JP2004349346A - Front side mounted machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve reliability of component recognition by simple and cheap constitution. <P>SOLUTION: The front side mounted machine is so constituted that a component sucked by a movable head unit 5 is subjected to image recognition by an image pick-up unit 25 mounted on a base mount. The image pick-up unit 25 is provided with a lighting device 28, a camera 26 and mirrors 34, 35; and the head unit 5 is provided with a lighting device 30 and a mirror 31. Lighting of the lighting device 28 is given from the bottom to a suction component, a bottom image (reflected image) of the suction component is guided to the camera 26 through the mirror 34. Side view image (projection image) of suction component is guided through the mirrors 31, 35 to the camera 26 by giving transmitted illumination by the lighting device 30 from the side to the suction component. The mirror 34 or the like is so constituted that distinct region may be made to carry out image formation of each picture mutually light-receiving region in camera 26. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a surface mounter that sucks an electronic component such as an IC from a component supply unit by a movable head unit having a component suction head, and transfers and mounts the electronic component onto a substrate such as a printed circuit board. Things.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a head unit having a component suction head sucks an electronic component such as an IC from a component supply unit, transfers the component to a printed circuit board, and mounts the electronic component at a predetermined position on the printed circuit board ( Hereinafter, a mounting machine is abbreviated).
[0003]
With this type of mounting machine, the tip of the suction head is imaged before mounting on the printed circuit board after mounting the components in order to prevent mounting of defective components, mounting displacement, or mounting errors (unmounted). Image recognition of the presence / absence of a component, the suction state of a component, and the like is performed (for example, Patent Document 1). Further, in order to confirm that the component has been mounted, after the mounting process, the tip of the suction head is again imaged to recognize the presence or absence of the component (component take-out).
[0004]
[Patent Document 1]
Japanese Patent Publication No. 2863731
[0005]
[Problems to be solved by the invention]
In a conventional surface mounter represented by Patent Literature 1, a component adsorbed on a suction head is generally imaged from directly below the component, and thus has the following problem.
[0006]
That is, when mounting a component having a size that is not much different from the size of the tip of the suction head (that is, the tip of the nozzle that sucks the component), the presence or absence of the component and the outer shape ( Contour) may not be determined. Further, when foreign matter such as solder paste adheres to the tip of the suction head, the foreign matter may be erroneously recognized as a component, and therefore, the reliability of component recognition is not always high.
[0007]
Therefore, in order to solve such problems, it is necessary to install multiple cameras to three-dimensionally recognize the suction component, or to improve the recognition accuracy by introducing a three-dimensional measuring device using a laser. However, in this case, the recognition accuracy is improved, but this involves an increase in the size and cost of the apparatus, and is not a reasonable solution.
[0008]
The present invention has been made in view of the above problems, and has as its object to improve the reliability of component recognition with a simple and inexpensive configuration.
[0009]
[Means for Solving the Problems]
In order to solve the above-mentioned problems, the present invention provides a head unit including a suction head for sucking a component, and capable of moving between a component supply unit and a substrate, and imaging a suction state of the component by the suction head. A first illuminating means for illuminating the tip of the suction head from the side orthogonal to the suction surface, and a side illuminating the tip of the suction head. A second illuminating means for illuminating the light from the first illuminating means, a first optical path forming means for guiding the light from the suction head or a component sucked by the suction head to the imaging means by the illumination of the first illuminating means, and the second lighting means A second optical path forming means for guiding the light from the suction head by illumination of the means or a component sucked by the suction head to the imaging means, wherein each of the optical path forming means is provided with a common imaging means. It is intended to guide the, and those that are configured to guide the light to the different areas of the light receiving region where the imaging element of the imaging means are arranged. In the claims, "light from a suction head or a component sucked by the suction head" means reflected light or transmitted light from a component or the like due to illumination.
[0010]
According to this configuration, when the component is sucked by the suction head, for example, a bottom image of the component by the illumination of the first illumination unit is guided to the imaging unit by the first optical path forming unit, while the second illumination unit The side image of the component by the illumination is guided to the imaging unit by the second optical path forming unit. Then, each image is formed on a different one of the light receiving regions of the imaging means. Therefore, it is possible to capture images of the bottom surface and the side surface of the suction component with the common imaging unit.
[0011]
Incidentally, the imaging means as described above is usually provided with an imaging lens. In this case, the imaging means is provided on the optical axis of the imaging lens at the center of the light receiving area corresponding to the first optical path forming means. Is preferably provided.
[0012]
That is, as the significance of the component image to be imaged, the side image of the component is often used mainly for determining the presence or absence of the component at the tip of the suction head, and therefore, if the presence or absence of the component can be recognized, accurate shape recognition is required. Less is. On the other hand, since the bottom surface image of the component is used for correcting the mounting position, it is required to accurately recognize the shape of the component. Therefore, according to the above configuration, distortion is less likely to occur in the bottom surface image of the component, and the reliability of component recognition based on the bottom surface image can be improved.
[0013]
Further, as a specific configuration, each illumination unit is configured to provide illumination of a different color from each other, and a color filter that transmits only light corresponding to the illumination color of the first illumination unit is provided in the first optical path forming unit. On the other hand, it is more preferable that the second optical path forming unit is provided with a color filter that transmits only light corresponding to the illumination color of the second illumination unit.
[0014]
According to this configuration, the influence of the interference of the illumination on the image is eliminated, and it is possible to simultaneously capture the images of the bottom surface and the side surface of the component while simultaneously illuminating each illumination unit.
[0015]
Further, as another specific configuration, the imaging unit includes a linear image sensor in which the imaging elements are arranged in a main scanning direction, and relatively moves a component sucked to the suction head to move in the main scanning direction. Capturing an image at a predetermined imaging pitch in an orthogonal sub-scanning direction, wherein during capturing of an image for one line in the main scanning direction, illumination is provided only by the first illuminating means; It is more preferable to provide illumination switching control means for switching an illumination state between a state in which illumination is provided only by the means and an illumination state.
[0016]
According to the configuration using the linear image sensor as described above, since the component can be imaged while the component is relatively moved with respect to the imaging unit, the imaging process for component recognition can be performed quickly. In particular, since the illumination is switched during the capture of an image for one line in the main scanning direction, the component is moved only once in one direction with respect to the imaging means (relative movement) without being affected by the interference of the illumination. Simply by doing so, it is possible to obtain high-quality images as the bottom and side images of the component.
[0017]
On the other hand, another surface mounter according to the present invention includes a head unit that includes a suction head that suctions a component and that can move between a component supply unit and a substrate, and captures an image of a suction status of the component by the suction head. Mounting means provided with an image pickup device having an image pickup element for illuminating the tip of the suction head from the side orthogonal to the suction surface, and a first side of the suction head. A second illuminating means for illuminating the first illuminating means, a first optical path forming means for guiding light from a suction head or a component sucked by the suction head to the imaging means by the illumination of the first illuminating means; Second optical path forming means for guiding the light from the suction head or the component sucked by the suction head by the illumination of the illumination means to the imaging means, and illumination for alternately switching the illumination by the illumination means. Switching control means, an image storage means having a plurality of storage units for storing images picked up by the image pickup means, and a storage destination of the picked-up image in the image storage means for switching lighting by the lighting switching control means. Storage destination switching control means for switching correspondingly, each of the optical path forming means is configured to guide the light to a common imaging means.
[0018]
According to this configuration, when the component is sucked by the suction head, for example, a bottom image of the component by the illumination of the first illumination unit is guided to the imaging unit by the first optical path forming unit, while the second illumination unit The side image of the component by the illumination is guided to the imaging unit by the second optical path forming unit. Then, while the first and second lighting units are selectively turned on, the image storage unit in the image storage unit is switched correspondingly, so that the images of the bottom surface and the side surface of the suction component are shared. The image is taken by the imaging means.
[0019]
In this configuration, the imaging unit includes a linear image sensor in which the imaging elements are arranged in the main scanning direction, and moves the components adsorbed on the suction head in a sub-scanning direction orthogonal to the main scanning direction. An image capturing unit that captures an image at a predetermined imaging pitch, wherein the illumination switching control unit includes: a state in which illumination is performed only by the first illumination unit; It is preferable that the illumination state is alternately switched between a state where illumination is provided and a state where illumination is provided only by the means.
[0020]
According to the configuration using the linear image sensor as described above, since the component can be imaged while the component is relatively moved with respect to the imaging unit, the imaging process for component recognition can be performed quickly. In particular, by switching the illumination for each line in the main scanning direction, by moving the component only once in one direction (relative movement) with respect to the imaging means, obtaining a high-quality image as the bottom and side images of the component. Becomes possible.
[0021]
BEST MODE FOR CARRYING OUT THE INVENTION
A first embodiment of the present invention will be described with reference to the drawings.
[0022]
FIG. 1 schematically shows a surface mounter according to the present invention in a plan view. Note that the X-axis and the Y-axis are shown in FIG.
[0023]
As shown in FIG. 1, on a base 1 of a surface mounter (hereinafter, abbreviated as a mounter), a conveyor 2 for transporting a printed board is arranged in the X-axis direction, and a printed board 3 is placed on the conveyor 2. It is conveyed and stopped at a predetermined mounting work position.
[0024]
A component supply unit 4 is arranged on the side of the conveyor 2. The component supply unit 4 includes a component supply feeder, for example, a plurality of tape feeders 4a arranged in parallel in the X-axis direction.
[0025]
A head unit 5 for mounting components is provided above the base 1. The head unit 5 is movable across the component supply unit 4 and the component mounting unit where the printed circuit board 3 is located. In the present embodiment, the head unit 5 can move in the X-axis direction and the Y-axis direction.
[0026]
That is, a fixed rail 7 in the Y-axis direction and a ball screw shaft 8 driven to rotate by a Y-axis servomotor 9 are disposed on the base 1, and the head unit supporting member 11 is mounted on the fixed rail 7. Are arranged, and a nut portion 12 provided on the support member 11 is screwed to the ball screw shaft 8. The support member 11 is provided with a guide member 13 in the X-axis direction and a ball screw shaft 14 driven by an X-axis servo motor 15, and the head unit 5 is movably held on the guide member 13. A nut (not shown) provided on the head unit 5 is screwed to the ball screw shaft 14. The operation of the Y-axis servomotor 9 causes the support member 11 to move in the Y-axis direction, and the operation of the X-axis servomotor 15 causes the head unit 5 to move in the X-axis direction with respect to the support member 11. ing.
[0027]
Further, the Y-axis servo motor 9 and the X-axis servo motor 15 are provided with rotary encoders 10 and 16, respectively, so that the movement position of the head unit 5 can be detected.
[0028]
As shown in FIG. 2, the head unit 5 is provided with a suction head 20 having a nozzle 20a for picking up a component at a tip thereof. For example, in this embodiment, six suction heads 20 are arranged in the X-axis direction. Is provided.
[0029]
Each of the suction heads 20 can move up and down and rotate around the center axis of the nozzle with respect to the frame of the head unit 5, and is operated by a lifting drive mechanism and a rotation drive mechanism (not shown). The lifting drive mechanism includes, for example, an overall lifting servomotor that simultaneously moves the suction heads 20 up and down, and a predetermined number (six) of air cylinders that individually lifts and lowers each suction head 20 by a fixed stroke. By using them together, each suction head 20 is configured to be moved up and down over a predetermined raising position and lowering position. Further, the rotation drive means includes one rotation servomotor and a transmission mechanism for transmitting the rotation of the servomotor to each head.
[0030]
Note that an illumination device 30 and a mirror 31 are provided at the lower end of the head unit 5 so as to oppose each other in the Y-axis direction with a space for lifting and lowering the suction head 20 therebetween.
[0031]
The illumination device 30 provides illumination for recognizing an image of the component sucked by the suction head 20, has a plurality of LEDs as a light source, and holds the LED at a predetermined recognition height position (the position shown in FIG. 2). Transmitted illumination is applied to the component. On the other hand, the mirror 31 reflects a projection image (hereinafter, referred to as a side image) from the side of the suction component by the illumination of the illumination device 30 and guides it toward directly below (the base side).
[0032]
The illuminating device 30 and the mirror 31 are both provided in the direction in which the suction heads 20 are arranged. With this configuration, the side images of the components sucked by the suction heads 20 are respectively guided to the base side. ing.
[0033]
An image pickup unit 25 for recognizing a component sucked by each suction head 20 of the head unit 5 prior to mounting on the printed circuit board 3 is further provided beside the component supply unit 4.
[0034]
The imaging unit 25 is fixedly disposed on the base 1 and includes a camera 26 for imaging a component (adsorption component) adsorbed by the adsorption head 20 and an illumination unit 27 for providing illumination for imaging the component. ing.
[0035]
The camera 26 is a camera provided with a linear image sensor L (line sensor; see FIG. 4) in which a plurality of imaging elements are arranged in a line, and is arranged horizontally on the base 1 so that the imaging elements are arranged vertically. By moving the head unit 5 in a direction (sub-scanning direction; X-axis direction) orthogonal to the arrangement direction (main scanning direction) of the imaging elements, the suction head 20 reflected by the mirrors 34 and 35 described below is moved. The main scanning direction images of the sucked components are sequentially captured in the sub-scanning direction.
[0036]
The lighting unit 27 includes a lighting device 28 and mirrors 34 and 35 for guiding an image of the suction component to the camera 26.
[0037]
The illumination device 28 includes a main illumination 28a disposed above the illumination unit 27 and a sub illumination 28b disposed at the bottom of the illumination unit 27. The main illumination 28a is provided with a number of LEDs as a light source on the inner surface of an inverted dome-shaped frame having an opening at the center as shown in the figure, and is located at a predetermined imaging position above the illumination unit 27 (the position shown in FIG. 2). It is configured to illuminate a certain suction component obliquely from below. On the other hand, the sub-illumination 28b is located directly below the central opening of the main illumination 28a, is provided with a large number of LEDs as a light source, and provides illumination to the suction component at the imaging position from directly below. ing.
[0038]
One of the mirrors 34, 35 is disposed directly below the central opening of the main illumination 28 a and directly above the sub-illumination 28 b, and is a reflection light of the suction component by the illumination device 28. That is, the bottom surface image of the suction component is refracted by 90 ° and guided to the camera 26. The mirror 34 is constituted by a so-called half mirror, and can transmit the illumination when the main illumination 28a is turned on. On the other hand, the mirror 35 on the other side is arranged at a position slightly higher than the mirror 34 on the one side. The mirror 35 is disposed so as to be located directly below the mirror 31 of the head unit 5 when recognizing components, and further refracts a side image of the suction component guided by the mirror 31 to guide the side image to the camera 26. Is configured.
[0039]
These mirrors 34 and 35 are provided with their reflection surfaces parallel so as to guide the images in parallel with each other. As a result, the images guided by the mirrors 34 and 35 are different from each other in the linear image sensor L. It is configured to form an image on an area. With this configuration, the camera 26 can simultaneously capture a side image of the suction component guided by the mirrors 31 and 35 and a bottom image of the suction component guided by the mirror 34. That is, in this embodiment, the first illuminating means of the present invention is provided by the illuminating device 28, the second illuminating means of the present invention is provided by the illuminating device 30, the first optical path forming means is provided by the mirror 34, and the like, and the mirrors 31 and 35 are provided. The second optical path forming means is constituted respectively.
[0040]
The camera 26 has a built-in imaging lens 26a that forms an image guided by the mirrors 34 and 35 on the linear image sensor L. As schematically shown in FIG. In 26, the center of the imaging lens 26a is configured to coincide with the center of the imaging region Pd1 of the image guided by the mirror 34 in the linear image sensor L. That is, the optical axis of the camera 26 is set so as to pass through the center of the imaging region Pd1. Note that Pd2 indicates an image forming area of an image guided by the mirror 31.
[0041]
FIG. 3 is a block diagram showing a control system of the mounting machine. The mounting device is a control device 40 including a well-known CPU for executing a logical operation, a ROM for storing various programs for controlling the CPU in advance, and a RAM for temporarily storing various data during operation of the apparatus. have.
[0042]
The control device 40 includes a main control unit 41, an illumination control unit 42, a camera control unit 43, a timing generation unit 44, an image processing unit 45, and an axis control unit 46 as functional configurations. The main controller 41 is connected to an input unit (not shown) for inputting various information such as a control program.
[0043]
The main control unit 41 controls the operation of the mounting machine in a comprehensive manner, and controls the driving of the servomotors 9 and 15 via the axis control unit 46 to operate the head unit 5 and the like according to a program stored in advance. I do. In addition, based on the component image picked up by the image pickup unit 25, the presence / absence detection of the component suction by the suction head 20 and the calculation of the suction shift amount are performed, and the head unit 5 and the like are controlled according to the result. .
[0044]
The illumination control unit 42 controls the illumination device 30 of the head unit 5 and the illumination device 28 of the imaging unit 25, respectively.
[0045]
The timing generation section 44 outputs an image capture timing signal to the camera control section 34, and converts a pulse signal output from the encoder 16 of the X-axis servo motor 15 at a frequency division ratio corresponding to a predetermined imaging pitch. The frequency is divided, and a timing signal is output to the camera control unit 34 at that timing. The camera control unit 34 captures an image in the sub scanning direction in synchronization with the timing signal (the image data is transmitted to the image processing unit 45). Output).
[0046]
Note that this timing signal is also output to the illumination control unit 42, and the illumination control unit 42 switches the illumination state in synchronization with the timing signal. Specifically, as shown in FIG. 5, at the same time when the timing signal is output and the capture of one line of the image in the main scanning direction by the camera 26 is started, only the illumination device 28 is turned on (time t0; After a certain period of time, the lighting device 28 is turned off and the lighting device 30 is turned on (time t1; second lighting condition). In this way, the driving of the illumination devices 28 and 30 is controlled so as to switch between the first illumination state and the second illumination state while capturing an image for one line in the main scanning direction. In this embodiment, the timing generation unit 44 and the illumination control unit 42 constitute an illumination switching control unit according to claim 4 of the present invention (indicated by reference numeral 47 in FIG. 3).
[0047]
The image processing unit 45 performs predetermined processing on an image signal output from the camera 26 to generate image data suitable for component recognition.
[0048]
Next, the mounting operation under the control of the control device 40 will be described together with its operation.
[0049]
First, preparation processing for component recognition is performed prior to the mounting operation. This process is a process for obtaining data necessary for image recognition of a suction component, specifically, a position on the image of the tip of the suction head 20 (nozzle 20a) and an image scale. It is determined according to the flowchart shown.
[0050]
First, the head unit 5 is disposed above the imaging unit 25, and the suction head 20 is positioned at a predetermined imaging position, that is, the X axis, Y axis, and Z axis (height The suction head 20 is arranged at a predetermined position in the direction, and a side image of the tip of the nozzle 20a is captured in this state (step S1). Specifically, the illuminating device 28 is turned on, and the projected image (side image) of the nozzle 20a is guided to the camera 26 via the mirrors 31 and 35 to be imaged.
[0051]
Next, after the lower end position of the nozzle is determined based on the side image of the nozzle 20a, the suction head 20 is moved up and down by a predetermined amount (+ α), and the lower end position of the nozzle at that position is determined based on the side image. Is obtained (steps S2 to S4).
[0052]
Then, an image scale is determined from the suction head driving amount (elevation movement amount) at that time and the difference between the nozzle lower end positions determined in steps S2 and S4 (step S5), and the image scale and the nozzles determined in step S2 are determined. Data relating to the lower end position is stored in a storage unit (not shown) of the control device 40 (step S6). Thus, the preparation processing ends.
[0053]
When the preparation process ends, the mounting operation starts. First, the head unit 5 moves to the component supply unit 4, and the components are sucked from the tape feeder 4a by the suction heads 20. When the suction of the components is completed, the head unit 5 moves onto the imaging unit 25 and moves relative to the camera 26. Specifically, as shown by an arrow in FIG. 1, the head unit 5 moves from one side in the X-axis direction to the other side with respect to the imaging unit 25. Thus, the components sucked by each suction head 20 of the head unit 5 are sequentially imaged by the camera 26 of the imaging unit 25.
[0054]
More specifically, when the component sucked by the suction head 20 is illuminated from below by the illumination device 28, the illumination light is reflected on the bottom surface of the component, and the reflected light is reflected by the camera via the mirror 34. On the other hand, when the illumination device 30 illuminates the suction component from the side by the illumination device 30, of the illumination light, the light transmitted through the component is guided to the camera 26 via the mirrors 31 and 35. As a result, as shown in FIG. 8, an image in which the bottom surface image Ia and the side surface image Ib of the suction component are arranged side by side is captured (in FIG. 8, the symbol C indicates the suction component). At this time, as described above, the illumination control unit 42 sets the first illumination state in which only the illumination device 28 is turned on during the capture of an image for one line in the main scanning direction and the second illumination state in which only the illumination device 30 is turned on. The sequential switching prevents the illumination devices 28 and 30 from interfering with each other. Therefore, a clear image with good lighting conditions can be obtained as an image of each component.
[0055]
When each of the suction components is imaged by the camera 26, recognition of the suction component is performed based on the image data (side image and bottom image) of each of the captured components and the data regarding the image scale and the nozzle lower end position obtained in the preparation processing. (Detection of a suction error of component and a shift of suction) is performed.
[0056]
For example, the detection of a component suction error is performed according to the procedure shown in the flowchart of FIG. First, data relating to the image scale, nozzle position, and component thickness is read (step S10). The data relating to the component thickness is read out from a mounted component list previously input and stored by the operator.
[0057]
Next, after the lower end position (calculated value) of the component on the image is obtained from each of these data, the lower end position (actually measured value) of the suction component is obtained based on the acquired side image data. The difference is obtained (steps S11 to S13).
[0058]
Then, it is determined whether or not the difference is within the tolerance (step S14). If it is determined that the difference is within the tolerance, the flowchart is terminated assuming that the components are normally sucked.
[0059]
On the other hand, if it is determined in step S14 that the component is out of the tolerance, the operator is notified that a component suction error has occurred (step S15), and then this flowchart ends. For example, when the component is not sucked, the lower end position of the nozzle is erroneously recognized as the lower end position of the component in step S12. As a result, the tolerance becomes negative by the thickness of the component, and as a result, the difference between the calculated value and the measured value is reduced. Is out of the tolerance, and a suction error of the component is detected.
[0060]
Note that the detection of the suction deviation is not particularly described with reference to a flowchart. For example, the center position of the component and the inclination of the component with respect to the center position are obtained based on the bottom image of the component. The suction shift of the component in the X and Y axis directions is obtained from the theoretical nozzle center position, and the suction shift of the component in the R axis direction (around the nozzle center) is obtained from the inclination of the component.
[0061]
When the component recognition is completed, the drive of the head unit 5 is controlled according to the result. In other words, if a component has a suction shift, the head unit 5 is driven and controlled based on the shift amount, so that the component is mounted on the printed circuit board 3 with the suction shift corrected. It becomes. This completes a series of mounting operations. If there is a suction head 20 in which a suction error has occurred, the operator is notified of the occurrence of the suction error as described above. Then, after this mounting process, a recovery operation is performed by, for example, an operator's operation.
[0062]
As described above, in this mounting machine, a side surface image is taken in addition to a bottom surface image of a suction product, and component recognition before mounting is performed based on these two types of images. Even in the case where a component whose size (outer diameter) does not change so much is mounted, the presence / absence determination of the component (suction error detection) can be reliably performed.
[0063]
In addition, the configuration is such that two types of component images having different directions can be simultaneously captured by the common camera 26 depending on the combination of the illumination arrangement and the mirror as described above. With the simple and inexpensive configuration used, images of the bottom surface and the side surface of the suction product can be taken. Therefore, there is an effect that the suction component can be more accurately recognized with a simple and inexpensive configuration.
[0064]
In component recognition, the first illumination state and the second illumination state are sequentially switched during capture of an image for one line in the main scanning direction as described above, thereby preventing interference between illuminations. Therefore, while simultaneously capturing the side image and the bottom image, these images can be obtained clearly. Therefore, as a result of performing component recognition based on such a clear image, component recognition can be performed accurately.
[0065]
In addition, in this mounting machine, the center of the imaging lens 26a of the camera 26 is configured to coincide with the center of the imaging region Pd1 of the image guided by the mirror 34 in the linear image sensor L (imaging). Since the optical axis of the camera 26 is set so as to pass through the center of the image area Pd1, the component recognition based on the bottom surface image (especially the detection of the adsorption displacement) can be performed while capturing images from two directions as described above. Another advantage is that it can be performed accurately. In other words, an image formed on the linear image sensor L by the imaging lens 26a is more likely to be distorted as its periphery, that is, as it deviates from the optical axis of the imaging lens 26a. Therefore, when the optical axis of the camera 26 is set so as to pass through the center of the linear image sensor L, it is possible that both the side image and the bottom image are distorted. On the other hand, if the configuration is such that the optical axis is shifted as in the above embodiment, at least the bottom image of the suction component is less likely to be distorted, and therefore, it is possible to accurately detect the suction shift based on the bottom image. It becomes possible.
[0066]
Note that shifting the optical axis as described above makes the side image of the component easily distorted when viewed from the contrary. However, since the side image of the component is used for the determination of the suction error as described above, that is, the presence / absence of the component, the presence / absence of the component can be recognized and accurate shape recognition is not particularly necessary. The effect of distortion on recognition is small. Therefore, according to the above-described camera configuration, component recognition can be accurately performed with a reasonable configuration.
[0067]
In the surface mounter of the first embodiment described above, the following configuration can be adopted as a modification.
{Circle around (1)} For example, the illuminating devices 28 and 30 are configured to provide illuminations of different colors from each other, and correspond to the illuminating colors of the illuminating device 28 on the optical path for guiding the bottom surface image, for example, as shown by broken lines in FIG. The color filter 37 that transmits only light may be provided, while the color filter 36 that transmits only light corresponding to the illumination color of the illumination device 30 may be provided on the optical path that guides the side image. According to such a configuration, it is possible to further reduce the influence on the image due to the interference of the illumination light, and it is possible to perform component recognition more accurately.
[0068]
In the case of this configuration, it is possible to turn on the illumination devices 28 and 30 at the same time to image the component, but the first illumination state and the second illumination state may be changed during capturing of an image for one line in the main scanning direction. If the configuration according to the first embodiment described above is sequentially used, good images suitable for component recognition can be obtained.
{Circle around (2)} In the first embodiment, a configuration is adopted in which a projection image is obtained as a side image of a component by giving transmissive illumination to the component, but, of course, a reflection image is obtained as a side image. May be. In this case, for example, the illuminating device 30 may be arranged on the opposite side of the suction head 20 across the mirror 31 (the right side of the mirror 31 in FIG. 2), and the mirror 31 may be constituted by a half mirror.
{Circle around (3)} An illuminating device may be provided which provides transmitted illumination downward from behind the component sucked by the suction head 20 to capture a projected image of the suction component. For example, in the case of a component that has many irregularities on the component bottom surface and is likely to cause irregular reflection, component recognition can be performed accurately by performing component recognition based on the projected image.
{Circle around (4)} In the first embodiment, the camera 26 having the linear image sensor L is applied as the imaging means. However, a camera having an area image sensor can be applied. In this case, the first illumination state and the second illumination state may be switched at a certain timing while the suction component is stationary above the imaging unit 25. When the area image sensor is used, it is not necessary to set the timing of capturing an image by the camera 26 or the timing of switching the illumination in relation to the imaging pitch, so that the timing generator 44 in the control device 40 shown in FIG. It becomes unnecessary.
[0069]
Next, a second embodiment of the surface mounter according to the present invention will be described. FIG. 9 is a schematic view illustrating components extracted from the surface mounter according to the second embodiment relating to component recognition. Note that the basic configuration of the surface mounter according to the second embodiment is substantially the same as that of the first embodiment, and therefore, in the following description, the same reference numerals are given to the configurations common to the first embodiment. The description will be omitted, and only the differences from the first embodiment will be described in detail.
[0070]
The first embodiment described above is configured to simultaneously capture both images by forming side images and bottom images of the suction component C on mutually different areas of the linear image sensor L (on the image sensor array). However, in the second embodiment, the imaging unit 25 and the like are configured to form these images on a common area of the linear image sensor L. Specifically, instead of the mirror 35, a half mirror 34a for guiding the light (side image of the suction component C) from the mirror 31 to the center of the camera 26 is provided between the camera 26 and the mirror 34. . The mirror 34 is also arranged so that the reflected light (bottom image of the suction component C) from the bottom surface of the suction component C can be guided to the center of the camera 26. In the second embodiment, the center of the imaging lens 26a is configured to coincide with the center of the linear image sensor L (the optical axis of the camera 26 is set to pass through the center of the linear image sensor L). ing).
[0071]
The illumination control unit 42 is configured to switch the illumination state for each line in the main scanning direction in synchronization with a timing shing signal output from the timing generation unit 44. That is, as shown in FIG. 10, at the same time as the timing signal is output and the capture of one line of the image in the main scanning direction by the camera 26 is started, only the illuminating device 28 is turned on for a certain time to set the first illuminating state ( At time t0), when the next timing signal is output, only the illuminating device 30 is turned on for a certain period of time to be in the second illumination state (time t1). The driving of the lighting devices 28 and 30 is controlled so as to alternately switch between the lighting state and the lighting state. In the present embodiment, the timing switching unit 44 and the illumination control unit 42 constitute an illumination switching control unit according to claim 6 of the present invention.
[0072]
Although not shown, the image processing section 45 is provided with two types of image memories, an image memory for storing a bottom image of the suction component C and an image memory for storing a side image. The storage destination of the image data output from the camera 26 is switched in synchronization with the switching of the illumination time due to. In the example of FIG. 10, the image data is stored in an image memory that stores a bottom image when the signal is a high signal, and the image data is stored in an image memory that stores a side image when the signal is a low signal. In the present embodiment, the image processing unit 45 is configured to also serve as the storage destination switching control unit of the present invention.
[0073]
According to the mounting machine of the second embodiment, at the time of component recognition, the illumination control unit 42 switches the illumination state for each line in the main scanning direction, and synchronously switches the image memory. For example, the first one line is set to the first illumination state in which only the illumination device 28 is turned on, thereby capturing a bottom image of the suction component and storing the image data in the bottom image memory. Then, the next one line is set to the second illumination state in which only the illumination device 30 is turned on, whereby a side image of the suction component is captured, and the image data is stored in the image memory for the side image. In this manner, the bottom surface image and the side surface image of the suction component are alternately taken for each line in the main scanning direction, and these image data are stored in separate image memories. The bottom image Ia and the side image Ib of the suction component C are obtained.
[0074]
Then, based on the bottom image Ia and the side image Ib, recognition of the suction component (detection of a component suction error and a suction shift) is performed.
[0075]
Also in the configuration of the second embodiment as described above, the side image and the bottom image of the suction component can be simultaneously obtained using the common camera 26. Therefore, similarly to the first embodiment, there is an effect that the suction component can be accurately recognized with a simple and inexpensive configuration. By the way, in the second embodiment, since the side image and the bottom image of the suction component are alternately switched and imaged for each line in the main scanning direction, image quality and reliability are concerned. By setting the imaging pitch in the sub-scanning direction extremely short in consideration of the moving speed of the component with respect to the imaging unit 25 at the time, it is possible to obtain a component image at a level comparable to that of the first embodiment.
[0076]
The specific configuration of the mounting machine of the second embodiment can also be changed as appropriate without departing from the gist of the present invention. For example, the modified example (1) described in the description of the first embodiment Regarding to (4), the same applies to the second embodiment.
[0077]
【The invention's effect】
As described above, the surface mounter according to the present invention is configured such that two types of component images, that is, a side image and a bottom image, for example, of the component sucked by the suction head can be captured by the common imaging unit. With a simple and inexpensive configuration using a single image pickup means, it is possible to more accurately recognize the suction state of components.
[Brief description of the drawings]
FIG. 1 is a schematic plan view showing a surface mounter according to the present invention.
FIG. 2 is a side view (partially sectional view) showing an imaging unit and a head unit during component recognition (first embodiment).
FIG. 3 is a block diagram showing a control system (mainly a part related to component recognition) of the surface mounter.
FIG. 4 is a schematic diagram illustrating a relationship between a linear image sensor and an optical axis.
FIG. 5 is a timing chart illustrating illumination switching control.
FIG. 6 is a flowchart illustrating a procedure of a preparation process performed prior to a mounting operation.
FIG. 7 is a flowchart illustrating a procedure of component recognition (suction error detection) processing.
FIG. 8 is a schematic diagram showing an image acquired at the time of component recognition.
FIG. 9 is a schematic diagram illustrating an imaging unit and a head unit during component recognition (second embodiment).
FIG. 10 is a timing chart illustrating switching control of illumination and switching control of an image memory.
FIG. 11 is a schematic diagram showing an image acquired at the time of component recognition.
[Explanation of symbols]
5 Head unit
20 Suction head
20a nozzle
25 Imaging unit
26 camera (imaging means)
26a imaging lens
27 Lighting unit
28 Lighting device (first lighting means)
30 Lighting device (second lighting means)
31, 34, 35 mirror

Claims (6)

A head unit having a suction head for sucking a component and movable between a component supply unit and a substrate; and a surface having an imaging unit having an imaging element for imaging a state of suction of the component by the suction head. In the mounting machine,
First illuminating means for illuminating the tip of the suction head from a side perpendicular to the suction surface, and second illuminating means for illuminating the tip of the suction head from the side thereof;
A first optical path forming means for guiding the light from the suction head or the component sucked by the suction head by the illumination of the first illumination means to the imaging means; and a suction head by the illumination of the second illumination means or the suction head. A second optical path forming means for guiding light from the component adsorbed to the image pickup means,
Each of the light path forming means guides light to a common image pickup means, and is configured to guide light to a different one of light receiving areas in which image pickup devices of the image pickup means are arranged. And surface mounter. The surface mounter according to claim 1,
The image pickup means has an image forming lens, and a center of a light receiving area corresponding to the first optical path forming means is provided on an optical axis of the image forming lens. The surface mounter according to claim 1 or 2,
The illuminating units are configured to provide different colors of illumination, and the first optical path forming unit is provided with a color filter that transmits only light corresponding to the illumination color of the first illuminating unit, while the second optical path A surface mounter, wherein a color filter that transmits only light corresponding to the illumination color of the second illumination means is provided in the forming means. The surface mounter according to claim 1,
The imaging means comprises a linear image sensor in which the imaging elements are arranged in a main scanning direction, and a predetermined imaging pitch is set in a sub-scanning direction orthogonal to the main scanning direction by relatively moving a component adsorbed by the suction head. To capture the image with
An illumination switching control unit that switches an illumination state between a state in which illumination is performed only by the first illumination unit and a state in which illumination is performed only by the second illumination unit during capturing of an image for one line in the main scanning direction. A surface mounting machine. A head unit having a suction head for sucking a component and movable between a component supply unit and a substrate; and a surface having an imaging unit having an imaging element for imaging a state of suction of the component by the suction head. In the mounting machine,
First illuminating means for illuminating the tip of the suction head from a side perpendicular to the suction surface, and second illuminating means for illuminating the tip of the suction head from the side thereof;
A first optical path forming means for guiding the light from the suction head or the component sucked by the suction head by the illumination of the first illumination means to the imaging means; and a suction head by the illumination of the second illumination means or the suction head. Second optical path forming means for guiding light from the component adsorbed to the image pickup means,
Lighting switching control means for alternately switching the lighting by each of the lighting means,
An image storage unit having a plurality of storage units and storing an image captured by the imaging unit;
Storage destination switching control means for switching a storage destination of the captured image in the image storage means in accordance with switching of illumination by the illumination switching control means,
The surface mounter, wherein each of the optical path forming units is configured to guide the light to a common imaging unit. The surface mounter according to claim 5,
The imaging means comprises a linear image sensor in which the imaging elements are arranged in a main scanning direction, and a predetermined imaging pitch is set in a sub-scanning direction orthogonal to the main scanning direction by relatively moving a component adsorbed by the suction head. To capture the image with
The illumination switching control means alternately switches an illumination state between a state in which illumination is provided only by the first illumination means and a state in which illumination is provided only by the second illumination means every time an image of one line in the main scanning direction is captured. A surface mounting machine characterized by switching.

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