JP2002223099A - Computer readable program storage medium wherein program having mounting method and mounting function is recorded - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a computer readable program storage medium wherein a program having a mounting method and mounting function, which enable a mounting component to be mounted on a mounting substrate by positioning with a small amount of data regardless of setting of a coordinate system, is recorded. SOLUTION: A method for mounting a mounting component 5 on a mounting substrate 3 is provided with a coordinate system setting step for setting a coordinate system based on a plurality of alignment marks 33o, 33a, 3o, 3a provided to any of the mounting component 5 or the mounting substrate 3, a mounting position instructing step for instructing a mounting position when. the mounting component 5 is mounted on the mounting substrate 3 by using the coordinate system and a mounting step for mounting the mounting component 5 on the mounting substrate 3 by suing the coordinate system and the instructed mounting position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mounting method for mounting a mounted component on a mounting substrate and a computer readable program storage medium storing a program having a mounting function.

[0002]

2. Description of the Related Art In recent years, the number of electronic components (hereinafter referred to as "components") built in electronic devices has increased with the advancement of the functions of electronic devices. It has become so. A mounting device is used to mount electronic components on the substrate. In a conventional mounting apparatus, components are mounted on a board by positioning as described below.

FIG. 10 is a flowchart showing an example of a mounting method in a conventional mounting apparatus.
FIG. 11D is a diagram illustrating an operation example of the conventional mounting apparatus. Each of the component 5 and the substrate 3 has 2
The alignment marks are provided. This alignment mark is a mark for determining the position and orientation of each of the component 5 and the substrate 3. These alignment marks are detected by the recognition device 2 shown in FIG. The recognition device 2 includes a predetermined optical system and a camera, and can detect two alignment marks on the component 5 and the substrate 3, respectively, and recognize their positions and orientations.

[0004] When mounting the component 5 on the board 3, first, it is necessary to prepare teaching data. That is, the teaching data is data relating to an arrangement position where the component 5 is mounted on the board 3. In order to generate the teaching data, for example, the component 5 is manually placed on the board 3 at a position where the component 5 is to be mounted, and the coordinate values of each of the two alignment marks on the board 3 and the component 5 are calculated. The information is acquired in a coordinate system fixed to the mounting device by means such as the recognition device 2.

For example, if the coordinate system fixed to the mounting apparatus is a two-dimensional orthogonal coordinate system, the teaching data of the positions of the two alignment marks on the substrate 3 is the X coordinate value and the Y coordinate value, respectively. (P1ox, P1
oy), (P1ax, P1ay) and are acquired as a total of four numerical values. Similarly, the teaching data of the position of the two alignment marks of the component 5 is (P2ox, P2oy),
(P2ax, P2ay) and a total of four numerical values. As a result, the mounting position of the component 5 on the board 3 is accurately taught by the teaching data including the eight numerical values.

FIG. 10 and FIGS. 11 (A) to 11 (A) to 11 (A) to 11 (A) to 11 (C) show actual procedures for actual mounting based on data taught as described above.
This will be described below while following (D). First, in step ST101 of FIG. 10, coarse positioning of the component 5 and the board 3 shown in FIG. 11A is performed based on the teaching data. That is, the component 5 sucked and gripped by the nozzle 4 shown in FIG. 11A with respect to the substrate 6 positioned at an approximate position with respect to the mounting apparatus by the stopper 6 is based on the teaching data. As shown in B), the position of the central axis of the nozzle 4 is set to 2
The alignment mark is conveyed to a mounting position so as to be located at, for example, a middle point of the alignment marks.

Next, in step ST102, in order to correct the board 3 and the component 5 to the taught accurate positions, the alignment mark positions of the board 3 and the component 5 which are respectively positioned are read by the recognition device 2.
The recognition device 2 has a mechanism capable of recognizing images of a lower portion and an upper portion. Specifically, the recognition device 2
First, it is moved horizontally from a predetermined standby position (not shown) and placed in the space between the board 3 and the component 5. As a result, the recognition device 2 can determine the positions of the two alignment marks provided on the upper surface of the substrate 3 and the two alignment marks provided on the lower surface of the component 5 by using the rectangular coordinate system fixed to the mounting device. It is possible to read each using.

For example, in the same manner as in the above-described acquisition of the teaching data, the board 3 is mounted on a rectangular coordinate system fixed to the mounting apparatus.
(H1ox, h1oy), (h1ax, h1a)
y), and (h2ox, h2oy), (h2)
2ax, h2ay) (FIG. 11B). After the completion of the above-described recognition work, the recognition device 2 returns to the predetermined standby position as shown in FIG.

Next, in step ST103, the board 3 and the component 5 are aligned to the precise positions taught by using the above-described teaching data and the positions of the alignment marks in the coarse positioning obtained as described above. Correction amount is calculated. In this calculation, FIG.
The calculation is performed using the vector diagram shown in FIG. 12C as a model.

That is, FIGS. 12 (A) to 12 (C)
Is the substrate 3 in the rectangular coordinate system fixed to the mounting device.
Are represented using a vector. 12 (A) to FIG.
(C) schematically shows the movement of the vector indicating the position of the two alignment marks on the substrate 3 at the time of correction. In FIGS. 12A to 12C, the initials of the vectors indicating the positions of the alignment marks that were initially targeted on the substrate 3 are each denoted by “p”, and the positions of the alignment marks on which the substrate 3 is actually mounted are indicated by “p”. The first letter of the vector shown is “h”, and the first letter of the vector indicating the position of the alignment mark on the substrate 3 after rotation correction of this vector is “q”.

For example, as shown in FIG.
After the substrate 3 is rotated about the rotation center g by the amount of correction に つ い て r, the amount of correction 平行 r for the parallel movement (displacement) of the substrate 3 as shown in FIG. When the correction is performed by moving the substrate 3 in parallel, the correction amount △ ψ minute for rotation of the substrate 3 and the correction amount △ r for parallel movement are obtained as follows.

First, the correction amount 回 転 for rotation is a value that satisfies both equations shown in equation (1). Incidentally, -180
゜ <△ ψ ≦ 180 ゜.

(Equation 1) Further, the correction amount Δr for the parallel movement shown in FIG.
Is obtained from Expression (2), Expression (3) and Expression (4) as Expression (5).

(Equation 2)

(Equation 3)

(Equation 4)

[0013]

(Equation 5) As described above, the correction amounts △ ψ and △ r of the substrate 3 are obtained. The correction amount of the component 5 is similarly obtained.

Next, in step ST104, the substrate 3 and the component 5 are respectively moved as shown in FIG. 11 (C) by the correction amounts △ ψ and Δr for rotation and translation determined as described above. The board 3 and the component 5 are rotated or translated to match the position taught.

Finally, in step ST105, the component 5 is placed on the substrate 3 as shown in FIG. 11D, and a series of operations is completed.

[0016]

However, in the conventional mounting apparatus, when the component 5 is to be mounted on the substrate 3 in this manner, the component 5 cannot be mounted on the coordinate system fixed to the mounting apparatus.
It is necessary to handle a total of eight data, four for each of the substrates 3. Therefore, in the conventional mounting device,
When the number of components 5 placed on the substrate 3 increases, not only does the processing take a burden, but also the storage capacity of the storage unit for storing the coordinate values of the component 5 and the substrate 3 may be insufficient.

Therefore, the present invention solves the above-mentioned problems, and allows the mounting components to be positioned and mounted on the mounting substrate with a small amount of data regardless of the arrangement of the coordinate system of the mounting components and the mounting substrate. It is an object of the present invention to provide a computer-readable program storage medium on which a program having an implementation method and an implementation function is recorded.

[0018]

According to the first aspect of the present invention, there is provided a mounting method for mounting a mounted component on a substrate to be mounted, wherein the mounting component is mounted on one of the mounted component and the mounted substrate. A coordinate system setting step of setting a coordinate system based on the plurality of alignment marks provided, and a mounting position teaching step of teaching a mounting position when mounting the mounting component on the mounting board using the coordinate system. And a mounting step of mounting the mounted component on the mounting substrate using the coordinate system and the taught mounting position. Claim 1
According to the configuration, first, a coordinate system is set based on a plurality of alignment marks provided on either the mounted component or the mounted substrate. Next, using the set coordinate system, the mounting position when mounting the mounted component on the mounting substrate is taught. Then, the mounted component is positioned and mounted on the mounting substrate based on the mounting position. Therefore,
When mounting the mounted component on the mounted board, it is not necessary to handle the mounting position indicating both the mounted component and the mounted board, and either the mounted component or the mounted board in the set coordinate system is not necessary. It is only necessary to handle the mounting position of. For this reason, when mounting the mounted components on the mounting substrate, the number of data indicating the positional relationship between the mounting components and the mounting substrate can be reduced.

According to a second aspect of the present invention, in the configuration of the first aspect, in the coordinate system setting step, the coordinate system is set to 2
A two-dimensional rectangular coordinate system, and an origin coordinate of the two-dimensional rectangular coordinate system is a center position between positions of two specified alignment marks among a plurality of alignment marks provided on the mounting component; and One coordinate axis of the two-dimensional rectangular coordinate system is a straight line that includes the positions of the two specified alignment marks at the same time, and the other coordinate axis of the two-dimensional rectangular coordinate system is orthogonal to the one coordinate axis and the origin. The coordinate system is set as a straight line passing through the coordinates. According to the configuration of claim 2, in addition to the function of claim 1, since the origin coordinate of the two-dimensional orthogonal coordinate system is the center position between the positions of the two alignment marks, it is assumed that the two alignment marks Even if there is a variation in the position or a variation in the position of the two alignment marks due to the distortion of the mounted component or the mounted substrate, the variation and the like are averaged. Therefore, the mounted component is mounted at an accurate position with good reproducibility without being affected by the distortion of the mounted substrate or the mounted component.

According to a third aspect of the present invention, in the configuration of the second aspect, in the mounting position teaching step, a position of two designated alignment marks among a plurality of alignment marks provided on the mounting substrate is determined. A coordinate value of a center position between the two-dimensional rectangular coordinate system and a straight line including two specified alignment marks among a plurality of alignment marks provided on the mounting substrate; An angle formed with one of the coordinate systems is taught as the mounting position. According to the configuration of the third aspect, in addition to the operation of the second aspect, the positional relationship between the mounted component and the mounted substrate is a coordinate value in a two-dimensional rectangular coordinate system and a straight line including two designated alignment marks. And the angle formed by one of the two-dimensional rectangular coordinate systems with one of the two-dimensional orthogonal coordinate systems, so that it is not necessary to deal with the arrangement positions of both the mounted component and the mounted substrate, and the arrangement relationship between the mounted component and the mounted substrate The number of data can be reduced.

[0021] The above object is attained by the invention of claim 4;
A computer-readable program storage medium storing a program having a mounting function of mounting a mounting component on a mounting substrate, based on a plurality of alignment marks provided on any of the mounting component or the mounting substrate. A coordinate system setting step of setting a coordinate system, and a mounting position teaching step of teaching a mounting position when mounting the mounted component on the mounting board using the coordinate system,
A computer-readable program storage medium storing a program having a mounting function having a mounting step of mounting the mounted component on the mounting substrate using the coordinate system and the taught mounting position. Is achieved by According to the configuration of claim 4, first,
A coordinate system is set based on a plurality of alignment marks provided on either the mounted component or the mounted substrate. Next, using the set coordinate system, the mounting position when mounting the mounted component on the mounting substrate is taught. Then, the mounted component is positioned and mounted on the mounting substrate based on the mounting position. Therefore, when mounting the mounted component on the mounting substrate, it is not necessary to handle the mounting position indicating both the position of the mounting component and the mounting substrate, and it is not necessary to handle the mounting component or the mounting substrate in the set coordinate system. It is only necessary to handle one of the mounting positions. For this reason, when mounting the mounted components on the mounting substrate, the number of data indicating the positional relationship between the mounting components and the mounting substrate can be reduced.

According to a fifth aspect of the present invention, in the configuration of the fourth aspect, in the coordinate system setting step, the coordinate system is set to 2
A two-dimensional rectangular coordinate system, and an origin coordinate of the two-dimensional rectangular coordinate system is a center position between positions of two specified alignment marks among a plurality of alignment marks provided on the mounting component; and One coordinate axis of the two-dimensional rectangular coordinate system is a straight line that includes the positions of the two specified alignment marks at the same time, and the other coordinate axis of the two-dimensional rectangular coordinate system is orthogonal to the one coordinate axis and the origin. The coordinate system is set as a straight line passing through the coordinates. According to the configuration of claim 5, in addition to the function of claim 4, since the origin coordinate of the two-dimensional orthogonal coordinate system is the center position between the positions of the two alignment marks, it is assumed that the two Even if there is a variation in the position or a variation in the position of the two alignment marks due to the distortion of the mounted component or the mounted substrate, the variation and the like are averaged. Therefore, the mounted component is mounted at an accurate position with good reproducibility without being affected by the distortion of the mounted substrate or the mounted component.

According to a sixth aspect of the present invention, in the configuration of the fifth aspect, in the mounting position teaching step, a position of two specified alignment marks among a plurality of alignment marks provided on the mounting substrate is designated. A coordinate value of a center position between the two-dimensional rectangular coordinate system and a straight line including two specified alignment marks among a plurality of alignment marks provided on the mounting substrate; An angle formed with one of the coordinate systems is taught as the mounting position. According to the configuration of claim 6, in addition to the effect of claim 5, the positional relationship between the mounted component and the mounted board is a coordinate value in a two-dimensional rectangular coordinate system and a straight line including two designated alignment marks. And the angle formed by one of the two-dimensional orthogonal coordinate systems with one of the two-dimensional orthogonal coordinate systems, so that it is not necessary to deal with the arrangement positions of both the mounted component and the mounted substrate, and indicates the positional relationship between the mounted component and the mounted substrate. The number of data can be reduced.

[0024]

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

FIG. 1 is a diagram showing a configuration example of a mounting apparatus 1 using a mounting method as a preferred embodiment of the present invention. The mounting device 1 has a function of mounting the component 5 on the substrate 3 and includes an XY stage 21, an XY stage 20, a recognition device 2, a control unit 18, and a direction correction device 23. Part 5
Is an electronic component such as an IC (Integrated Circuit) and has predetermined electrode terminals. Substrate 3
Are provided with predetermined electrode terminals, and when the component 5 is mounted, the two electrode terminals come into contact with each other and are electrically connected to the component 5. Each of the components 5 and the surface of the substrate 3 has, for example, two alignment marks.

XY stage 21 and XY stage 20
Are respectively in the X direction and perpendicular to the X direction (perpendicular to the paper surface)
It operates in the Y direction. XY stage 2
0 indicates that the recognition device 2 can be moved in the X direction and the Y direction. The recognition device 2 can recognize the positions of the alignment marks provided on each of the component 5 and the substrate 3 by image processing or the like. on the other hand,
The XY stage 21 can move the substrate 3 in a plane in the X direction and the Y direction.

The direction correction device 23 is provided with a nozzle 4 at its tip, and holds the component 5 by sucking the component 5 or releasing the suction state of the component 5. The direction correction device 23 is configured such that a portion including the nozzle 4 rotates in the R1 direction. When the portion including the nozzle 4 rotates in this manner, the orientation of the component 5 with respect to the substrate 3 is changed. Further, the control unit 18 controls the XY stage 2
0, 21 and the direction correction device 23 are controlled. The control unit 18 is a computer such as a sequencer, and has a mounting program for realizing a mounting method for mounting the component 5 on the board 3.

The mounting apparatus 1 is configured as described above. Next, a mounting method will be described with reference to FIG. FIG.
3 is a flowchart showing an example of a mounting method by the mounting apparatus 1, and FIGS. 3A to 3D are plan views each showing an example of an operation state of the mounting apparatus 1.

In the following mounting method, as an example, description will be made assuming that the direction is corrected by rotating the component 5 and the position is corrected by moving the board 3 in parallel. In this mounting method, it goes without saying that the position may be corrected by moving the component 5 in parallel, and the direction may be corrected by rotating the board 3.

Creation of teaching data (at the time of teaching) First, as in the case of the prior art, the component 5 and the board 3 are manually placed at a position where the component 5 is to be mounted on the board 3, for example. The coordinate values of the two individual alignment marks 33o and 33a on the substrate 3 and the two component alignment marks 5o and 5a of the component 5 shown in FIG. 4 are acquired by the recognition device 2 in a coordinate system fixed to the mounting device. Here, for the sake of convenience of the following description, individual alignment marks 33o and 33a provided in the vicinity of the component 5 are used as alignment marks on the substrate 3, but the substrate alignment marks 3o and 3a can be used for the present invention. There is no fundamental difference in the operation and effect of the invention.

FIG. 5 shows the individual alignment marks 33o and 33a of the board 3 and the component alignment marks 5o and 5a of the board 5 near the board 5 when the board 5 is positioned at the mounting position. Is shown.
The coordinate values of each alignment mark 33o and the like acquired by the recognition device 2 using the coordinate system fixed to the mounting device are represented by two numerical values of an X coordinate value and a Y coordinate value, respectively. Here, for the sake of simplicity, these coordinate values are expressed by a vector expression, and the individual alignment marks 33o and 33a on the
o, P1a, and the component alignment mark 5 of the component 5
o and 5a are represented as vectors P2o and P2a, respectively.

Here, the notation of vectors and numerical values representing coordinate values is abbreviated to "P" for vectors and numerical values related to "teaching" so as to facilitate understanding in the following description. Signs are used, and "H" is used for vectors and numerical values related to "measurement" described later.
Is used, and vectors and numerical values related to “after correction” are used with a code beginning with “Q”. In addition, in the subscripts attached to these vectors and numerical values, “1” indicates a board, and “2” indicates a component.

Hereinafter, a teaching method of teaching data in a preferred embodiment of the present invention will be described. First, in the above-described conventional example, the teaching data of the mounting position is the coordinate value of the alignment mark in a coordinate system fixed to the mounting apparatus. However, component 5 for substrate 3
The mounting position of the component 5 and the board 3 in the coordinate system fixed to the mounting apparatus as understood from FIG.
It is understood that the above absolute coordinate values are not necessary, and that information indicating the relative arrangement relationship between the two sets of alignment marks should be given.

Therefore, in the teaching data of the present invention, 2
By extracting from the absolute coordinate values only information indicating the relative arrangement relationship of the set of alignment marks,
The number of data to be taught is reduced. Hereinafter, the data to be taught is referred to as “teach data”. That is, the teaching data is obtained by using the coordinate value and the relative direction (inclination) indicating the relative position of one set of the alignment marks of the substrate 3 and the component 5 with respect to the other set of the alignment marks of the board 3 and the component 5. Teach the arrangement position. In the following description, a point that is represented by representing each position of the substrate 3 and the component 5 by a set of alignment marks is referred to as a “representative point”, and a vector connecting the representative points of the substrate 3 and the component 5 is referred to as a “representative point”. This is referred to as a “vector between representative points”.

FIG. 5 shows an example of the relationship between the absolute coordinate values P1o, P1a, P2o, and P2a fixed to the mounting apparatus and the representative point vector Pm and the relative direction θ in one embodiment of the present invention. ing. Here, the representative point vector Pm representing the relative position between each pair of the alignment marks on the component 5 and the substrate 3 is, for example, a center position (centroid position or the like) between the component alignment marks 5o and 5a. And a representative point vector P1m indicating
For example, a representative point vector P2m indicating the center position (center of gravity position or the like) between the individual alignment marks 33o and 33a is represented, and a representative point vector P2m as a difference between the representative mark vectors P2m and P2m is shown.
-P1m is taught as the representative point vector Pm of the relative position. Note that the representative point vector P1m is (P1a + P1
o) / 2, and the representative point vector P
2 is (P2a + P2o) / 2.

The vector Pm (Pmx, Pmy) between the representative points in the coordinate system fixed to the mounting apparatus is expressed by the following equation (6).

(Equation 6) It is expressed as

On the other hand, with respect to the relative direction (inclination) θ between each pair of the alignment marks, an inter-alignment vector P connecting the two alignment marks is used.
1 (= P1a-P1o) and inter-alignment vector P
2 (= P2a-P2o).

In calculating the coordinate value Pm, the center position (center of gravity) of each of the two alignment marks is illustrated as a representative point of the substrate 3 and the component 5, but in principle, this representative point In this case, the coordinate position of one of the two alignment marks itself may be used, or a coordinate position synthesized from the coordinate values of the two alignment marks may be used. Assuming that the center position of the two alignment marks is the representative point as described above, the alignment marks are formed on the substrate 3 and the component 5, the alignment mark positions vary at the time of manufacturing, or the alignment marks due to the distortion of the component 5 and the substrate 3 Variations in position and the like are averaged. Therefore, the component 5 can be mounted at an accurate position with good reproducibility without being affected by the distortion of the component 5 or the substrate 3.

The information indicating the relative arrangement relationship of the alignment marks of the component and the board is taught by the representative point vector Pm and the relative direction θ described above. The problem at this time is in which coordinate system the specific X coordinate value and Y coordinate value of the representative point vector Pm should be displayed.

When represented using the coordinate values of the coordinate system fixed to the mounting apparatus as in the prior art, the representative point vector Pm has a different value depending on the inclination of the component 5 or the substrate 3 with respect to the mounting apparatus. In the coordinate system fixed to the mounting device, the X coordinate value and the Y coordinate value of the representative point vector Pm cannot be displayed. Further, in order to solve such a problem, the part 5 when teaching data is taught.
If the inclination and the position of the substrate 3 are further added to one of the teaching data, the amount of the teaching data increases.

Therefore, in a preferred embodiment of the present invention, the component 5 or the substrate 3 formed based on a plurality of alignment marks provided on the component 5 or the substrate 3
X of the representative point vector Pm using a coordinate system fixed to
Teach coordinate values and Y coordinate values. In the following description, a coordinate system fixed to the component 5 or the board 3 as described above is referred to as a “local coordinate system” with respect to a conventional coordinate system fixed to the mounting apparatus. By using the local coordinate system as described above, it is possible to teach the representative point vector Pm irrespective of the inclination and position of the component 5 or the board 3 with respect to the mounting apparatus and without increasing the amount of teaching data. .

That is, this local coordinate system is, for example, an orthogonal two-dimensional coordinate system fixed to the component 5 as shown in FIG. Specifically, the origin coordinates of the local coordinate system are, for example, the position of the coordinate value indicated by the representative point vector P1m, the X axis is a straight line passing through the alignment vectors P1o and P1a, the Y axis is orthogonal to the X axis and the representative point. Vector P1
A straight line passes through the position of the coordinate value indicated by m. Thus, the local coordinate system is formed from the alignment vectors P1o, P1a of the two component alignment marks 5o, 5a provided on the component 5, and the like.

Here, as the origin coordinates of the new local coordinate system, the coordinate values P1 shown in FIG.
Although m is used, there is no principle difference in the operation and effect of the present invention even if any point on the vector P1 is used.

Here, the vector between the representative points in the local coordinate system is distinguished from the vector between the representative points Pm represented by coordinates in the coordinate system fixed to the mounting device, and the vector between the representative points T (in the local coordinate system). Tx, Ty). Then, the local coordinate system representative point vector T
(Tx, Ty) is obtained by using a coordinate value of a coordinate system fixed to the mounting apparatus to obtain a local coordinate system representative point vector T.
The x-coordinate value Tx shown in FIG.

(Equation 7)

FIG. 6 shows the Y coordinate value Ty.
Equation (8) shows the result.

(Equation 8)

Further, when the vector T between the representative points of the local coordinate system is represented using a matrix for convenient handling, it can be expressed as shown in equation (9).

[0047]

(Equation 9)

On the other hand, with respect to the relative direction (tilt) θ,
From FIG. 5, it is possible to teach as shown in equation (10), and the value satisfies both equations of equation (10). In addition, -18
0 ゜ <△ θ ≦ 180 ゜.

(Equation 10)

As described above, the teaching data is calculated as described above after obtaining the vector Pm between the representative points and the relative direction θ using the coordinate system fixed to the mounting apparatus. Used local coordinate system representative point vector T
And the relative direction θ.

Mounting Step First, in step ST1 of FIG. 2, coarse positioning of the component 5 and the board 3 is performed. Various methods can be adopted as the rough positioning. For example, in step ST1, the component 5 may be roughly positioned at a predetermined start position with respect to the board 3 manually. Instead of such manual positioning, in step ST1, the position of the component 5 with respect to the substrate 3 is determined based on the coarse alignment vector RA shown in Expression (11) as the coordinate data for coarsely positioning the position of the component 5. Alternatively, the component 5 may be roughly positioned at a predetermined start position.

[0051]

[Equation 11]

Further, instead of using such a rough alignment vector RA, in step ST1, the component 5
Is arranged at a default position, and acquires a coordinate value indicating the position of each set of alignment marks of the component 5 and the board 3, for example, the recognition device 2
The coarse positioning may be omitted by using a recognition device having a wide field of view.

As described above, various methods can be adopted in step ST1. In this embodiment, for example, in step ST1, coarse positioning is performed based on the coarse alignment vector RA. That is, the component 5 sucked and gripped by the nozzle 4 with respect to the substrate 6 positioned at an approximate position with respect to the mounting device by the stopper 6 shown in FIG. Then, the nozzle 4 is conveyed to an approximate mounting position such that the position of the center axis of the nozzle 4 is, for example, the position of the middle point between the two alignment marks on the component 5.

Next, in step ST2, FIG.
As shown in (B), in order to correct the board 3 and the component 5 to the exact positions taught, the position of the set of two alignment marks on the board 3 and the component 5 which are roughly positioned is determined by the recognition device 2. Read by. The recognition device 2 has a mechanism capable of recognizing images of a lower portion and an upper portion.

Specifically, first, the recognition device 2 is moved horizontally from a predetermined standby position (not shown) and is disposed in the space between the board 3 and the component 5. In such a state, the recognition device 2 fixes the positions of the two alignment marks provided on the upper surface of the substrate 3 and the two alignment marks provided on the lower surface of the component 5 to the mounting device. Each can be read using a coordinate system. Assume that the alignment marks of the component 5 and the substrate 3 in this state are located, for example, as shown in FIG.

For example, in the same manner as when acquiring the teaching data, the board 3 is mounted on a coordinate system fixed to the mounting apparatus.
Two individual alignment marks 33o, 33a at
For the alignment vector H1
o (H1ox, H1oy), alignment vector H1
a (H1ax, H1ay), and the positions of the two component alignment marks 5o, 5a in the component 5 are respectively aligned with the alignment vectors H2o (H2
ox, H2oy) and the alignment vector H2a (H2
ax, H2ay). Then, as shown in FIG. 3C, the recognition device 2 returns to the predetermined standby position after the completion of the above-described recognition work.

Next, in step ST3 of FIG. 2, the position of the alignment mark 33o and the like roughly obtained as shown in FIG. In order to align the board 3 and the component 5 at different positions, their correction amounts are calculated as follows. In the following description, it is assumed that the component 5 is arranged on the substrate 3 as an example.

First, the relative direction θ _H of the component 5 with respect to the substrate 3 is a value that satisfies both equations (12). In addition, -18
0 ゜ <△ θ ≦ 180 ゜.

(Equation 12)

Here, the inter-alignment vector H1 connecting the two individual alignment marks 33o and 33a on the substrate 3 shown in FIG. 7 indicates the vector H1a-vector H1o, and the two component alignments on the component 5 The inter-alignment vector H2 connecting the marks 5o and 5a indicates the vector H2a−the vector H2o.

Next, in order to correct the relative direction θ _H of the component 5 with respect to the substrate 3 to be the relative direction θ shown in FIG. considering that the △ theta partial rotation correction as shown in FIG. 8 from direction theta _H. First, the vectors Q2o and Q2a indicating the positions of the component alignment marks 5o and 5a when the component 5 is rotated and corrected by △ θ can be obtained by Expression (13).

[0061]

(Equation 13)

The vector G in the equation (13) is a vector indicating the coordinate value of the rotation center, and the rotation matrix M in the equation (13) is represented by the equation (14).

[Equation 14]

The above is the case where the direction of the component 5 is corrected by rotation. Next, in the following description, as shown in FIG. Consider correcting the position of.

First, since this is a parallel movement, the inter-alignment vector Q1 connecting the moved individual alignment marks 33o and 33a is as shown in the equation (15).

(Equation 15)

Then, the representative point vector Qm connecting the moved representative point vector Q1m of the board 3 and the representative point vector Q2m of the component 5 shown in FIG. 9 is expressed by equation (16).

(Equation 16)

Here, a representative point vector Hm connecting the representative point vector H1m of the board 3 before movement and the representative point vector Q2m of the component 5 shown in FIG.

[Equation 17]

Equation (16) is transformed as shown in equation (18).

(Equation 18)

Here, the vector between the representative points in the local coordinate system is referred to as the vector between the representative points S in the local coordinate system in order to distinguish it from the vector Qm between the representative points represented by coordinates in the coordinate system fixed to the mounting apparatus. I will write it. The local coordinate system representative point vector S, which represents the representative point vector Qm expressed by the coordinate system fixed to the mounting apparatus using the local coordinate system, is expressed by Expression (19).

[0069]

[Equation 19]

The local coordinate system representative point vector S indicates the relative arrangement position of the board 3 and the component 5 using the local coordinate system. In Expression (19), the vector Qm between the representative points in FIG. 9 is expressed as (Qmx, Qmy), the motion vector △ R is expressed as (△ Rx, △ Ry), and the alignment vector H1 is expressed as (H1x, H1y). And the representative point vector Hm is represented as (Hmx, Hmy).

Next, when the position of the substrate 3 is corrected by moving the movement vector △ R, the equation (20) is established from the relationship that the vector S between the local coordinate system representative points becomes equal to the vector T between the local coordinate system representative points. .

(Equation 20)

Finally, the position correction vector △ R (Rx, R
y) is calculated as shown in Expression (21) by expanding Expression (20).

[0073]

(Equation 21)

As described above, the correction amounts △ θ and の R for aligning the board 3 and the component 5 with the taught accurate positions are calculated using the local coordinate system.

Next, in step ST4 of FIG.
Based on the correction amounts △ θ and △ R for the rotation and translation obtained in this way, the local coordinate system shown in FIG.
As shown in (C), each of the substrate 3 and the component 5 is represented by Δθ
Then, the substrate 3 and the component 5 are made to coincide with the taught position by rotating the motor 3 minutes or moving in parallel by ΔR. Finally, in step ST5, the component 5 is placed on the substrate 3 as shown in FIG. 3D, and a series of operations is completed.

According to a preferred embodiment of the present invention, the position and orientation of each of the component 5 and the substrate 3 are relatively expressed by a vector (directional component) connecting two alignment marks provided on each of them. Thus, the positions and orientations of the component 5 and the substrate 3 can be expressed irrespective of how to take an absolute coordinate system such as a coordinate system fixed to the mounting apparatus. Further, according to this mounting method, it is not necessary to handle a total of eight pieces of data for the component 5 and the board 3 as in the related art, and it is sufficient to handle three pieces of data of the direction and the position. Therefore, this mounting method is suitable for mounting while correcting the position and orientation of the component 5 and the substrate 3 because the number of data does not increase so much even when many components 5 are mounted on one substrate 3. I have. That is, in this mounting method, even when a large number of components 5 are provided on one board 3, the amount of data indicating the positional relationship between them can be reduced, and the storage capacity for storing these data is small. It will be smaller. In addition, in this mounting method, as an example, the correction is performed using the middle point between the position of the alignment mark of the component 5 and the substrate 3 as a representative point, so that the distance between the representative points representing the positions of the component 5 and the substrate 3 is corrected. Becomes shorter. Therefore, according to this mounting method, even when the substrate 3 is isotropically deformed (expanded or contracted), the mounting position and the orientation of the component 5 with respect to the substrate 3 are less likely to cause an error, and Less likely to be affected by

The present invention is not limited to the above embodiment. In the above-described embodiment, the description has been given of the case where the component 5 is mounted on the substrate 3. However, the present invention is not limited to this, and the mounting method can also be applied to the case where two objects are aligned. Further, in the above-described embodiment, this mounting method performs alignment in a planar shape, but is not limited to this, and can be applied to a case where alignment is performed in three dimensions or the like. Each configuration of the above embodiment can be partially omitted or arbitrarily combined so as to be different from the above. Examples of a program storage medium that is used to install a mounting program having a function of correcting the position and orientation of the component 5 with respect to the substrate 3 that executes the above-described series of processing in a computer so that the computer can be executed by the computer include, for example, Floppy (registered trademark) disk, CD-ROM (Com
pact Disc Read Only Memory
y), DVD (Digital Versatile D)
The program may be realized not only by a package medium such as isc) but also by a semiconductor memory or a magnetic disk in which a program is temporarily or permanently stored. As means for storing programs in these program storage media, a wired or wireless communication medium such as a local area network, the Internet, or digital satellite broadcasting may be used.
The information may be stored via various communication interfaces such as a router and a modem. Needless to say, the mounting device 1 described above may include a drive device that can read at least information on the program storage medium.

[0078]

As described above, according to the present invention,
It is possible to provide a mounting method capable of positioning and mounting a mounted component on a mounting board with a small amount of data regardless of a coordinate system, and a computer-readable program storage medium storing a program having a mounting function. it can.

[Brief description of the drawings]

FIG. 1 is a view showing a configuration example of a mounting apparatus using a mounting method as a preferred embodiment of the present invention.

FIG. 2 is a flowchart illustrating an example of a mounting method by a mounting apparatus.

FIG. 3 is a plan view showing an example of the operation of the mounting apparatus.

FIG. 4 is a plan view showing an ideal arrangement relationship of components with respect to a substrate.

FIG. 5 is a vector diagram showing an example of a relationship between an absolute coordinate value fixed to the mounting apparatus and a vector between representative points and a relative direction in a preferred embodiment of the present invention.

FIG. 6 is a diagram showing a vector between midpoints in FIG. 5;

FIG. 7 is a vector diagram illustrating an example of a positional relationship between a component and a substrate when the component is actually arranged on the substrate using a vector.

FIG. 8 is a vector diagram expressing an example of a state in which a component is rotated while a substrate is fixed, using a vector.

FIG. 9 is a vector diagram expressing an example of a state in which a board is moved with components fixed, using vectors.

FIG. 10 is a flowchart illustrating an example of a mounting method in a conventional mounting apparatus.

FIG. 11 is a diagram showing an operation example in a conventional mounting apparatus.

FIG. 12 shows a rectangular coordinate system fixed to a mounting apparatus.
FIG. 5 is a diagram illustrating two alignment marks provided on a substrate using vectors.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Mounting device, 3 ... Board (substrate to be mounted), 3
o, 3a: substrate alignment mark, 5: component (mounting component), 5o, 5a: component alignment mark, 18: control unit, 33o, 33a: individual alignment mark

 ────────────────────────────────────────────────── ─── Continuing the front page (72) Inventor Akihiko Watanabe 6-35 Kita Shinagawa, Shinagawa-ku, Tokyo F-term in Sony Corporation (reference) 5E313 AA03 AA11 CC03 CC04 DD03 DD13 EE02 EE03 EE24 EE37 FF24 FF26 FF28 FF29 FF32 FF40

Claims (6)

[Claims] 1. A mounting method for mounting a mounted component on a substrate to be mounted, comprising: a coordinate system for setting a coordinate system based on a plurality of alignment marks provided on either the mounted component or the mounted substrate. A setting step, a mounting position teaching step of teaching a mounting position when mounting the mounted component on the mounting board using the coordinate system, and the mounting using the coordinate system and the taught mounting position. Mounting a component on the mounting substrate. 2. The coordinate system setting step, wherein the coordinate system is a two-dimensional rectangular coordinate system, and an origin coordinate of the two-dimensional rectangular coordinate system is designated among a plurality of alignment marks provided on the mounting component. A center position between the positions of the two alignment marks, and one coordinate axis of the two-dimensional rectangular coordinate system is a straight line that includes the positions of the two specified alignment marks simultaneously; and the two-dimensional rectangular coordinates The mounting method according to claim 1, wherein the other coordinate axis of the system is set as a straight line orthogonal to the one coordinate axis and passing through the origin coordinates. 3. In the mounting position teaching step, a center position between positions of two specified alignment marks among a plurality of alignment marks provided on the mounting substrate in the two-dimensional orthogonal coordinate system. A coordinate value, and an angle between a straight line including two designated alignment marks among the plurality of alignment marks provided on the mounting substrate and one of the two-dimensional orthogonal coordinate systems, The mounting method according to claim 2, wherein teaching is performed as a mounting position. 4. A computer-readable program storage medium storing a program having a mounting function of mounting a mounted component on a mounted substrate, wherein the plurality of programs are provided on either the mounted component or the mounted substrate. A coordinate system setting step of setting a coordinate system based on the alignment mark; a mounting position teaching step of teaching a mounting position when mounting the mounted component on the mounting board using the coordinate system; A computer-readable storage medium storing a program having a mounting function, comprising: a mounting step of mounting the mounted component on the mounting substrate using the taught mounting position. 5. In the coordinate system setting step, the coordinate system is a two-dimensional rectangular coordinate system, and origin coordinates of the two-dimensional rectangular coordinate system are designated among a plurality of alignment marks provided on the mounting component. A center position between the positions of the two alignment marks, and one coordinate axis of the two-dimensional rectangular coordinate system is a straight line that includes the positions of the two specified alignment marks simultaneously; and the two-dimensional rectangular coordinates The computer-readable program according to claim 4, wherein a program having an implementation function of setting the coordinate system as a straight line orthogonal to the one coordinate axis and passing through the origin coordinates is recorded on the other coordinate axis of the system. Program storage medium. 6. In the mounting position teaching step, a center position between positions of two specified alignment marks among a plurality of alignment marks provided on the mounting substrate in the two-dimensional orthogonal coordinate system. A coordinate value, and an angle between a straight line including two designated alignment marks among the plurality of alignment marks provided on the mounting substrate and one of the two-dimensional orthogonal coordinate systems, 6. The computer-readable program storage medium according to claim 5, wherein a program having a mounting function to be taught as a mounting position is recorded.