JP2003023298A - Method for positioning chip for small-sized chip mounter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately position by accurately sensing a shape, a position and an angle of a chip of a special form chip or the like and allowing a deviation to be corrected in a small-sized chip mounter. SOLUTION: A method for positioning the chip of the small-sized chip mounter comprises the steps of rotating a suction nozzle 38 around a central position of a lower CCD camera 39, imaging the nozzle 38 by the camera 39 at each predetermined rotating angle, sensing a positional deviation with respect to the center of the camera 39 at a center of the nozzle 38 by using imaged image data, thereby bringing the center of the nozzle 38 into coincidence with that of the camera 39, and imaging the chip 37 at a reference position with the coinciding position as the reference position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a chip positioning method for a small chip mounter, and more particularly, it is configured to correct a moving position and a rotation angle of a suction nozzle for sucking a chip by using a CCD camera. In a small chip mounter, the present invention relates to a small chip mounter capable of accurately mounting the chip on a substrate.

[0002]

2. Description of the Related Art A conventional small chip mounter of this type will be described with reference to FIGS. In FIG. 6, reference numeral 1 is a drive mechanism mounted on a small chip mounter, and the drive mechanism 1 is an X-axis rail 2 or 2.
A movable head 4 is provided movably in the X-axis direction and the Y-axis direction via the Y-axis rails 3 and 3, and the movable head 4 is driven by an X-axis control motor 5 and a Y-axis control motor 6. .

Further, the movable head 4 is provided with a suction nozzle 7 in the vertical direction, and four positioning claws 8, 8 shown in FIG. ing. Then, the tip 9 of the positioning claws 8 is gripped to position the tip 9, and after the tip 9 is positioned, the tip 9 is sucked by the suction nozzle 7.
Is conveyed to a predetermined position.

However, since the positioning by the positioning claws 8, 8, ... Is mechanical positioning, there is a problem in the positioning accuracy, and it may be difficult to position the odd-shaped chips, or the positioning accuracy is secured. I could not do it. Further, FIG. 8 shows a positioning mechanism 1 using a laser.
The positioning mechanism 10 detects the position and shape of the chip by applying a laser beam 12 to the chip 11 while rotating the chip 11 and scanning the laser beam 12 with a laser scan sensor 13. is there.

However, even in the positioning mechanism 10, in the case of a deformed chip, it is difficult to accurately grasp the position and shape of the chip. For example, as shown in FIG.
If the foot 11′a is present on the ′ ′, the foot 11′a may be mistaken for the outer shape of the chip body, and if the tip has a rounded pointed shape, it is difficult to determine the shape, so positioning Became difficult, or the positioning accuracy could not be secured.

Therefore, in a small chip mounter, the shape, position and angle of a chip such as a deformed chip can be accurately detected, and the misalignment can be corrected so that the positioning can be performed accurately. A technical problem to be caused arises, and an object of the present invention is to solve this problem.

[0007]

The present invention has been proposed in order to achieve the above-mentioned object, and a chip is photographed by using an upper CCD camera and a lower CCD camera, and the photographed image data is analyzed to obtain the image. In a chip positioning method for a small chip mounter configured to correct a moving position and a rotation angle of a suction nozzle for sucking a chip and to position a substrate mounting position of the chip, the suction nozzle is connected to the lower CCD.
Rotating about the center position of the camera, photographing the suction nozzle with the lower CCD camera at every predetermined rotation angle, and detecting the positional deviation of the suction nozzle center from the lower CCD camera center using the captured image data. The method for aligning the center of the suction nozzle with the center of the lower CCD camera, and taking the chip at the reference position with the lower CCD camera by using the coincident position as a reference position. , The reference chip data is created by correcting the positional deviation and the angular deviation of the captured image of the chip captured at the reference position, and the captured image, the position and the angular data of another chip of the same kind as the reference chip are obtained. A chip positioning method for a small chip mounter to be compared with data, and a small chip mounter in which the predetermined angle is approximately 90 degrees. It is to provide a method for chip positioning.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described in detail below with reference to FIGS. In FIG. 1, reference numeral 21 denotes a small chip mounter, and the small chip mounter 2
1, a plurality of supply units 23, 23 ... With chip feeders 22, 22 ... Are arranged in parallel to a chip mounter main body 24, and a substrate 25 is placed on the downstream side of the supply units 23, 23. ing.

FIG. 2 is a conceptual diagram of the drive mechanism 26 and the control mechanism 27 of the small chip mounter 21. The drive mechanism 26 is installed above the chip mounter body 24, and a movable head 28 is provided at the center of the drive mechanism 26.
Is slidably provided, and the movable head 28 is driven by an X-axis control motor 29 and a Y-axis control motor 30 provided in the drive mechanism 26, and guided by an X-axis rail 31 and a Y-axis rail 32 to move back and forth. The X-axis control motor 29 and the Y-axis control motor 30 are slidable to the left and right, and are output from the computer 33 of the control mechanism 27.
It is driven by the instructions of the axis driver 34 and the Y-axis driver 35.

Further, the movable head 28 is provided with an upper CCD camera 36 for photographing downward,
A suction nozzle 38 for sucking the chips 37 housed in the chip feeders 22, 22, ... Is provided, while a lower CCD camera 39 that shoots upward is provided at the bottom of the chip mounter body 24. It

Further, the suction nozzle 38 is the upper CCD.
The rotary head is mounted on the movable head 28 with a distance A from the camera 36 and is rotatable by a rotary motor 40. The rotary motor 40 is driven by an instruction signal from a motor driver 41 controlled by the computer 33.

On the other hand, the upper CCD camera 36 and the lower CC
The D camera 39 is connected to the image processing CPU 42, and the image processing CPU 42 is connected to the image memory 43.
It is connected to the computer 33. In the figure, 4
Reference numeral 4 is a control memory of the computer 33.

The operation procedure of the small chip mounter 21 will be described. First, as shown in FIG. 1, the carrier tapes 45, 4 are attached to the plurality of supply units 23, 23 ...
The chip feeder 22 is configured by loading a reel (not shown) around which 5 ...
Are attached to the chip mounter main body 24, and the substrate 25 is placed on the downstream side of the supply units 23, 23, while being separated from the supply units 23, 23.

Next, as shown in FIG. 2, the suction nozzle 3
8 is moved to the center position of the lower CCD camera 39, but at this time, the center of the suction nozzle 38 may not be exactly aligned with the center of the lower CCD camera 39. In order to know the deviation, as shown in FIGS. 2 and 3, while rotating the suction nozzle 38 by 90 degrees around the center position of the lower CCD camera 39 (step S1), the suction nozzle is rotated every 90 degrees. 38 is photographed by the lower CCD camera 39 (step S2), and a plurality of photographed images are superposed as shown in FIG. 4, the centers of the suction nozzles 38 _{1 to} 38 ₄ on the screen are respectively coordinate (X1, Y1) to (X4, Y4), and from the coordinates (X1, Y1) to (X4, Y4),
Wherein it is possible to calculate the in the rotation center to the rotation of the suction nozzle _{38 1 ~38 4 (X0, Y0} ). The rotation center (X0, Y0) coincides with the camera center position of the lower CCD camera 39.

Therefore, the deviation of the current position of the suction nozzle 38 from the rotation center (X0, Y0) is calculated, and the suction nozzle 38 is moved by the calculated deviation to move the suction nozzle 38 to the rotation center ( X0, Y0).
Then, the center position of the suction nozzle 38 is set to the reference position (x
0, y0) (step S3).

By the above-described method, the center of the suction nozzle 38 can be accurately aligned with the center of the lower CCD camera 39. Next, the chip 37 on the carrier tape 45 is sucked by the suction nozzle 38, the suction nozzle 38 is moved to the reference position (x0, y0), and the chip is held at the reference position (x0, y0). 37 is photographed (step S4). As shown in FIG. 5A, the image data 37 _{1 of the} chip 37 is imaged by the imaging, and the position data (x1, y1) of the chip center and the angle data are analyzed by analyzing and calculating the image data 37 _1. θ1
Can be detected.

Then, the image data 37 ₁ is stored in the image control memory 43, and the position data (x1, y
1) and the angle data θ1 are stored position data (V1, W) of the carrier tape 45 in which the chip 37 is stored.
It is stored in the control memory 44 as the chip data A1 associated with 1).

Further, as shown in FIG. 5B, the image data 37 ₁ , the position data (x1, y1) and the angle data θ1 are read by the computer 44 at the reference position (x0,
y0) and the angle deviation is corrected to store the reference position (x0, y0) and the angle data θ0 as the angle data θ0 (θ0 = 0 degree) in the control memory 44, and the correction is performed. The image data 37 ₁ is stored in the image control memory 43 as the reference image data 37o, and the reference image data 37o, the reference position (x0, y0) and the angle data θ0 are used as the reference chip data A0 (step S5).

Next, the chip data A1 is compared with the reference chip data A0, correction data ΔA1 indicating the relative position deviation and relative angle deviation is calculated, and the correction data ΔA is calculated.
Based on 1, the correction data ΔS1 for correcting the initial data S0 of the mounting position of the chip 37 is created (step S6).

Then, the rotary motor 40 is driven to rotate the suction nozzle 38 by the relative angular deviation of the correction data ΔS1, and then the moving position of the suction nozzle 38 is corrected by the relative positional deviation of the correction data ΔS1. (Step S
7) The chip 37 is mounted on the substrate 25 (step S8).

Next, when finishing the work (step S
9) The end operation is performed (step S10), but when the next chip 37 is mounted, first, it is confirmed that the storage position data (V1, W1) match, and if they match, the chip 37. Is sucked by the suction nozzle 38, the suction nozzle 38 is moved to the reference position (x0, y0), and the chip 37 is photographed by the lower CCD camera 39 at the reference position (x0, y0). The image data 37 _{2 of the} chip 37 is photographed by photographing, and the image data 37 ₂
The position data (x2, y2) of the center of the chip 37 and the angle data θ2 can be detected by analyzing and calculating the above, and the storage position data (V1, W1) are associated with them to be the chip data A2 (step S1
1).

Further, returning to the step S6, the chip data A2 is compared with the reference chip data A0, the correction data ΔA2 indicating the relative position deviation and the relative angle deviation is calculated (step S6), and the correction data ΔA2 is calculated. Initially, correction data ΔS2 for correcting the initial data S0 of the mounting position of the chip 37 is created (step S
7). After the operation of step S7, the procedure thereafter is repeated.

When comparing the chip data A2 and the reference chip data A0, it is possible to judge at the same time whether the chip 37 is wrong, missing, defective, or the like. It can be transported to the tip removal position. In addition, the storage position data (V1, W
When 1) is the same, it is determined that the chips are of the same type and the reference chip data A0 is used as a reference, but when the storage position data is different from the storage position data (V1, W1), the storage position data is determined. The reference chip data is created in the same manner as described above in accordance with the chips stored in. In the actual work, it is desirable in terms of work efficiency to create several types of reference chip data in advance and perform the work using the several types of reference chip data.

Thus, in the present invention, the suction nozzle is set to the lower CCD.
Since the image is taken every 90 degrees while rotating around the center position of the camera, the center position of the suction nozzle can be accurately matched with the center position of the lower CCD camera by using the shooting screen. Since the chip is imaged with the reference position as, the position and angle of the chip can be accurately detected.

Further, since the reference chip data of the chip at the reference position is created, by comparing with the reference chip data, the correction for the positioning of the chip including the odd-shaped chip can be accurately performed. At the same time, the quality of the chip can be judged at the same time.

The present invention can be variously modified without departing from the spirit of the present invention, and it goes without saying that the present invention extends to the modified one.

[0027]

As described in detail in the above one embodiment, the invention according to claim 1 is a chip positioning method for a small chip mounter, in which a suction nozzle is rotated around a central position of a lower CCD camera. Then, the suction nozzle is photographed by the lower CCD camera for each predetermined rotation angle, the center of the suction nozzle is matched with the center of the lower CCD camera by using the photographed image data, and the matched position is a reference position. Since the chip is photographed by the lower CCD camera at the reference position, the position and angle of the chip can be accurately detected, and the mounting position can be accurately positioned with respect to the mounting position.

According to the second aspect of the present invention, the reference chip data is created by correcting the positional deviation and the angular deviation of the photographed image of the chip photographed at the reference position, and the reference chip data is created. Since the photographed image, the position and the angle data are compared with the reference chip data, in addition to the effect of the invention according to claim 1, it is possible to accurately perform the correction for the positioning of the chip including the deformed chip, and the like. The quality of the chip can be judged at the same time.

Further, in the invention according to claim 3, since the predetermined angle is approximately 90 degrees, in addition to the effect of the invention according to claim 1 or 2, proper data can be obtained with a small number of times of photography, and the efficiency can be improved. This is an invention that has a very significant effect such that the center of the suction nozzle and the center of the lower CCD camera can be aligned.

[Brief description of drawings]

FIG. 1 is a plan view of a small chip mounter according to an embodiment of the present invention.

FIG. 2 is a conceptual diagram of a movable head drive mechanism and a control mechanism of a small chip mounter, showing an embodiment of the present invention.

FIG. 3 is a flowchart showing an embodiment of the present invention and showing an operating procedure of a small chip mounter.

FIG. 4 is an explanatory view showing an embodiment of the present invention, in which the suction nozzle is photographed a plurality of times by a lower CCD camera and the photographing screens are overlapped.

FIG. 5 (a) shows an embodiment of the present invention, and is a photographing screen view of the suction nozzle photographed by the lower CCD camera at the reference position. (B) A screen view of the reference chip data created by correcting FIG.

FIG. 6 is a perspective view of a drive mechanism of a small chip mounter showing a conventional example.

FIG. 7A is a perspective view of a suction nozzle and a positioning claw showing a conventional example. (B) A plan view of a suction nozzle and a positioning claw, showing a conventional example.

FIG. 8A is a perspective view of a positioning mechanism using a laser beam, showing a conventional example. (B) A perspective view of the chip.

[Explanation of symbols]

21 Small chip mounter 25 substrates 36 Upper CCD camera 37 chips 38 Suction nozzle 39 Lower CCD camera

Claims (3)

[Claims] 1. A chip is photographed using an upper CCD camera and a lower CCD camera, the photographed image data is analyzed, and the moving position and rotation angle of a suction nozzle that sucks the chip are corrected, and the chip is mounted on a substrate. In a chip positioning method for a small chip mounter configured to perform position positioning, the suction nozzle is rotated around a central position of the lower CCD camera, and the suction nozzle is moved to the lower C position at predetermined rotation angles.
An image is taken by a CD camera, and a position shift of the center of the suction nozzle with respect to the center of the lower CCD camera is detected by using the taken image data.
A chip positioning method for a small chip mounter, characterized in that the chip is photographed by the lower CCD camera at the reference position and at the same position as the center of the camera. 2. A reference chip data is created by correcting a positional deviation and an angular deviation of a photographed image of the chip photographed at the reference position, and photographed images, positions and angle data of other chips of the same type as the chip are created. The method for locating a chip in a small chip mounter according to claim 1, characterized in that is compared with the reference chip data. 3. The chip positioning method for a small chip mounter according to claim 1, wherein the predetermined angle is approximately 90 degrees.