JP2004055702A - Component mounting apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a component mounting apparatus that can efficiently image components and quickly mount the components. <P>SOLUTION: When a sucked component is imaged, an imaging apparatus that can set arbitrary regions within a visual field as imaging regions is used, and each imaging region 30, 30a-30c is set to be a size that is determined based on a constant with a component size and deviation in suction considered. The amount of deviation in suction obtained by the image processing of the component imaged in the imaging region is corrected to place the components to a board. The imaging region can be set so as to become only a component recognition target portion, thus reducing an imaging time and the capacity of a memory for storing images, and quickly mounting the electronic components by an inexpensive configuration. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention provides a component mounting apparatus, and more specifically, a component supplied from a component supply device, and a component mounted on a substrate by correcting a positional shift at the time of suction obtained by image recognition of the component picked up. To a component mounting apparatus.
[0002]
[Prior art]
Conventionally, in order to accurately mount electronic components (hereinafter simply referred to as components) on a printed circuit board in a component mounter, the components picked up by the suction nozzle are imaged by an imaging device such as a CCD camera before being mounted on the printed circuit board. Then, the component is accurately mounted on the printed circuit board by calculating and correcting the positional deviation amount at the time of suction. In the case of a mounting machine having a plurality of nozzles, the components are sequentially imaged individually, or the components are imaged simultaneously by a plurality of image pickup devices, or a lens that secures a visual field size that can image all the components is used. The component is mounted on a printed circuit board by calculating the positional shift amount at the time of picking up by picking up an image of a component or by sequentially picking up an image of a component with a line sensor.
[0003]
[Problems to be solved by the invention]
However, when only one imaging device is provided, the recognition device of the mounting machine starts recognition after all data accumulated in the imaging device after imaging is output from the area sensor. Was taking a long time. Further, when a plurality of nozzles are provided, the imaging time is simply a multiple of the number of nozzles, which has a large effect on the mounting tact. If an image pickup device is provided for each nozzle in order to solve this problem, there is a problem that the installation area increases and the cost increases.
[0004]
In addition, the line sensor only needs to image an amount corresponding to the size of the component in the vertical direction, but the left and right positions of the component are not required as data, and similarly, it takes time to image this part, and the mounting tact is slow. There was a problem of becoming.
[0005]
Furthermore, since the recognition device performs image processing irrespective of the imaged component size, the image processing is performed not only on the effective component including the component but also on an extra area not including the component on the left, right, up, or down, There is a problem that the mounting tact becomes slow.
[0006]
The present invention has been made to solve such a problem, and an object of the present invention is to provide a component mounting apparatus that can efficiently image a component and that enables high-speed component mounting.
[0007]
[Means for Solving the Problems]
In order to solve the above problems, the present invention provides:
A component mounting apparatus that picks up a component supplied from a component supply device, corrects a positional shift at the time of suction obtained by image recognition of the picked up component, and mounts the component on a board,
An imaging device capable of setting an imaging region;
Setting means for setting the imaging region of the imaging device based on the component size,
An image recognition device for capturing and recognizing an image of a component captured in a set imaging region,
Means for correcting the amount of suction deviation determined by image recognition and mounting the component on the board,
Is adopted.
[0008]
In this case, preferably, the imaging region is set based on the component size and the type of the component supply device.
[0009]
In the present invention,
A component mounting apparatus that simultaneously picks up a plurality of components supplied from a component supply device, corrects a positional shift at the time of suction obtained by image recognition of the picked-up components, and mounts each component on a board,
An imaging device capable of setting an imaging area and holding each simultaneously sucked component in a field of view;
Setting means for setting an imaging region of the imaging device for each component;
An image recognition device that captures an image of each component captured in the set imaging region and recognizes the captured image;
Means for correcting the amount of adsorption deviation required by image recognition and mounting the component on the substrate,
The image recognition apparatus captures an image of a component every time imaging of one component is completed and performs image recognition, and performs imaging of one component and image recognition of a component before the component in parallel. Has also been adopted.
[0010]
Further, in the present invention,
A component mounting apparatus that picks up a component supplied from a component supply device, corrects a positional shift at the time of suction obtained by image recognition of the picked up component, and mounts the component on a board,
An imaging device capable of setting an imaging region;
Setting means for setting the imaging area of the imaging device according to the component size, and displacing the center of the imaging area from the center of the visual field of the imaging device;
An image recognition device that moves the suction center of the component to the center of the imaging region and captures an image of the captured component to recognize the image;
Means for correcting the amount of adsorption deviation required by image recognition and mounting the component on the substrate,
A configuration is also employed in which the center of the imaging region is shifted from the center of the visual field of the imaging device so that the path from the component suction position to the mounting position is the shortest.
[0011]
Further, in the present invention,
A component mounting apparatus that picks up a component supplied from a component supply device, corrects a positional shift at the time of suction obtained by image recognition of the picked up component, and mounts the component on a board,
An imaging device capable of setting an imaging region;
Setting means for setting an imaging area of the imaging device as an imaging line according to a component size;
An image recognition device that relatively moves the imaging line and the component to capture and recognize an image of the component captured by the imaging line,
Means for correcting the amount of adsorption deviation required by image recognition and mounting the component on the substrate,
A configuration is also adopted in which the length of the imaging line in the line direction can be dynamically changed according to imaging.
[0012]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, the present invention will be described in detail based on embodiments shown in the drawings.
[0013]
FIG. 1 is a schematic diagram of a component mounting apparatus (component mounting machine) according to the present invention, and FIG. 2 is a block diagram showing a control configuration thereof. The component mounting apparatus has a head unit 3 having a suction nozzle 3a for sucking a component (electronic component) 20 supplied from a feeder 8 or a tray 9. The head unit 3 is a controller 10 configured by a CPU. The X-axis motor 1 is moved along the X-axis 1 by the X-axis motor 11, and the X-axis 1 can be moved along the Y-axis 2, 2 'by the Y-axis motor 12. Reference numeral 3 is configured to be movable in the XY axis directions. The head 3 is driven up and down by being driven in the Z-axis direction by a Z-axis motor 13, and the suction nozzle 3 a is configured to be rotatable about a nozzle axis by a θ-axis motor 14. A plurality of suction nozzles can be provided on the head unit 3, and other suction nozzles are 3b, 3c,. . . . . Is shown in FIG.
[0014]
Further, the component mounting apparatus is provided with an imaging device 5 having a lens 5a such as a CCD camera for imaging the component 20, and the head unit 3 is moved to the imaging device 5 after the component is sucked, and is illuminated by the illumination device 15. The illuminated component 20 is imaged by the imaging device 5. The captured image of the component is input to an image recognition device 7 including a CPU 7a, a memory 7b, and an A / D converter 7c. As will be described later, the imaging device 5 can capture an image of an arbitrary region designated by the CPU 7a, and the image recognition device 7 captures an image of the set region and executes a known algorithm. The suction posture of the component is recognized, and the positional deviation between the component center and the suction center and the suction angle deviation are calculated. When driving the X-axis, Y-axis, and θ-axis motors 11, 12, and 14, the controller 10 including a CPU corrects the positional deviation and mounts the component 20 on the board 6 that is being conveyed.
[0015]
The component mounting apparatus is provided with input devices such as a keyboard 21 and a mouse 22 for inputting component data, and the generated component data can be stored in a storage device 23 including a hard disk, a flash memory, and the like. It has become. As the component data, data supplied from a host computer (not shown) connected to the component mounting apparatus may be stored in the storage device 23 without passing through the input device. In addition, a monitor (display) 24 is provided, and on this screen, component data, calculation data, and component images captured by the imaging device 5 can be displayed.
[0016]
FIG. 3 shows the component 20a sucked by the suction nozzle 3a, and FIG. 4 shows the components 20a to 20c sucked by the suction nozzles 3a to 3c. FIG. The image capturing apparatus 5 sets an area that can be captured by the control line 7d from the CPU 7a, and captures an image of the set area. The captured image is input to the image recognition device 7 via a signal line 7e, converted into a digital signal via an A / D converter 7c, stored in a memory 7b, subjected to image processing, and subjected to image processing. Is recognized. The image to be processed can be displayed on the monitor 24.
[0017]
The component mounting operation having such a configuration will be described with reference to the flowchart of FIG.
[0018]
First, the image recognition device 7 is notified of specifications (component parameters) such as dimensions (size) of the component 20 to be recognized by the controller 10 (step S1). Based on this condition, the CPU 7a sets an area that requires image data in the imaging device 5 via the control line 7d (Step S2). The imaging device can capture an image of an arbitrary region of the visual field range. For example, as shown in FIG. 6, the visual field that can be imaged by the combination of the imaging device 5 and the lens 5a is, for example, L × L (L = 30 mm). ), The size of the component 20 is L / 3 × L / 3, and the suction nozzle 3a is set so as to suck substantially the center of the component 20 and the nozzle center (suction center) is located at the center P of the visual field. In consideration of the inclination of the component 20 and the suction deviation at the time of suction of the suction nozzle 3a, the CPU 7a sets an image pickup area 30 ((L / 3 + α) .times. (L) shown in FIG. L / 3 + α)) is set at the center of the screen (center of the visual field) P, and this is transmitted to the imaging device 5 via the control line 7d. The constant α in consideration of the suction shift at the time of suction can be determined according to the type of the component supply device such as the reel type feeder 8 or the tray type supply device 9. For example, in the case of the reel type, α is set to a larger value than that of the tray type.
[0019]
Next, when the suction nozzle 3a sucks the component 20 supplied from the component supply device such as the reel type feeder 8 or the tray 9, and reaches the place where the imaging device 5 is arranged, the controller 10 performs image recognition. An image recognition command is issued to the device 7. The CPU 7a of the image recognition device 7 receives the image recognition execution command (Step S3), and transmits to the imaging device 5 an instruction to start imaging of the imaging region set in Step S2 (Step S4). The imaging device 5 starts imaging in response to this, and outputs the image data of the set imaging region 30 via the signal line 7e. The image data is converted into a digital signal by the A / D converter 7c and then stored in the image storage memory 7b. After the image data is stored, the CPU 7a calculates the deviation amount of the suction position of the component 20 with respect to the suction nozzle 3a (the deviation amount between the component center and the suction center and the suction inclination) according to a known algorithm (steps S5 and S6). As shown in FIG. 3, when one component is sucked by the suction nozzle 3a, the determination in step S7 is affirmed, and the recognition process ends here.
[0020]
The displacement calculated in this way is notified to the controller 10, and the controller 10 corrects the displacement when driving the X-axis motor 11, the Y-axis motor 12, and the θ-axis motor 14, and replaces the component 20. It is accurately mounted at a predetermined position on the substrate.
[0021]
As described above, the image capturing apparatus can capture an image of an arbitrary region in the image, so that the image capturing time can be limited to only the processing target portion, the image capturing time can be reduced, and the capacity of the image storage memory can be reduced. And components can be mounted at a high speed by an inexpensive method.
[0022]
Further, in the above-described embodiment, an example is described in which one component is imaged. However, as illustrated in FIG. 4, the plurality of suction nozzles 3a to 3c simultaneously suction the components 20a to 20c. In this case, the magnification of the lens 5a of the imaging device 5 is set to the same magnification as when one component is sucked. When the imaging device 5 can image these components 20a to 20c at one time, the CPU 7a considers each component size and a predetermined suction deviation as shown in FIG. The imaging regions 30a to 30c capable of imaging are set based on the constant. When the imaging is started and the imaging of the component 20a in the imaging area 30a is completed (Step S5 in FIG. 4), the CPU 7a fetches the image data of this component and starts the calculation of the positional deviation amount (Step S6). At this time, the CPU 7a starts imaging the component 20b in the next imaging area 30b (steps S7 and S5). As described above, the image recognition device 5 can start calculating the suction position deviation amount at the same time when the input of the image of the first component 20a ends, and at this time, the imaging of the second component 20b is performed. And the calculation of the suction position deviation amount of the (n-1) th component can be executed in parallel. When the imaging of the component 20c in the imaging area 30c and the calculation of the suction position shift are completed, the position shift amount of each component is notified to the controller 10, and the controller 10 sends the X-axis motor 11, the Y-axis motor 12, the θ-axis motor When driving the component 14, the displacements are corrected, and the components 20a to 20c are mounted at predetermined positions on the board.
[0023]
In this manner, the recognition process can be started from the component whose imaging has been completed. At this time, the imaging of the next component and the calculation of the positional deviation with respect to the component before the component can be executed in parallel, so that the component image can be recognized at high speed. .
[0024]
Also, as shown in FIG. 7, when the imaging region 30d of the component 20d is a small region compared to the entire visual field, the CPU 7a sets the center P1 of the imaging region 30d to a position shifted from the visual field center P. To set the imaging area. Specifically, where P1 is set depends on the suction position P2 of the component and the mounting position (mounting position) P3. Since the position of P2 and P3 is notified from the controller 10, the CPU 7a sets P1 so that the sum of the distances P2 to P1 and P1 to P3 is the shortest. In the case as shown in FIG. 7, the center P1 of the imaging region 30d is located at the upper left. As described above, the distance from the suction to the mounting can be minimized, so that high-speed component mounting becomes possible.
[0025]
In the above-described embodiment, the imaging region is set as an area having a two-dimensional spread. However, as shown in FIG. 8, the imaging region is set as the imaging line 40 having a length in consideration of the external dimensions of the component and the misalignment. It can also be set in a line shape. The imaging apparatus captures an image corresponding to the size of the component by moving the component 20 by one line each time one line is captured. When the suction inclination is large, there is a possibility that the component may protrude from the imaging line. Therefore, at least one auxiliary line 41 that is the same as the imaging line is set below the imaging line 40, and the auxiliary line is set by this auxiliary line. An image of a component to be read is read in advance, and it is determined whether or not the imaging line can reliably image the component. For example, when the component moves from the position shown in FIG. 8A to the position shown in FIG. 8B, the auxiliary line 41 already cannot reliably capture the component. , 41 in the line direction is increased by a predetermined amount. In FIGS. 8C and 8D, the imaging line 40 and the auxiliary line 41 have an increased length. When the component moves by one line, the component must be imaged on the imaging line 40. Becomes possible. In this manner, when the line imaging of the entire component is completed, the CPU 7a calculates the positional shift amount of the component, and the controller 10 corrects the positional shift amount and moves the component to the predetermined position on the board as described above. Mounted on.
[0026]
The above is an example in which the length of the imaging line is increased. However, if it is determined that the component reading is sufficient with the auxiliary line, the length of the imaging line can be reduced. As described above, since the imaging line can be dynamically changed each time the component moves, the length of the imaging line in the line direction varies as the imaging progresses, even for a component that is greatly inclined to be sucked. This makes it possible to image only data of a required size, thereby enabling efficient and high-speed imaging.
[0027]
In the embodiments described above, the imaging device 5 and the image recognition device 7 are connected by the signal lines 7d and 7e. However, these signal lines may be unnecessary by using infrared communication or the like. Further, although the A / D converter 7c is provided in the image recognition device 7, this may be omitted if the video output from the imaging device 5 is a digital signal.
[0028]
【The invention's effect】
As described above, in the present invention, by using an imaging device capable of capturing an image of an arbitrary region in an image, the imaging region can be set to be only the component recognition target portion. The imaging time can be reduced, the capacity of the image storage memory can be reduced, and the electronic components can be mounted at a high speed with an inexpensive configuration.
[0029]
Further, in the present invention, the imaging area can be shifted from the center of the visual field so that the path from the suction to the mounting is the shortest distance, so that high-speed component mounting is possible.
[0030]
Furthermore, according to the present invention, when a plurality of components are simultaneously picked up and each component is imaged, the imaging of one component and the calculation of the positional deviation with respect to the component before it can be performed in parallel, so that a high-speed and efficient component can be obtained. Implementation becomes possible.
[Brief description of the drawings]
FIG. 1 is a top view showing a schematic configuration of a component mounting apparatus.
FIG. 2 is a block diagram illustrating a schematic configuration of a component mounting apparatus.
FIG. 3 is a configuration diagram illustrating a configuration of a component recognition device that processes an image of a component captured by an imaging device.
FIG. 4 is a configuration diagram illustrating a configuration of a component recognition device that processes an image of a component captured by the imaging device.
FIG. 5 is a flowchart showing a flow of component image recognition.
FIG. 6 is an explanatory diagram showing a state in which an imaging area is set according to a component size.
FIG. 7 is an explanatory diagram showing a state in which an imaging region is set so as to be shifted from the center of the visual field.
FIG. 8 is an explanatory diagram showing a state in which an imaging area is set as an imaging line and the imaging line is dynamically changed.
[Explanation of symbols]
3a, 3b, 3c Suction nozzle 5 Imaging device 7 Image recognition device 10 Controller 30, 30a, 30b, 30c Imaging region 40 Imaging line 41 Auxiliary line

Claims (5)

A component mounting apparatus that picks up a component supplied from a component supply device, corrects a positional shift at the time of suction obtained by image recognition of the picked up component, and mounts the component on a board,
An imaging device capable of setting an imaging region;
Setting means for setting the imaging region of the imaging device based on the component size,
An image recognition device for capturing and recognizing an image of a component captured in a set imaging region,
Means for correcting the amount of suction deviation determined by image recognition and mounting the component on the board,
A component mounting apparatus comprising: The component mounting apparatus according to claim 1, wherein the imaging area is set based on a component size and a type of a component supply device. A component mounting apparatus that simultaneously picks up a plurality of components supplied from a component supply device, corrects a positional shift at the time of suction obtained by image recognition of the picked-up components, and mounts each component on a board,
An imaging device capable of setting an imaging area and holding each simultaneously sucked component in a field of view;
Setting means for setting an imaging region of the imaging device for each component;
An image recognition device that captures an image of each component captured in the set imaging region and recognizes the captured image;
Means for correcting the amount of adsorption deviation required by image recognition and mounting the component on the substrate,
The image recognition device captures an image of a component every time imaging of one component ends and performs image recognition, and imaging of one component and image recognition of a component before it are performed in parallel. A component mounting apparatus characterized by the above-mentioned. A component mounting apparatus that picks up a component supplied from a component supply device, corrects a positional shift at the time of suction obtained by image recognition of the picked up component, and mounts the component on a board,
An imaging device capable of setting an imaging region;
Setting means for setting the imaging area of the imaging device according to the component size, and displacing the center of the imaging area from the center of the visual field of the imaging device;
An image recognition device that moves the suction center of the component to the center of the imaging region and captures an image of the captured component to recognize the image;
Means for correcting the amount of adsorption deviation required by image recognition and mounting the component on the substrate,
The component mounting apparatus according to claim 1, wherein a center of the imaging region is shifted from a center of a visual field of the imaging apparatus so that a path from a component suction position to a mounting position is shortest. A component mounting apparatus that picks up a component supplied from a component supply device, corrects a positional shift at the time of suction obtained by image recognition of the picked up component, and mounts the component on a board,
An imaging device capable of setting an imaging region;
Setting means for setting an imaging area of the imaging device as an imaging line according to a component size;
An image recognition device that relatively moves the imaging line and the component to capture and recognize an image of the component captured by the imaging line,
Means for correcting the amount of adsorption deviation required by image recognition and mounting the component on the substrate,
A component mounting apparatus, wherein the length of the imaging line in the line direction can be dynamically changed according to imaging.

Images