JP2004214246A - Component suction position teaching method in component mounting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To efficiently teach a suction position of a component in a component mounting device and to improve component mounting efficiency. <P>SOLUTION: The component supplied from a component supply device is image-picked up by a recognition camera, and the suction position of the component is taught. When a component size is large, teaching is performed by performing a jog operation after the recognition camera moves to a lower left endpoint which is previously obtained from a component dimension (S6). Then, the recognition camera moves to an upper right endpoint (S9) and second teaching is performed. A center of a straight line connecting both points is taught as the suction position of the component. Since the recognition camera automatically moves to the two points which are previously obtained by calculation when teaching work is performed on the two points of the component, a distance that an operator is to move the recognition camera small by a jogging operation can be shortened, and a time required for teaching work can be shortened. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a method of teaching a component suction position in a component mounting apparatus, and more particularly, to a teaching method of teaching a component suction position by capturing an image of a component supplied from a component supply device by a recognition camera in the component mounting apparatus.
[0002]
[Prior art]
In a conventional component mounting apparatus, when suctioning an electronic component (hereinafter simply referred to as a component) supplied from a component supply device such as a feeder or a tray, it is necessary to move a suction nozzle of a suction head to the center of the component. Is performed using a recognition camera, a suction position (part center) is specified while viewing the image, the coordinate value is stored, and a teaching operation of moving the suction nozzle to the coordinate value is performed. When teaching the pick-up position of the component based on the image reflected on the recognition camera, the recognition camera automatically moves to the center position of the component automatically calculated from the input feeder or tray information. Whether only one point at the center is taught (one-point teaching) or whether two arbitrary points at diagonal positions are taught and the center of a straight line formed by the two points is set as the suction position (two-point teaching) Is selected by the operator, and a jog (JOG) operation is performed in which the suction head is gradually moved in all directions while looking at the image of the component reflected on the screen, and the center position is taught for one-point teaching, and for two-point teaching. For example, teaching is performed with the center of a straight line connecting two diagonal lines of the component as a suction position.
[0003]
Japanese Patent Application Laid-Open No. H11-163873 describes that a part of the contour of a component is imaged as a feature point and teaching is performed.
[0004]
[Patent Document 1]
JP-A-2000-307293 (paragraphs [0006] to [0009])
[0005]
[Problems to be solved by the invention]
However, since the conventional component mounting apparatus moves to the automatically calculated component center position in the case of one-point teaching, the teaching operation can be performed with less movement by the jog operation. The operator must move by jog operation from the center to the first teaching position (lower left of the part), and from there to the second point, the operator must also move by jog operation. In such a case, the distance to be jog-moved becomes longer, and in the case of a component whose entire component does not enter the field of view of the imaging camera, the work of searching for the component end point is troublesome.
[0006]
Therefore, the present invention solves such a problem, and efficiently teaches a component suction position in a component mounting apparatus, and teaches a component suction position in a component mounting apparatus capable of improving component mounting efficiency. It is an object to provide a method.
[0007]
[Means for Solving the Problems]
In order to solve the above problems, the present invention provides:
A teaching method of teaching a component supplied from a component supply device in a component mounting apparatus with a recognition camera and teaching a component suction position,
After moving the recognition camera to one point on the part previously determined from the part dimensions, perform a teaching operation on the one point,
Subsequently, after moving the recognition camera to another point on the part previously determined from the part dimensions, the teaching work on the other point is performed,
A configuration is adopted in which a point determined based on one point and another point determined by the teaching operation is set as a component suction position and teaching is performed.
[0008]
Also,
In the present invention,
A teaching method of teaching a component supplied from a component supply device in a component mounting apparatus with a recognition camera and teaching a component suction position,
A one-point teaching operation in which the recognition camera is moved to a predetermined point on the component to teach the suction position of the component, and a two-point teaching operation in which the recognition camera is moved to two points on the component to teach the suction position of the component. Provided,
A configuration is also adopted in which the one-point teaching operation and the two-point teaching operation can be switched according to the part type.
[0009]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, the present invention will be described in detail based on an embodiment shown in the drawings.
[0010]
FIG. 1 shows the configuration of a main part of the component mounting apparatus, and FIG. 2 shows the configuration of its control system. The suction nozzle 1a of the suction head 1 is a controller having a CPU, a RAM, and a ROM. After being driven by X and Y axis motors 11 and 12 controlled by 10 to move to a position of a reel type feeder 2 or a tray 4 as a component supply device and sucking a component 3 supplied therefrom, a recognition camera (CCD camera) 6 Therefore, the component is imaged, and the image is processed by an image recognition device 7 including a CPU 7a, a memory 7b, an A / D converter 7c, and the like, and the suction position of the component is recognized. The position shift and the suction angle shift are calculated. When mounting the component 3 on the board 30 conveyed via the conveyance path 32, the controller 10 adjusts the drive amounts of the X-axis, Y-axis, and θ-axis motors 11, 12, and 14 according to the calculated displacement. After the correction, the component 3 is mounted at a predetermined position on the substrate 30.
[0011]
In such a component mounting apparatus, when the component suction position by the suction nozzle 1a is not centered on the component due to a shift in the mounting position or the component arrangement position of the component supply device, the recognition accuracy by the recognition camera 6 is reduced. Prior to this, a component stored in the feeder 2 or the tray 4 is photographed using the recognition camera 31 attached to the suction head 1, and a suction position (the center of the component) is designated while viewing the image, and its coordinate value is determined. Teaching work for storing is performed.
[0012]
The component mounting apparatus is provided with input devices such as a keyboard 21 and a mouse 22 for inputting production program data, board data, component data, and the like, and the generated data is configured by a hard disk, a flash memory, or the like. It can be stored in a storage device 23. The production program data, the board data, and the component data are supplied from a host computer (not shown) connected to the component mounting apparatus and stored in the storage device 23 without passing through the input device. Is also good. Further, a monitor 24 is provided, and on this screen, component data, calculation data, images captured by the recognition cameras 6 and 31, and the like can be displayed.
[0013]
In such a configuration, the teaching operation according to the present invention will be described along the flow of FIG.
[0014]
First, at the start of teaching, the suction head 1 is calculated together with the recognition camera 31 based on the component data described in the production program data sent from the storage device 23 or the host computer under the control of the controller. The part moves to the center position of the part (step S1). For example, as shown in FIG. 4, when teaching is performed on the component 40 of the tray 4, the recognition camera 31 moves to a substantially central position O of the component 40.
[0015]
Subsequently, a teaching method is selected (step S2). In the teaching work, one-point teaching in which only one point at the center position of the component is set as the suction position, and two predetermined points on the component, for example, any two points at diagonal positions are designated and formed by the two points. There is a two-point teaching that designates the center of the straight line to be picked up as the suction position, so that one-point teaching or two-point teaching is automatically switched according to the type of component, for example, the component size. For example, when it is determined from the component data that the component size is smaller than the predetermined size, it is switched to one-point teaching, and when it is determined to be larger than the predetermined size, it is switched to two-point teaching. Such switching or selection may be manually performed by an operator while visually recognizing the component size.
[0016]
Now, since the component 40 is small, one-point teaching is selected (NO in step S3). Since the recognition camera 31 has almost moved to the component center position, the operator performs a jog operation there (step S4). The jog operation is an operation of moving the recognition camera 31 in four directions in small increments. While observing the image of the component reflected on the recognition camera by this operation, a predetermined point of the visual field (for example, the center of the visual field, ) And the component center are matched, and when they match, the decision button is pressed (step S5), and the coordinate value at that time is stored as a suction position. Such a teaching operation allows the suction nozzle 1a of the suction head 1 to suction the center of the component 40, so that the recognition accuracy of the component by the recognition camera 6 can be improved.
[0017]
On the other hand, as shown in FIG. 4, when teaching is performed on a component 41 having a relatively large size, the teaching is switched to two-point teaching, and the recognition camera 31 is controlled based on the component data under the control of the controller 10. It automatically moves to a predetermined point on the part calculated from the part dimensions (outer dimensions), for example, the lower left end point P (step S6), and the operator performs a jog operation there (step S7), and When the predetermined point and the one point visually match, the determination button is pressed (step S8), and the coordinate value at that time is stored, thereby ending the teaching operation of the first point.
[0018]
When the teaching is completed for the first point, the recognition camera 31 automatically moves to another point on the component, for example, an upper right end point Q at a diagonal position (step S9). Therefore, the operator performs a jog operation as in the case of the first point (step S10), presses the determination button (step S11), and performs the second point teaching. When the teaching of the second point is completed, the recognition camera moves to the middle point of the straight line formed by the two points PQ determined by the teaching of the first point and the second point (step S12), and moves it by the two-point teaching. The determined adsorption position is set (step S13), and the coordinate value is stored. By the two-point teaching operation, the suction nozzle 1a of the suction head 1 sucks the center of the component 41, so that the recognition accuracy of the component by the recognition camera 6 can be improved.
[0019]
In the above embodiment, when the component size is large, the two-point teaching is selected. Therefore, the order of the first step S1 and steps S2 and S3 is switched, and if it is determined that the component size is large, the process proceeds to step S6. After the shift, the recognition camera may be moved to the lower left point, and if it is determined to be smaller, the recognition camera may be moved to the component center position.
[0020]
【The invention's effect】
As described above, in the present invention, when performing teaching work on two predetermined parts of a part in two-point teaching, the recognition camera automatically moves to two points obtained in advance by calculation. Can shorten the distance in which the recognition camera must be slightly moved by the jog operation, and the time required for the teaching operation can be shortened.
[0021]
Further, in the present invention, one-point teaching or two-point teaching is automatically switched according to the type of component, so that the burden on the operator can be reduced and the efficiency of component mounting can be improved.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a configuration of a main part of a component mounting apparatus used in the present invention.
FIG. 2 is a configuration diagram illustrating a configuration of a control system of the component mounting apparatus of FIG. 1;
FIG. 3 is a flowchart illustrating a flow of a teaching operation.
FIG. 4 is an explanatory diagram showing a tray for supplying various components.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Suction head 2 Feeder 3 Parts 4 Tray 31 Recognition camera 40, 41 Parts

Claims (3)

A teaching method of teaching a component supplied from a component supply device in a component mounting apparatus with a recognition camera and teaching a component suction position,
After moving the recognition camera to one point on the part previously determined from the part dimensions, perform a teaching operation on the one point,
Subsequently, after moving the recognition camera to another point on the part previously determined from the part dimensions, the teaching work on the other point is performed,
A method for teaching a component suction position in a component mounting apparatus, wherein a point determined based on one point and another point determined by the teaching operation is used as a component suction position. A teaching method of teaching a component supplied from a component supply device in a component mounting apparatus with a recognition camera and teaching a component suction position,
A one-point teaching operation in which the recognition camera is moved to a predetermined point on the component to teach the suction position of the component, and a two-point teaching operation in which the recognition camera is moved to two points on the component to teach the suction position of the component. Provided,
A component suction position teaching method in a component mounting apparatus, wherein the one-point teaching operation and the two-point teaching operation can be switched according to a component type. When performing the two-point teaching work,
After moving the recognition camera to one point on the part previously determined from the part dimensions, perform a teaching operation on the one point,
Subsequently, after moving the recognition camera to another point on the part previously determined from the part dimensions, the teaching work on the other point is performed,
The teaching method according to claim 2, wherein a point determined based on one point and another point determined by the teaching operation is used as a component suction position for teaching.

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