallel light,
The above problem has been solved.

Further, in the invention according to claim 6,
The angle between the measurement start angle position and the measurement end angle position in the rectangular component position adjusting device in the component mounting apparatus according to claim 5 is about ± 30 degrees.

Therefore, according to the present invention, a first parallel light emitted from a first light source at a first angle and a second light source at a second angle intersecting the first parallel light are provided. At the measurement start angle position at the intersection with the second parallel light emitted from
A rectangular part whose angular posture is to be adjusted is brought, and is rotated only once at a constant speed to a measurement end angle position which is separated from the measurement start angle by a predetermined rotation angle in one direction. Since only the posture is measured, measurement can be performed in a very short time, and the angular posture of the rectangular component can be quickly corrected.

[0015]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below in detail with reference to the drawings.

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

The component mounting apparatus 1 includes, for example, a component supply unit 2 for supplying, for example, a rectangular component 100 as shown in FIG.
, A board holding section 3 for holding a circuit board on which the components are mounted, a head section 4 for arranging the rectangular component 100 on the circuit board, an X-axis driving section 5 for moving the head section 4 in the X-axis direction, and a head section 4. And a Y-axis drive unit 6 for moving the Y-axis in the Y-axis direction.

In the component mounting apparatus 1, when mounting the rectangular component 100 on the circuit board, first, as shown in FIG. 2A, the rectangular component 100 supplied from the outside is moved in the Y-axis direction by the component supply unit 2. Then, the rectangular component 100 is sucked from the component mounting apparatus 1 by the suction nozzle 11 of the head unit 4.

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.
B, the circuit board 10 held by the board holding unit 3
1 at a predetermined position. Then, the component mounting apparatus 1
Adjusts the angle of the rectangular part 100 by the head part 4,
With the rectangular component 100 at a predetermined angular position, the circuit board 101
To be implemented.

As shown in a perspective view in FIG. 3 and a partial sectional view in FIG. 4, the head section 4 includes a suction nozzle 11, a motor rotation shaft section 12, a rotation axis encoder 13, and a motor vertical shaft section 14. , A vertical axis encoder 15, a sensor head unit 16, a rotation drive unit 17, and a head block 18.

The suction nozzle 11 has a tube structure for sucking the rectangular component 100 supplied from the component supply unit 2. When mounting the rectangular component 100 on the circuit board 101, the suction nozzle 11 suctions the rectangular component 100 from the 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 vertical shaft portion 14 is driven to rotate and drives the rotation drive section 17 in the vertical direction, thereby moving the rectangular component 100 in the vertical direction.

The motor vertical shaft portion 14 positions the rectangular 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. When mounting the rectangular component 100 on the circuit board 101, the motor vertical shaft section 14 moves the tip of the suction nozzle 11 downward to move the rectangular component 100 to the circuit board 1.
01.

The vertical axis encoder 15 is mechanically connected to the tip of the motor vertical axis section 14 and
A vertical movement pulse signal is generated in accordance with the rotation of the motor 4.

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 a rotating power to the suction nozzle 11 via the rotation drive section 17, rotates the suction nozzle 11, and rotates the rectangular part 100.

The motor rotation shaft section 12 rotates the rectangular part 100 during the angle adjustment, so that the circuit board 10
The angle of the rectangular component 100 with respect to the mounting position on 1 is changed.

The rotating shaft encoder 13 is mechanically connected to the distal end of the motor rotating shaft 12 and is connected to the motor rotating shaft 1.
A rotation pulse signal is generated according to the rotation of the second 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 16, the tip of the suction nozzle 11 is brought into the opening 16a, and the rectangular part 10 as shown in FIG.
0 is placed.

The sensor head 16 has two light sources provided on a first surface 16b in an opening 16a, and a second light source.
A linear CCD (Charge Coup1)
edDevice) linear sensor 65 (FIG. 8)
Is provided. The linear sensor 65 has a structure in which CCD elements are arranged in a one-dimensional direction, and is arranged at a position facing two light sources provided on the first surface 16b (FIG. 5).

In the sensor head section 16, the rectangular component 1
00 is disposed in the opening 16a, and when the angle adjustment of the rectangular component 100 and the adjustment in the X-axis and Y-axis directions are performed, light is emitted from each light source provided on the first surface 16b. The light emitted from each light source is detected by the linear sensor 65 provided on the second surface 16c. Accordingly, the sensor head unit 16 irradiates the rectangular component 100 with the light emitted from each light source, detects the shadow width of the light, and performs angle adjustment and adjustment in the X-axis and Y-axis directions. 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 component 100 is mounted on the circuit board 101.
First, the rectangular component 100 is sucked from the component supply unit 2 by the suction nozzle 11 and the motor vertical shaft unit 14 is operated to move the rectangular component 100 sucked to the tip of the suction nozzle 11 to the sensor head unit 16. To the position inside the opening 16a.

Next, in the component mounting apparatus 1, the angle of the rectangular component 100 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 component 100 is calculated by the sensor head unit 16, and the X-axis driving unit 5 is driven based on the calculation result to adjust the mounting position in the X-axis direction. At the same time, 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
Then, the rectangular 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 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 information on the shadow projected on the linear sensor of the rectangular component 100 as the object to be measured as a video signal. The sensor controller unit 21 is configured as follows:
A control signal is supplied to the sensor head 16 so as to control the light emission timing of each light source according to the control signal from 0. In addition, the sensor controller unit 21 performs a filtering process on the video signal from the linear sensor of the sensor head unit 16, a process of detecting the upper end and the lower end of the shadow, a process of calculating the center position of the shadow, and other arithmetic processes. , And supplies the processing result to the host controller 50. Further, the sensor controller unit 21 receives the control command in a serial manner from the upper controller 50, receives the control command, and supplies the results obtained by the various processes corresponding to the control command to the upper controller 50.

The rotation axis motor control section 30 includes a motor rotation axis section 12, a rotation axis encoder 13, and a rotation axis motor drive section 31.

The rotating shaft motor drive section 31 is an amplifier circuit for generating a driving force torque for driving the motor rotating shaft section 12. The rotating shaft motor drive unit 31 receives the torque command value from the host controller 50 as an analog signal, and according to the torque command value, outputs the motor rotating shaft unit 1.
2 is generated.

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

The rotation pulse signal supplied from the rotation axis encoder 13 to the upper controller 50 is detected as angular position information, whereby the upper controller 50 rotates the motor rotation shaft 12 by an angle. Detect if it is moving.

In the component mounting apparatus 1 having the rotation axis 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. As a result, in the component mounting apparatus 1, the upper-level controller 50 can rotate the motor rotation shaft 12 to a desired angular position and stop the rotation.
Adjust the 0 angular position.

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 host controller 50 as an analog signal, and according to the torque command value, controls the motor vertical shaft unit 14.
To generate a driving force for rotationally driving the.

When the motor vertical shaft 14 is rotated by the vertical motor drive unit 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 rotated. A vertical driving pulse signal is generated by dynamic driving, and the vertical axis encoder 15 supplies the generated vertical moving 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 having the vertical axis motor control unit 40 configured as described above, the host controller 5
0, the vertical axis motor drive section 41, the motor vertical axis section 14, and the vertical axis encoder 15 constitute a vertical position rotary servo system. As a result, in the component mounting apparatus 1, the upper and lower motor shafts 1 are positioned at the desired vertical position by the host controller 50.
4 can be stopped by rotating the rectangular part 100.
Control the vertical position of the

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 section 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 and the second surface 1
A slitter 64, for example, a linear sensor 65 that is a linear CCD is provided on the 6c side, and the rectangular component 100 is brought into 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 L <b> 1 under the control of the sensor controller unit 21, and the second light source 6
2 emits the second light L2.

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

In the first light source 61 and the second light source 62, the inclination of the first parallel light L 11 and the inclination of the second parallel light L 12 are substantially symmetric with respect to the perpendicular from the linear sensor 65. It is arranged at a position having an inclination angle α. Here, the inclination angle α of the first parallel light L11 and the second parallel light L12
If the inclination angles α are not the same, the upper controller 5 sets the respective inclination angles α to the same angle.
Calculate and correct with 0.

The first parallel light L11 and the second parallel light L12 transmitted through the collimator lens 63 enter the slitter 64. The slitter 64 filters according to the traveling directions of the first parallel light L11 and the second parallel light L12,
The light in the 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 sensor 65.

The linear sensor 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 sensor 65
Has a one-dimensional arrangement of charge-coupled devices of minute pixels, and generates a light detection signal for each minute pixel. The linear sensor 65 has, for example, 14 μM per pixel.
And has a resolution of a magnitude per pixel.

In the sensor head section 16 having such an optical system, the first parallel light L11 and the second parallel light L12
The rectangular part 100 is disposed inside the rectangular part 100, and the linear sensor 65 does not receive the part of the first parallel light L 11 and the second parallel light L 12 blocked by the side surface of the rectangular part 100. As a result, in the linear sensor 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 component 100 is low, and the level of the light detection signal in the portion not blocked by the rectangular component 100 is high.

In the component mounting apparatus 1 provided with such a sensor head 16, in adjusting the angle and the XY position of the rectangular component 100, the rectangular component 100 is subjected to the first parallel light L 11.
And the second parallel light L12.

Thus, in the component mounting apparatus 1, the upper controller 50 obtains a light detection signal for one line of the linear sensor 65, thereby detecting an edge portion where the level of the light detection signal greatly changes. The upper part and the lower part of the width shadow) and the center position of the shadow can be obtained.

In the sensor head unit 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 rectangular part 10
It is necessary to match the center position in the thickness direction of zero.

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 driving section 4 so as to drive the motor up / down axis section 14.
1 is controlled by the host controller 50, so that the center position of the rectangular part 100 in the thickness direction is arranged at the height position H1. With this control, in the component mounting apparatus 1, it is possible to prevent erroneous detection in the sensor head unit 16 caused by a shift in the height position control of the rectangular component 100.

When the rectangular component 100 is mounted on the circuit board 101 by such a component mounting apparatus 1, first, the angle of the rectangular component 100 is adjusted, the coordinates of the center position of the rectangular component 100 are obtained, and the XY position is adjusted. I do.

When the angle of the rectangular component 100 is adjusted, the upper controller 50 of the component mounting apparatus 1 drives the motor rotation shaft 12 to control the suction nozzle 11 to rotate in the normal direction or the reverse direction. I do. Thereby, the host controller 50 performs the angle adjustment processing of the rectangular component 100 and the angle correction operation when the rectangular component 100 is mounted. The rotation angle resolution depends on the resolution of the rotation shaft encoder 13 connected to the motor rotation shaft unit 12. Rotary axis 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 5
0 is the size of the shadow projected on the linear sensor 65 while rotating the motor rotating shaft portion 12 in a state where the height position of the rectangular component 100 is adjusted to the height position H1 by the motor vertical shaft portion 14. Is detected in real time, the angle is adjusted, and then the coordinates of the center position of the rectangular part 100 are measured.

Next, the principle of adjusting the angle of the rectangular component 100 of the present invention in the component mounting apparatus 1 will be described with reference to FIGS.

First, the angular posture of the rectangular component 100 when the rectangular component 100 is sucked and taken out from the component supply unit 2 (FIG. 2A) such as an embossed tape will be described. FIG.
The state of the rectangular component 100 shown in FIG.
Is a state in which the rectangular component 100 is taken out from the component supply unit 2 by suction at a correct angular posture without any deviation. Actually, there is a rectangular part 100 which is sucked and taken out in this ideal angle posture, but in reality, in this state, it is often sucked and taken out in an angle posture swinging right and left. In particular, there is a case where the rectangular component 100 is displaced within a range of about ± 15 ° from a correct storage position in a state where the rectangular component 100 is stored in the storage recess of the embossed tape. Therefore, even if the suction nozzle 11 correctly sucks and takes out the rectangular part 100 in such a housed state, the rectangular part 100 is taken out at an angle attitude of ± 15 °.

In the present invention, taking into account that the rectangular component 100 may be housed in the component supply unit 2 in a shifted position as described above, and the suction nozzle 11
In consideration of the angle at which 00 is sucked, the sucked rectangular part 100 is rotated, for example, over an angular range of about ± 30 ° which is twice the angular attitude of the rectangular part 100 stored in the part supply unit 2. If the shadow width of the rectangular part 100 is determined, it is determined that the XY positions can be adjusted while covering the angular deviation of almost all the sucked rectangular parts 100.

Therefore, at the time of angle adjustment, as shown in FIG. 10B, all the rectangular parts 100 taken out by the suction nozzle 11 are shifted by a fixed angle to be in parallel with the first parallel light L11 and the second parallel light L12. Bring it to the intersection. The constant angle in the case of the illustrated example is −30 ° as described above.
And Since the motor rotation shaft 12 is rotated from this angular position and the rotation shaft encoder 13 starts counting the number of pulses, this angle position is determined as the rotation start position of the motor rotation shaft 12 or the measurement start angle. Called position. For convenience, hereinafter, it is simply referred to as “measurement start angle position P0”. Then, it is rotated by a predetermined angle at a constant speed in one direction from the measurement start angle position P0. FIG. 10C shows a state in which the measurement start angular position P0 is rotated in the + direction at a constant speed to a constant angular position. In the example shown in the figure, a state is shown in which the object is rotated by 60 ° in the + direction from the measurement start angle position P0 of −30 °, and is tilted by + 30 °. This angle is called a measurement end angle.

In the present invention, as described above, the suction nozzle 1
In the state where the rectangular component 100 sucked and taken out in step 1 is sucked, once to the measurement start angle position P0 in the intersection of the first parallel light L11 and the second parallel light L12,
The rectangular part 100 brought in while being rotated and sucked in one direction from this position is rotated only once at a constant speed within a predetermined rotation angle range, and during this rotation operation, the linear sensor 65 of the rectangular part 100 is rotated. The point is that the shadow width continuously projected on the top is measured, and based on the measurement result, the rectangular component 100 is corrected and rotated in the X-axis and Y-axis directions so that the rectangular component 100 can be correctly mounted on the circuit board 101.

The angular direction of the sucked rectangular part 100 is, in the opposite direction, the angle position in the state shown in FIG. 10C as the measurement start angle position P0, and the angle position in the state shown in FIG. 10B as the measurement end angle. It may be configured to rotate and measure.

Next, the projected shadow width in the angular posture of the rectangular part 100 shown in FIGS. 10A, 10B, and 10C is shown in FIGS.
This will be described with reference to FIG.

In FIGS. 11, 12 and 13, the rectangular component 100 is included in the first parallel light L11 and the second parallel light L12.
Indicates the shadow width projected on the linear sensor 65 in the state where.

FIG. 11 shows the first position at the angular position shown in FIG. 10A.
Rectangular part 1 in the parallel light L11 and the second parallel light L12
FIG. 12 shows a state in which the rectangular component 100 is arranged in the first parallel light L11 and the second parallel light L12 at the angular position shown in FIG. 10B. Reference numeral 13 denotes the angular position shown in FIG. 10C, in which the rectangular part 10 is included in the first parallel light L11 and the second parallel light L12.
It is a figure showing the state where 0 was arranged. In each of the figures, the width of the shadow S1 due to the first parallel light L11 is the distance between the edge upper end T1 and the edge lower end B1, and the width of the shadow S2 due to the second parallel light L12 is equal to the width of the edge upper end T2. This is the distance from the edge lower end portion B2.

In the case of FIG. 12, 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 sensor 65 (S1 <S2).

In the case of FIG. 13, 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 sensor 65 (S1> S2).

In the case of FIG. 11, 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 the same on the linear sensor 65. S2).

FIGS. 14 and 15 are graphs showing changes in the shadow widths S1 and S2 of the rectangular part 100 and the difference S2-S3 between the two shadow widths. The vertical axis indicates the shadow width (unit: mm), and the horizontal axis indicates the rotation angle of the motor rotation shaft unit 12 by the number of pulses of the rotation shaft encoder 13 (the unit is the number). FIG. 14 is a graph showing changes in the shadow widths S1 and S2 and the difference S2-S3 between the shadow widths when the rectangular part 100 is rotated once, and FIG.
14 is a graph in which a portion corresponding to the vicinity of the valley of the shadow widths S1 and S2 at the center of FIG. 14 is enlarged and displayed.

In FIGS. 14 and 15, the point where S1 = S2 is satisfied is that the pulse number of the rotary shaft encoder 13 is equal to the 176th pulse.
This is the third point. The measurement start angle position P0 of −30 ° shown in FIG. 10B is the first pulse number of the same pulse number in FIG.
This is a point corresponding to the forty-sixth item, which is +30 shown in FIG.
The measurement end angle of ° is the 20th of the same pulse number in FIG.
This is the sixth point.

Next, the angle adjustment of the rectangular component 100 of the present invention in the component mounting apparatus 1 will be described with reference to the drawings.

First, the component mounting apparatus 1 uses the suction nozzle 1
In step 1, the rectangular component 100 is sucked from the component supply unit 2, and the motor vertical shaft 14 is operated to move the rectangular component 100 sucked to the tip of the suction nozzle 11 to the opening 1 of the sensor head 16.
The height position is adjusted by ascending to the measurement height position H1 of 6a, and then the motor rotation shaft portion 12 is controlled by an angle adjustment algorithm described later with reference to FIG. That is,
The motor rotation shaft 12 is rotated to the predetermined measurement start angle position P0 (−30 °). During this rotation, the pulses generated from the rotation axis encoder 15 are counted, and the first light source 61 and the second light source 62 emit light in synchronization with the rise of the pulse, and the data of the two shadow widths S1 and S2 are converted. get. Then, it is rotated in one direction from the measurement start angle position P0, and is rotated to the predetermined measurement end angle position (+ 30 °). During this time, the first light source 61 and the second light source 62 continue to emit light, and the two shadow widths S
1. Acquire the data of S2. After the rotation is completed, a pulse count value when the shadow widths S1 and S2 are the same is obtained. Then, the motor rotation shaft 1 is positioned at an angular position where the two shadow widths S1 and S2 are the same from the obtained pulse count value.
Move 2

The center position of the rectangular part 100 is calculated by the host controller 50, and the X-axis drive unit 5,
The moving distance of the Y-axis driving section 6 is corrected, and the motor vertical shaft section 1 is corrected.
4, the suction nozzle 11 is lowered to the circuit board 101, and the rectangular component 100 is mounted on the surface of the circuit board 101.

Next, an algorithm for adjusting the angle of the rectangular part 100 will be described with reference to FIGS. FIG.
6 is a flowchart showing an algorithm for adjusting the angle, and FIG. 17 is a flowchart showing an algorithm for measuring the coordinates of the center position of the rectangular part 100. The measurement start angle position P0 immediately before the start of the measurement is obtained from the pulse information from the rotation axis encoder 13 (ST2). The motor rotation shaft 12 is rotated from the measurement start angle position P0. As the motor rotation shaft 12 rotates, the rotation encoder 13 generates a pulse (ST3). When the rising of the pulse can be detected, the first light source 61 is turned on, and the upper edge point T11 and the lower edge point B1 of the shadow portion are obtained from the change in the voltage on the linear sensor 65. −B1) to obtain the shadow width S1 (ST
4).

Next, the second light source 62 is turned on, and the change in the voltage on the linear sensor 65 is used to determine the upper end point T of the shadow portion.
2 and edge lower end point B2, (T2-B
The shadow width S2 is obtained by calculating 2) (ST5).
The pulse count value is incremented by one (ST6).

The operations from (ST4) to (ST6) are executed for each pulse generated by the rotary encoder 13. After the rotation of the motor rotation shaft 12 is completed, the value of the shadow width S1 for the pulse count acquired in (ST4) and (ST5)
Using the value of the shadow width S2 for the pulse count acquired in the above, as shown in FIG.
The pulse count value P1 is obtained by an operation where 1 = S2) (ST8). 14 and 15, (S2
It is necessary to find a point where the waveform of -S1) intersects the X axis in order to find the pulse count value P1. From the measurement start angle position P0 and the pulse count value P1, as shown in FIG. 11, the motor rotation shaft portion 12 is rotated to the angular position P0 + P1 where S1 = S2 (ST9). With this,
The angle adjustment sequence is completed (ST10).

Next, the principle for obtaining the center position coordinates P of the rectangular part 100 will be described with reference to FIG.
As shown in FIG. 11, in a state where the angle adjustment is completed (ST11), the host controller 50 sets the first light source 6
1 is turned on and turned on, and the upper edge T1 and the lower edge B1 of the shadow S1 are obtained from the level change of the light detection signal voltage from the linear sensor 65, and (T1 + B1)
/ 2 to obtain the center position M1 of the shadow S1 (ST
12).

Similarly, the upper-level controller 50 controls the second light source 62 to emit light, turns on the second light source 62, and controls the second light source 62 from the level change of the light detection signal voltage from the linear sensor 65.
2 to determine the upper edge T2 and the lower edge B2 of the edge, and (T2 +
B2) / 2 is calculated to obtain the center position M2 of the shadow S2 (ST13).

Next, the upper-level controller 50 determines the center position M1 of the shadow S1 obtained in the step (ST12).
Position of the light source 61, the inclination angle α of the first parallel light 11
, A first linear equation connecting the center position M1 and the first light source 61 can be obtained (ST14).

Similarly, the upper controller 50 determines the center position M2 of the shadow S2, the arrangement position of the second light source 62, and the inclination angle α of the second parallel light 12 obtained in the step (ST13). A second straight line equation connecting the center position M2 and the second light source 62 can be obtained (ST15). Next, the higher-level controller 50 compares the straight line represented by the first straight line equation obtained in step (ST14) with the straight line
The intersection with the straight line represented by the second straight line equation obtained in T15) is obtained. 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 position of the center (center of gravity) of the rectangular part 100, the first straight line formula is used. By solving the linear simultaneous equation of the second linear equation and the second linear equation, the center position P of the rectangular part 100 can be obtained.

As described above, the center position P of the rectangular part 100
By applying the method of determining the position, the position of the center of rotation of the suction nozzle 11 can be relatively easily realized. Then, as a serial output from the sensor controller 21, it is also possible to obtain a difference between the center position P of the rectangular component 100 and the rotation center position of the suction nozzle 11.

By performing such processing, the rectangular part 100
Is determined, 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 determine the position of the rectangular component 100 in the X-axis and Y-axis directions. adjust.

In such a component mounting apparatus 1, when mounting the rectangular component 100 on the circuit board 101, the suction nozzle 11 sucks the rectangular component 100 from the component supply unit 2.
By operating the motor vertical shaft portion 14, the rectangular component 100 sucked to the tip of the suction nozzle 11 is raised to the measurement height position H1 of the opening 16a of the sensor head portion 16 and the height position is adjusted. After performing the processing shown to adjust the angle of the rectangular part 100, performing the processing shown in FIG. 17 to obtain the center position of the rectangular part 100, and adjusting the positions in the X-axis and Y-axis directions, The rectangular component 100 is arranged and mounted on a predetermined mounting position on the circuit board 101.

Therefore, according to the component mounting apparatus 1, the first
From the two shadows S1 and S2 formed by the light source 61 and the second light source 62, to control the rotation of the motor rotation shaft 12 in one direction, and then perform the corrected rotation of the motor rotation shaft 12. Thereby, the rotation direction of the rectangular part 100 is recognized, the angle is adjusted, the angle is adjusted to be within a certain error range, the positioning angle accuracy can be guaranteed, and the reliability of the angle accuracy can be improved. .

Further, in the conventional method, it is necessary to rotate the motor rotation shaft 12 by about 100 ° or more for measurement, but according to the component mounting apparatus 1 of the present invention, Less than a degree is sufficient. At a practical level, as described above, the rotation angle required for the angle adjustment does not greatly deviate from the position angle of the rectangular part 100 sucked by the suction nozzle 11, so that it is necessary to rotate the rectangular part 100 by about 60 °. It is enough. Moreover, it only needs to be rotated once at a predetermined speed. As a result, the measurement time required for the angle adjustment can be significantly reduced.

Further, according to the component mounting apparatus 1, when determining the center position of the rectangular component 100, the first light source 61,
The measurement time can be shortened only by performing the control operation of the second light source 62 without requiring other control.
According to the component mounting apparatus 1, the center position of the rectangular component 100 can be obtained by a simple algorithm as shown in FIG. 17, and the calculation time can be reduced.

[0094]

As described above in detail, according to the position adjusting method and the apparatus in the component mounting apparatus of the present invention, the first shadow width and the second shadow by the first light source and the second light source are provided. It is possible to adjust the angular position of the rectangular part with respect to the first parallel light and the second parallel light by rotating the rectangular part to be used for measurement by a small angle of 90 ° or less in a certain direction based on the width. Therefore, the time required for the angle adjustment can be greatly reduced while improving the reliability of the angle adjustment accuracy performed when mounting the rectangular component.

[Brief description of the drawings]

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

FIG. 2 shows a state in which a rectangular component is sucked and taken out from a component supply unit by a suction nozzle and is mounted on a circuit board. FIG. FIG. B is a perspective view showing that a rectangular component is mounted on a circuit board by a suction nozzle from the state shown in FIG.

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 the component mounting apparatus to which the present invention is applied.

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

FIG. 7 is a configuration block diagram illustrating a functional configuration of a component mounting apparatus to which the present invention is 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 side view of an optical system in a sensor head provided in the component mounting apparatus to which the present invention is applied.

FIG. 10 shows the angular posture of a rectangular component sucked and held by a suction nozzle, and FIG. 10A is a plan view of a rectangular component having the correct angular posture sucked and taken out of the component supply unit by the suction nozzle; B is a plan view of the rectangular part at a measurement start angle position of -30 ° from FIG. A, and FIG. C is a measurement end angle position 60 ° away from the measurement start angle position shown in FIG. It is a top view of a rectangular part.

FIG. 11 is a schematic diagram for explaining that the width of a shadow S1 by a first parallel light L11 and the width of a shadow S2 by a second parallel light L12 are substantially the same.

FIG. 12 is a schematic diagram for explaining 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. 13 is a schematic diagram for explaining that the width of the shadow S2 of the second parallel light L12 is larger than the width of the shadow S1 of the first parallel light L11.

FIG. 14 shows shadow widths S1 and S2 in a state where a rectangular part is rotated once within an intersection of a first parallel light and a second parallel light.
7 is a graph showing a change in a difference S2-S3 between the two shadow widths.

FIG. 15 is a graph in which a portion corresponding to the vicinity of the valley of the shadow widths S1 and S2 at the center in FIG. 14 is enlarged and displayed.

FIG. 16 is a flowchart illustrating a processing procedure for adjusting the angle of a rectangular component by a higher-level controller.

FIG. 17 is a flowchart illustrating a processing procedure for measuring the center position of a rectangular component by a higher-level controller.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Component mounting apparatus, 4 ... Head part, 5 ... X-axis drive part, 6
... Y-axis driving unit, 11 ... Suction nozzle, 12 ... Motor rotating shaft unit, 13 Rotating shaft encoder, 14 Motor vertical shaft unit,
15 Vertical axis encoder, 16 ... Sensor head part, 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: host controller, 61: first
Light source, 62 ... second light source, 63 ... collimator lens,
65: linear sensor (CCD sensor), 100: rectangular component, 101: circuit board

Continued on front page F term (reference) 2F065 AA16 AA17 AA20 AA37 CC25 DD06 FF02 FF66 FF67 GG04 GG07 GG13 HH03 JJ02 JJ25 LL04 LL28 NN20 PP12 PP13 QQ00 QQ17 QQ26 QQ27 QQ28 TT02 3C007 A01A01A01A01A01A01 CB01 DB06 5E313 AA03 AA11 AA18 CC04 EE03 EE24 EE37 FF24 FF26 FF28 FF33

Claims (6)

[Claims] In a component mounting apparatus for mounting a rectangular component at a predetermined position on a circuit board, a position adjustment method for positioning the rectangular component with respect to the predetermined position on the circuit board is provided. At a predetermined measurement start angular position at the intersection of the first parallel light irradiated by the first parallel light and the second parallel light emitted from the second light source at a second angle intersecting the first parallel light. The rectangular part was brought and rotated at a constant speed from the measurement start angle to a measurement end angle position separated by a predetermined rotation angle in one direction, and the rotation was caused by the projection of the first parallel light during the rotation. A first shadow width and a second shadow width generated by the projection of the second parallel light are detected, and the rectangular component is corrected and rotated based on the first shadow width and the second shadow width. Adjusting an angular position with respect to the first parallel light and the second parallel light. The method for adjusting position of the rectangular components in the component mounting apparatus characterized. 2. The method according to claim 1, wherein, when adjusting the angular position of the rectangular part, the rectangular part is corrected and rotated so that the first shadow width and the second shadow width have the same width. The method for adjusting the position of a rectangular component in the component mounting apparatus according to claim 1. 3. The position of the rectangular component in the component mounting apparatus according to claim 1, wherein the rotation angle from the predetermined measurement start angle to the predetermined measurement end angle position is about 60 °. Adjustment method. 4. 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, and the second position is determined based on the center position of the first shadow width and the first angle. 1 and a second straight-line formula is obtained based on the center position of the second shadow width and the second angle. Intersection coordinates of the first straight-line formula and the second straight-line formula 2. The position adjustment method for a rectangular component in a component mounting apparatus according to claim 1, wherein the position of the rectangular component with respect to the circuit board is controlled based on the intersection coordinates. 5. A position adjusting device for positioning a rectangular component with respect to the predetermined position of the circuit board in a component mounting apparatus for mounting the rectangular component at a predetermined position on a circuit board, wherein the rectangular component is positioned at a first angle. A first light source provided at a position for irradiating first light; a second light source provided at a position for irradiating the rectangular component with a second light at a second angle; and the first light source An optical element that forms the first light emitted from the second light and the second light emitted from the second light source into a first parallel light and a second parallel light and guides the first parallel light and the second parallel light to the rectangular component; Means for positioning the rectangular component at a measurement start angle position in the first parallel light and the second parallel light guided from the first parallel light and the second parallel light. A predetermined rotation angle from the measurement start angle position in the light Means for positioning the rectangular part at the measurement end angle position located at the set angular position, and turning the rectangular part from the measurement start angle position to the measurement end angle position in one direction using the center of gravity as a rotation axis. Rotating means for moving, detecting the first parallel light and the second parallel light,
Detecting a first shadow width projected by the rectangular component based on the light detection result of the parallel light and a second shadow width projected by the rectangular component based on the light detection result of the second parallel light Controlling the rotation means to rotate the rectangular part based on the first shadow width and the second shadow width detected by the light detection means, The first collimated light and the second
And an angle adjustment control means for adjusting an angular position of the rectangular component with respect to the parallel light. 6. The position adjusting device for a rectangular component in a component mounting apparatus according to claim 5, wherein the angle between the measurement start angle position and the measurement end angle position is about ± 30 degrees.