JP2005101586A - Apparatus for correcting electronic component suction position in electronic component mounting machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an apparatus for correcting an electronic component suction position in an electronic component mounting machine for sucking an electronic component at a suitable position that is sequentially fed out by a tape feeder or the like. <P>SOLUTION: The apparatus includes a tape feeder 10 for pitch-feeding an electronic component housed in a component housing hole of a tape, a camera 8 provided on a mount head 6 for identifying the component housing hole of the tape, a CPU for calculating the displacement between the prerecorded central standard position and the central position calculated by the identified image of the camera 8 of the component housing hole of the tape, and a display 12 for displaying the central reference position and the image of the component housing hole. The correction of the electronic component suction position is made possible, based on the central reference position in the display 12 and the displayed result of the central position of the component housing hole. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

The present invention relates to an electronic component suction correction device in an electronic component mounting machine for sucking electronic components sequentially delivered by a tape feeder or the like at an appropriate position.

Conventionally, as an apparatus for mounting electronic components on a substrate, the electronic components supplied by a tape feeder as a component supply unit are sucked by a suction nozzle provided in the mounting head, transferred to the substrate, and mounted on the substrate. As a mounting machine, an electronic component mounting machine that recognizes an electronic component in a tape storage hole in a tape feeder and sucks it at the center of gravity of the electronic component is known.
Japanese Patent Laid-Open No. 1-155698

However, in the case of the above-mentioned Patent Document 1, since the center position of the electronic component is recognized and the suction position is corrected, all the electronic components must be imaged and corrected, which takes time for mounting and decreases the production amount. There was a problem that led to.

The problem of the present invention is that even if there is a shift in the suction position of the electronic component caused by variations in pitch between feed holes provided in the tape attached to the tape feeder, variations in distance between the feed holes and component storage holes, etc. Another object of the present invention is to provide an electronic component suction position correction device capable of stably sucking an electronic component at the center of the component storage hole.
A further problem of the present invention is that an electronic component suction position correction apparatus that can accurately and accurately correct the electronic component suction position in a short time without the need for imaging correction of all electronic components as compared with the conventional device described above. Is to provide.

In order to solve the above problems, the invention according to claim 1 is a tape feeder for pitch-feeding electronic components stored in the component storage holes of the tape;
A suction head having a plurality of suction nozzles for sucking the electronic components and mounting them on a substrate;
A recognition camera provided on the suction head and recognizing the component storage hole of the tape;
Obtaining the center position of the component storage hole from the detection image of the component storage hole by the camera,
A controller that calculates a positional deviation between the center reference position of the component storage hole and the central position of the component storage hole, and changes a suction position coordinate of the suction nozzle based on a calculation result of the positional shift;
A storage device for storing the amount of positional deviation is provided.
According to a second aspect of the present invention, in the first aspect of the present invention, a display device for displaying a center reference position of the component storage hole of the tape stored in advance and a detection image of the component storage hole by the camera, and a control Switch means for inputting a command to change the suction position coordinates of the suction nozzle by the unit.
According to the invention of claim 3, in the invention of claim 1, the center position of the component storage hole is detected from the edge.
According to the invention described in claim 4, in the invention described in claim 1, the center position of the component storage hole is imaged in advance, and the center position is detected by pattern matching from the image data.
According to the fifth aspect of the invention, instead of correcting the suction position by the suction nozzle, by moving and correcting the tape of the tape feeder, it is possible to accurately pick up the parts without correcting the suction position. It is.

According to the first to fifth aspects of the present invention, when the tape component is replaced, the electronic component mounting machine recognizes the center position of the tape component storage hole by the camera and shifts from the center reference position of the tape. By calculating and correcting this, even if there are variations in the stopping position of each tape, the electronic component can be held in the center of the component storage hole of the tape in a short time and efficiently.

Hereinafter, embodiments of the present invention will be described with reference to FIGS.
FIG. 1 is a schematic view of an electronic component mounting machine equipped with a suction position correcting device according to the present invention. The electronic component mounting machine 1 includes a board conveyance path 3 extending in the left-right direction at the center and the electronic component mounting machine 1. A component supply unit 2 arranged at the front part and an XY transfer unit 5 arranged across the board conveyance path 3 on the electronic component mounting machine 1
It has.

The XY transfer unit 5 is mounted with a suction head 6 for sucking and mounting the electronic component C on the substrate P, and the suction head 6 can move in the vertical direction and can be rotated in the axial direction. A nozzle 7 is provided.
Further, the suction head 6 is provided with a recognition camera 8 that recognizes a substrate mark (not shown) provided on the substrate P moving on the substrate transport path 3 from above.
A component recognition camera 9 that recognizes the electronic component C from below is located at the side of the component supply unit 2.
Is arranged. And the control part 19 is arrange | positioned in the lower peripheral part of the electronic component mounting machine 1. FIG.

In this electronic component mounting machine 1, the suction head 6 is moved in the XY direction by the XY transfer unit 5.
A desired electronic component 11C is sucked from the electronic component storage hole 11 of the tape 10A (see FIG. 2) of the plurality of tape feeders 10 in which the suction head 6 is mounted on the component supply unit 2.
Next, the electronic component 11C is transferred to the position of the component recognition camera 9 for position recognition, and the suction head 6 is further transferred to a predetermined position on the substrate P, and a substrate mark (not shown) provided on the substrate P by the recognition camera 8 is detected. Is recognized and the board position is obtained, and then the electronic component is mounted on the board P.

Next, the electronic component suction position correction apparatus of the present invention will be described.
The electronic component suction position correcting apparatus according to the present invention sucks and mounts the electronic component 11C on the substrate P by feeding the electronic component 11C stored in the component storage hole 11 of the tape 10A. A suction head 6 having a plurality of suction nozzles 7, a recognition camera 8 provided on the suction head 6 for recognizing the component storage hole 11 of the tape 10A, and an electronic tape 10A stored in advance in a display device 12 such as a CRT. The position of the center reference position 11 </ b> A of the component storage hole 11 is displayed as a mark, and a captured image of the electronic component storage hole 11 by the recognition camera 8 is displayed. Then, the positional deviation between the center reference position 11A (see FIG. 4) of the electronic component storage hole 11 of the tape 10A stored in advance and the center position 11B of the electronic component storage hole 11 obtained from the detection image by the recognition camera 8 is calculated. To do. Subsequently, a control unit 19 (see FIG. 5) that outputs a command for changing and correcting the coordinates of the center reference position 11A of the electronic component storage hole 11, and a storage device 29 (see FIG. 5) that stores the positional deviation amount. , And switch means 13 for inputting a command to change the suction position coordinates of the suction nozzle by the control unit 19.

Although the recognition camera 8 is a board recognition camera, a recognition camera for taking an image exclusively for the component storage holes may be provided in the suction head 6.
The switch means 13 may be used together with the keyboard 20 instead of the dedicated button switch.
Further, instead of the change command of the suction position coordinate by the switch means 13, when there is a position shift by a program from the control unit 19, a change command may be automatically output and automatically updated.

Next, the operation will be described with reference to the flowchart of FIG.
The tape feeder 10 is attached to the component supply unit 2 to replace the tape component (step 1). When the tape 10A is replaced, in the tape feeder 10 as shown in FIG. 4, there is a misalignment between the center reference position 11A of the component storage hole 11 of the tape 10A stored in advance and the center position 11B of the actual component storage hole 11. It may have occurred.

  For this reason, first, the recognition camera 8 provided in the suction head 6 moves to the center reference position of the component storage hole 11 stored in advance on the tape 10A (step 2). Next, the illumination device provided in the recognition camera 8 is turned on (step 3), and the component storage hole 11 is imaged (step 4). The illumination at this time is illuminated with an illumination pattern in which the edge portion of the component storage hole 11 is most emphasized by preset optimum illumination (not shown). Next, the component storage hole 11 is imaged by the recognition camera 8, and this imaging screen is displayed on the CRT screen and the center reference position 11A of the component storage hole 11 stored in advance is displayed (step 5).

Here, the operator visually determines whether the mark indicating the center reference position 11A of the component storage hole 11 coincides with the center position 11B of the component storage hole 11 on the imaging screen of the component storage hole 11. If they match, the center reference position 11A stored in advance is regarded as the suction position 11B, and the routine proceeds to a normal suction operation procedure (NO in step 6).
If they do not match, the operator presses switch means 13 (YES in step 6).
The CPU calculates the center position 11B of the component storage hole 11 from the detected image of the component storage hole 11, and additionally displays the center position on the CRT (step 7).

The detection of the center position 11B of the component storage hole 11 detects an edge from the shade of each side of the component storage hole 11, calculates a straight line by the least square method of each side from the edge position of each side, calculates four intersections, This is performed by a detection method for obtaining the center position 11B of the component storage hole 11 from the average of the four points. Moreover, it replaces with this detection method, and the detection method which calculates | requires the center of the component storage hole 11 by the gravity center calculation based on the area of the component storage hole 11 from edge data. Alternatively, when the size of the component storage hole 11 is known in advance, pattern data of the component storage hole 11 is registered, and the center position 11B of the component storage hole 11 is obtained by pattern matching. May be adopted.

Next, the control unit 19 compares the reference center position 11A of the component storage hole 11 stored in advance with the center position 11B of the component storage hole 11 detected from the detection image of the component storage hole 11 captured by the recognition camera 8. Calculate the displacement.
The control unit 19 changes the coordinates of the reference center position 11A as the suction position coordinates (step 8). The controller 19 retracts the recognition camera 8 from above the component storage hole 11 and then moves the suction head 6 to move the suction nozzle above the electronic component.
After that, when an operation command for the mounting machine is issued, the suction nozzle 7 is moved from the control unit 19 to the suction head 6 based on the coordinates of the reference center position 11A as the suction position correction coordinates based on the previously calculated positional deviation amount. The suction nozzle 7 is then lowered by the Z-axis motor 21 to suck the component C, and then lifts to take out the electronic component from the component storage hole 11.
In this state, the position of the component C is recognized by the recognition camera 9 (implemented by a known method), transferred to the board to be mounted, and the electronic component is mounted.

(Embodiment 2)
Next, an embodiment of the invention described in claim 5 will be described.
According to the fifth aspect of the present invention, in the first to fourth aspects of the present invention, the reference center position of the previously stored component storage hole calculated by the control unit and the component imaged by the recognition camera 8 Instead of using the displacement amount of the center position of the component storage hole detected from the detection image of the storage hole for the movement correction of the suction nozzle, this positional shift amount is used for the movement correction of the tape near the suction portion in the tape feeder. It is an invention.
For this reason, the configuration of the invention according to claim 5 is different from the configuration of the invention according to claims 1 to 4 in the configuration of the tape feeder and the portion that controls the suction nozzle according to the amount of misalignment. Since the configuration of is the same, detailed description thereof is omitted.

FIG. 6 is a perspective view of a principal part showing a tip portion of the tape feeder 46 according to the embodiment of the present invention.
(This feeder places the control signal terminal 45 side on the board conveyance path 3 side of the electronic component mounting machine 1 in FIG. 1)
In FIG. 6, 34 is a base at the tip of the tape feeder, and 35 is a tape guide provided on the base 34 and is supported on the base 34 so as to be movable in a direction perpendicular to the tape feeding direction.
A tape feed orthogonal motor 36 is installed on the base 34, and this tape feed orthogonal motor 36.
Is provided with a ball screw 37.
A ball screw nut 38 is fitted to the ball screw 37, and the ball screw nut 38 is fixed to the lower surface of the tape guide 35.
A tape pitch feed motor 39 is provided on the lower surface of the tape guide 35. The tape pitch feed motor 39 is provided with a sprocket 40, and a part thereof is configured to be exposed on the guide surface of the tape guide 35.
Reference numeral 41 denotes an electronic component tape in which a component storage hole 42 for storing an electronic component is formed, and a hole 44 that meshes with the feed pin 43 of the sprocket 40 is formed on the side.
Reference numeral 45 denotes a control signal terminal for receiving a control signal from the control unit on the mounting apparatus side.
FIG. 8 is a control block diagram in which a tape feed orthogonal motor 36, a tape pitch feed motor 39, and a control signal terminal 45 are added to FIG. 5 "control block diagram of the embodiment of the present invention".

Next, the operation of the embodiment of the invention described in claim 5 will be described.
The operation will be described with reference to FIG. 7 “Flowchart of suction position correction according to another embodiment of the present invention”.
A tape feeder is attached to the component supply unit to replace the tape component (step 11).
In the tape feeder, there may be a misalignment between the center reference position of the tape component storage hole 42 stored in advance and the actual center position of the component storage hole 42.

For this reason, first, the recognition camera 8 provided on the suction head 6 moves to the center reference position of the component storage hole 42 stored in advance on the tape 41 (step 12). Next, the illumination device provided in the recognition camera 8 is turned on (step 13), and the component housing hole 42 is irradiated. The illumination at this time is illuminated with an illumination pattern in which the edge portion of the component storage 42 is most emphasized by a preset combination of illumination. Next, the component storage hole 42
Is picked up by the recognition camera 8 (step 14), and this picked-up image is displayed on the CRT screen and the center reference position 42C (corresponding to the position 11A in FIG. 4) stored in advance is synthesized and displayed. Is done.

The control unit calculates the center position 42D (corresponding to the position 11B in FIG. 4) of the component storage hole 42 from the detected image of the component storage hole 42, and displays the center position on the CRT 12. (Step 15)
Here, it is determined whether or not the center reference position 42C and the center position 42D match (step 16). If they match (No in step 16), the process ends with no correction of the suction position.
If they do not match, the suction position is corrected (Yes in step 16), the coordinates of the center reference position D are calculated, stored in the storage device 29, and displayed on the CRT 12 (step 17).
The detection of the center position 42D of the component storage hole 42 detects an edge from the shade of each side of the component storage hole 42,
The detection is performed by obtaining a straight line by the least square method of each side from the edge position of each side, calculating four intersections, and determining the center position of the component storage hole 22 from the average of the four points. Moreover, it replaces with this detection method, and the detection method which calculates | requires the center of the component storage hole 42 by the gravity center calculation based on the area of the component storage hole 42 from edge data. Alternatively, when the size of the component storage hole 42 is known in advance, pattern data of the component storage hole 42 may be registered, and a detection method for obtaining the center of the component storage hole 42 by pattern matching may be employed.

Next, it is determined whether the correction on the tape feeder side or the suction head is corrected (step 18). When the suction head is corrected (No), the process ends and the routine proceeds to a correction routine by the suction head. When correction by the tape feeder side is performed, the control unit 19 detects the reference center position 42C of the component storage hole 42 stored in the storage unit 29 in advance and the component storage hole 42 imaged by the recognition camera 8. The amount of displacement from the center position 42D of the component storage hole 42 detected from the image is calculated and stored in the storage device 29.
And the control part 19 changes the coordinate of the reference | standard center position as an adsorption | suction position coordinate (step 19).
That is, the coordinates of the center position 42D are replaced with the coordinates of the reference center position 42C.

Thereafter, a correction signal based on the coordinate change correction of the reference center position as the suction position coordinates based on the previously calculated positional deviation amount is input from the control unit 19 to the control signal terminal 45 of the tape feeder. Based on this, the tape feed orthogonal motor 36 and the tape pitch feed motor 39 are driven. The ball screw 37 is rotated by the drive of the tape feed orthogonal motor, and the ball screw nut 38 is corrected and fed in the direction orthogonal to the tape feed direction by the amount of positional deviation, whereby the tape guide 35 and tape 41 are also perpendicular to the tape feed direction by the amount of positional deviation. Is fed in the correct direction. Further, the drive of the tape pitch feed motor 39 causes the sprocket 40 to rotate, and the tape 41 is fed on the tape guide 35 through the sprocket 40 by a corrected pitch through the sprocket 40.
According to this embodiment, since the electronic component can be adsorbed at the center of the tape component storage hole 422, the electronic component can be adsorbed at a stable position at all times.
In addition, this correction may be performed with respect to the plurality of tape component storage holes 422 when the tape feeder is replaced. Therefore, the electronic component mounting time can be shortened compared to a device that recognizes and corrects the position of the center of gravity of the electronic component every time. Can improve production efficiency.

As described above, according to the first to fourth aspects of the present invention, when the tape parts are replaced, the electronic parts are stored in the tape due to the positioning error of each tape or the error of the tape feed hole. Even if there is a gap in the hole, the gap in the electronic component storage hole is detected, and the suction nozzle can reliably capture the center position of the electronic component storage hole, so that the electronic component can be stably held. Also,
According to the fifth aspect of the invention, since the electronic component storage hole position is corrected, the simultaneous adsorption is not lost, and therefore there is an effect that the adsorption efficiency is not deteriorated.

Schematic perspective view of an electronic component mounting machine provided with an electronic component suction position correction device according to an embodiment of the present invention The perspective view which shows the accommodation state to the tape of an electronic component Flowchart of suction position correction method according to an embodiment of the present invention Top view showing how electronic parts are stored in tape Control block diagram of an embodiment of the present invention The principal part perspective view of the tape feeder which concerns on other embodiment of this invention Flowchart of suction position correction according to another embodiment of the present invention Control block diagram of another embodiment of the present invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Tape feeder 10A Tape 11 Component storage hole 11C Electronic component 11A (42C) Center reference position of component storage hole 11B (42D) Center position of component storage hole 6 Suction head 8 Recognition camera 12 Display device 13 Switch means 19 Control unit 29 Storage Device 36 Tape feed orthogonal motor 39 Tape pitch feed motor 45 Control signal terminal 46 Tape feeder of other embodiment

Claims (5)

A tape feeder for pitch-feeding electronic components stored in the component storage holes of the tape;
A suction head having a plurality of suction nozzles for sucking the electronic components and mounting them on a substrate;
A camera provided on the suction head for recognizing the component storage hole of the tape;
A display device for displaying a center reference position of the component storage hole of the tape stored in advance and a detection image of the component storage hole by the camera, and obtaining a center position of the component storage hole from the detection image of the component storage hole by the camera A CPU that calculates a positional shift between the center reference position of the component storage hole and the central position of the component storage hole and changes the suction position coordinate of the suction nozzle based on the calculation result of the positional shift;
An electronic component suction position correction apparatus for an electronic component mounting machine, comprising a memory for storing a positional deviation amount.   2. An electronic component suction position correction apparatus for an electronic component mounting machine according to claim 1, further comprising a switch means for inputting a command to change the suction position coordinate of the suction nozzle by the CPU in the previous period. The electronic component suction position correction apparatus according to claim 1, wherein the center position of the component storage hole is detected from an edge of the component storage hole.   3. The electronic component suction position correcting apparatus according to claim 1, wherein the center position is detected by pattern matching from image data obtained by imaging the center position of the component storage hole in advance. A tape feeder provided with a tape guide for moving the tape in the vicinity of the tape feed motor component adsorption position in a direction perpendicular to the tape feed direction;
A suction head having a plurality of suction nozzles for sucking the electronic components and mounting them on a substrate;
A camera provided on the suction head for recognizing the component storage hole of the tape;
The center reference position of the component storage hole of the tape stored in advance and the center position of the component storage hole are determined from the detected image of the component storage hole by the camera, and the center reference position of the component storage hole and the center position of the component storage hole A control unit that controls at least one of a pitch feed motor of the tape feeder and a tape feed orthogonal motor that drives the tape guide based on the calculation result of the position shift;
An electronic component suction position correction device for an electronic component mounting machine, comprising a storage device for storing a positional deviation amount.

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