JP2005109288A - Electronic component mounter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To recognize the type of a suction nozzle mounted on a mounting head or its mounting state through a simple arrangement using a simple recognition algorithm. <P>SOLUTION: Specified surface 8' of a nozzle 8 for sucking an electronic component is colored and color information is imparted to the suction nozzle. A recognition camera picks up the color image at the colored part of the suction nozzle from a lower part and a recognition unit recognizes the color at the colored part on the basis of its color image and then recognizes the type of the suction nozzle from the color information prestored for each type of the suction nozzle. With such an arrangement, the suction nozzle can be colored variously and since the type of the suction nozzle can be recognized on the basis of its color information, a variety of suction nozzles can be recognized inexpensively through a simple system. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an electronic component mounting apparatus, and more particularly to an electronic component mounting apparatus that automatically mounts an electronic component on a printed circuit board, a liquid crystal display panel, a display panel substrate, or the like.

  2. Description of the Related Art Conventionally, there is an electronic component mounting apparatus in which a mounting head that can be moved back and forth and left and right is provided with a Z-axis that can be driven in the vertical direction, and an electronic component is automatically mounted on a printed board by this mounting head. A suction nozzle corresponding to the type and size of each electronic component is attached to the lower part of the Z axis of the mounting head in order to suck the electronic component. There are various types of suction nozzles, and when an electronic component is picked up and moved by the suction nozzle, a suction nozzle suitable for the electronic component is mounted on the mounting head. If an unsuitable suction nozzle is mounted, good electronic component suction cannot be guaranteed, and the mounting accuracy for accurately mounting the electronic component at a predetermined position on the printed circuit board may be adversely affected.

  For this reason, before starting the production operation of the printed circuit board, several types of suction nozzles written in the production program to be used are set at predetermined positions on the nozzle changer (which stores the suction nozzles) and inspected before production. By doing so, adsorption and mounting errors during production are reduced.

For example, in Patent Document 1, in order to automatically replace nozzles, different shapes and numbers of marks are formed for each nozzle, and the nozzle type is identified by recognizing the shape and number of the marks. It is attached to.
JP 2002-280798 A (FIG. 1)

  However, in the method shown in Patent Document 1, in order to recognize the type of the suction nozzle, a unique mark that can identify the nozzle is formed on the nozzle body, and the nozzle is identified by its shape and number. For this reason, as the number of nozzle types increases, the change and arrangement of the mark shape becomes complicated, increasing the manufacturing cost, and the recognition program for identifying the nozzle type becomes complicated. .

  Accordingly, the present invention has been made to solve such problems, and recognizes the type of the suction nozzle mounted on the mounting head or the mounting state thereof with a simple configuration and a simple recognition algorithm. It is an object of the present invention to provide an electronic component mounting apparatus capable of performing the above.

The present invention (Claim 1)
In an electronic component mounting apparatus for mounting an electronic component sucked by a suction nozzle on a circuit board,
A suction nozzle colored in a different color for each type of suction nozzle;
An imaging means for color-imaging the colored portion;
A storage device that stores color information assigned to each type of suction nozzle in correspondence with the type of suction nozzle;
Recognizing means for recognizing the color of the colored portion from the color image of the colored portion and recognizing the type of the suction nozzle from the stored color information;
It is provided with.

The present invention (Claim 3)
In an electronic component mounting apparatus for mounting an electronic component sucked by a suction nozzle on a circuit board,
A suction nozzle in which a part is a predetermined color and a part adjacent to this part is colored with a color different from the predetermined color;
Imaging means for color imaging the colored portion of the suction nozzle;
Recognizing means for recognizing boundary lines of different colors from the colored color image and recognizing the mounting state of the suction nozzle based on the identified boundary lines;
It is provided with.

The present invention (Claim 4)
In an electronic component mounting apparatus for mounting an electronic component sucked by a suction nozzle on a circuit board,
A suction nozzle colored in a different color for each type of suction nozzle;
Illumination means for sequentially switching and illuminating different colored illumination lights on the colored part;
A receiver that receives the reflected light from the colored portion;
A storage device that stores color information assigned to each type of suction nozzle in correspondence with the type of suction nozzle;
Recognizing means for recognizing the color of the colored portion based on the signal of the light receiver and recognizing the type of the suction nozzle from the stored color information;
It is provided with.

  According to the present invention, since various kinds of color information can be attached to the suction nozzle, and this color information can be recognized by a simple system with a simple system, the recognition of the kind of the suction nozzle and its mounting state is recognized. The creation of a program is facilitated, the device manufacturing cost can be reduced, the recognition time can be shortened, and the board production efficiency can be improved.

  Further, in the present invention, the mounting state of the suction nozzle, in particular, the mounting rotation angle (mounting angle) around the nozzle axis of the suction nozzle can be easily recognized, so when the nozzle is replaced by the nozzle changer The mounting angle can be adjusted, and the component mounting can be performed with high reliability by reducing the suction error and the mounting error. Further, even when it is necessary to adjust the nozzle angle during storage in the nozzle changer, smooth storage is possible, and damage to the nozzle and the nozzle changer can be prevented.

  The present invention attaches color information to the suction nozzle and recognizes it with a recognition device to recognize the type and mounting state of the suction nozzle. The present invention will be described in detail based on the embodiments shown in the drawings below. To do.

  FIG. 1 is a block diagram of an electronic component mounting apparatus showing an embodiment of the present invention. Reference numeral 1 denotes a mounting head, which includes a plurality of suction nozzles for sucking and holding electronic components (hereinafter abbreviated as components) as will be described later. The mounting head 1 is attached to the X-axis gantry 2 so as to be movable in the X-axis direction, and the X-axis gantry 2 is attached to the Y-axis gantry 3 so as to be movable in the Y-axis direction. An electronic component supply device 4 that supplies components to be mounted on a circuit board (hereinafter abbreviated as a substrate) 5 is disposed on the front surface of the electronic component mounting apparatus. Further, in order to detect a suction position shift (position shift between the center position of the suction nozzle and the center position of the sucked part) and a suction angle shift (tilt) of the electronic component, a recognition camera (including a color CCD that images the part) An imaging unit 6 is disposed between the electronic component supply device 4 and the substrate 5. The recognition camera 6 performs color imaging of the suction nozzle from the lower part in order to further identify the color assigned to the suction nozzle. Further, a nozzle changer 7 for replacing the suction nozzle of the mounting head 1 is provided in the apparatus main body according to the size and shape of the part to be sucked, and a plurality of types of nozzles are stored in the nozzle changer 7. It is managed.

  FIG. 2 shows the structure of the mounting head 1 in detail. The mounting head 1 has a base 1a attached to the X-axis gantry 2 of FIG. 1 and is movable in the X-axis direction by an X-axis drive mechanism. The mounting head 1 includes a plurality of suction nozzles 8 that vacuum-suck the components, and a θ-axis rotating mechanism 9 that rotates the suction nozzle around the nozzle axis (suction axis) of each suction nozzle, and the suction nozzle is driven in the vertical direction. A Z-axis drive mechanism 10 is attached to the base 1a. The θ-axis rotation mechanism 9 and the Z-axis drive mechanism 10 of each suction nozzle 8 are independent of each other and can rotate or move up and down regardless of the operation of other nozzles.

  As shown in FIGS. 4A and 4B, the suction nozzle 8 housed in the nozzle changer 7 is colored with a color that the recognition camera 6 has sensitivity to the entire peripheral surface of the conical column portion 8 ′. 5 or, as shown in FIGS. 5A and 5B, the circumferential surface of the conical column portion 8 ′ is divided into three surfaces 8a, 8b, and 8c, and each surface has the sensitivity of the recognition camera 6. The color, for example, the surface 8a is red, the surface 8b is green, and the surface 8c is blue.

  FIG. 3 shows the configuration of the control system of the electronic component mounting apparatus. Reference numeral 20 denotes a microcomputer (CPU) that controls the entire apparatus, and a controller (control means) including a RAM, a ROM, and the like. The following configurations 21 to 32 are connected to the controller, and each is controlled.

  The X-axis motor 21 is a drive source of an X-axis drive mechanism (not shown) of the mounting head 1 and moves the mounting head 1 along the X-axis gantry 2 in the X-axis direction, and the Y-axis motor 22 is mounted The drive source of the Y-axis drive mechanism (not shown) of the head 1 drives the X-axis gantry 2 along the Y-axis gantry 3 in the Y-axis direction, so that the mounting head 1 moves in the X-axis direction and the Y-axis direction. It becomes possible.

  The Z-axis motor 23 is a drive source for the Z-axis drive mechanism 10 that moves the suction nozzle 8 up and down, and moves the suction nozzle 8 up and down in the Z-axis direction (height direction). The θ-axis motor 24 is a drive source for the θ-axis rotation mechanism 9 of the suction nozzle 8 and rotates the suction nozzle 8 around the nozzle center axis (suction axis). In FIG. 3, only one Z-axis motor 23 and θ-axis motor 24 are shown, but the number of suction nozzles to be mounted (four in the example of FIG. 2) is provided.

  The vacuum mechanism 32 generates a vacuum, and a vacuum negative pressure is generated at each suction nozzle 8 via a vacuum switch (not shown).

  The recognition device (recognition means) 27 performs image recognition of the component 12 sucked by each of the suction nozzles 8 and includes an A / D converter 27a, a memory 27b, and a CPU 27c. Then, an analog image signal output from the recognition camera 6 that images the picked-up component 12 is converted into a digital signal by the A / D converter 27a and stored in the memory 27b, and the CPU 27c picks up the image based on the image data. A suction position deviation amount and a suction angle deviation amount of the component 12 thus calculated are calculated. Further, the recognition device 27 captures a color image from the lower part of the colored portion 8 ′ of the suction nozzle imaged by the recognition camera 6 and recognizes the type of the suction nozzle 8 and its mounting state.

  The keyboard 28 and mouse 29 are used for inputting data such as component data. The storage device 30 is composed of a flash memory or the like, and is used to store component data input by the keyboard 28 and the mouse 29 or component data supplied from a host computer (not shown). Further, the storage device 30 stores color information indicating the color of the portion colored in a different color for each type of suction nozzle in association with the type of suction nozzle.

  The monitor (display device) 31 displays component data, calculation data, an image of the component 12 captured by the recognition camera 6, and the like.

  3 is a diagram showing the configuration of the control system, the arrangement of each element does not necessarily match the actual one. For example, only one suction nozzle 8 is shown.

  Next, the operation from the component suction to the image recognition and mounting on the board in the above configuration will be described. The following operations are performed under the control of the controller 20.

  First, by driving the X-axis motor 21 and the Y-axis motor 22, the mounting head 1 is moved above the electronic component supply device 4, and then one or a plurality of suction nozzles 8 are driven to the Z-axis motor 23. To lower. Further, a vacuum is generated by the vacuum mechanism 32, and the components in the electronic component supply device 4 are sucked and held by the suction nozzle 8. At this time, the suction of the components is performed simultaneously or sequentially by a plurality of nozzles depending on the supply status from the electronic component supply device 4.

  When the component suction is completed, the mounting head 1 moves above the recognition camera 6, the component sucked by each of the plurality of nozzles is imaged, and the image signal is transmitted to the recognition device 27. The recognizing device 27 captures the image in the memory 27b, recognizes the image of the component by a known algorithm, the component suction position shift (position shift between the center position of the suction nozzle and the center position of the sucked component) and the suction. The angular deviation (tilt) is calculated, and the data is stored in the storage device 30, the RAM of the controller 20, or the like.

  When the mounting head 1 moves to the substrate position, the components sucked by the suction nozzles 8 are mounted on the substrate. When the component sucked by the suction nozzle reaches the mounting position, the X-axis motor 21, the Y-axis motor 22, and the θ-axis motor are used to calculate the suction position shift and the angle shift calculated for the component sucked by the suction nozzle. Each of the corrections is performed by micro-driving 24, and then the suction nozzle is lowered, the vacuum switch is turned off, the negative pressure is released and the component is mounted on the substrate, and then the suction nozzle is raised. Similarly, the components sucked by other suction nozzles are mounted at predetermined positions on the substrate by correcting the positional deviation and the angular deviation, respectively.

  When the size or shape of the mounted component is changed at the time of mounting such a component, the X-axis motor 21 and the Y-axis motor 22 are driven to move the mounting head 1 to the nozzle changer 7 and the optimum for the component. The suction nozzle is selected and replaced with the suction nozzle. When replacement with the optimum suction nozzle is performed, the mounting head 1 is moved to the recognition camera 6, and the colored portion 8 'of the suction nozzle 8 is imaged in color from below.

  The imaged color image of the colored portion of the suction nozzle is input to the recognition device 27, converted into a digital image, and stored in the memory 27b. The CPU 27c of the recognition device 27 calculates the sum of R (red) signal values and the sum of G (green) signal values for each pixel of the color CCD (primary color CCD) of the recognition camera 6 from the image stored in the memory 27b. By comparing the sum of the B (blue) signal values, the color of the colored portion is identified. For example, when the sum of the R signal values is equal to or greater than a predetermined threshold and the sum of the other signal values is substantially 0, the peripheral surface 8 ′ of the conical column portion of the suction nozzle 8 of FIG. 4 is colored in red. When the sum of the G signal values is equal to or greater than a predetermined threshold and the sum of the other signal values is almost 0, the signal is green, and the sum of the B signal values is equal to or greater than the predetermined threshold. If the sum of the signal values is almost zero, it is identified as colored blue. Also, intermediate colors can be identified based on the ratio of the sum of the RGB signal values.

  Since the storage device 30 stores the color information of the colored portion assigned according to the type of the suction nozzle in a database corresponding to the type of the suction nozzle, the recognition device 27 sets the identified color to the identified color. The type of the suction nozzle is recognized by acquiring the type of the corresponding suction nozzle.

  In order to improve color identification, it is preferable to mask the image of the portion other than the colored portion 8 'by an appropriate method so as to increase the S / N ratio.

  The sum of the RGB signal values may be obtained in real time when the image of the colored portion is not stored after being stored in the memory 27b but when the image is captured from the recognition camera 6 to the recognition device 27. .

  If the recognized suction nozzle type is a suction nozzle suitable for a component to be mounted, the component suction is started as described above. If the suction nozzle is not a suitable suction nozzle, again, The mounting head 1 is moved to the nozzle changer 7 and replaced with a suitable suction nozzle. The suction nozzle is recognized in the same manner as described above, and its suitability is reinspected.

  Further, as shown in FIGS. 5A and 5B, when the suction nozzle 8 is colored in a plurality of colors (red, green, blue) instead of a single color, the suction nozzle is mounted on the mounting head. The state, in particular, the attachment rotation angle (mounting angle) around the nozzle axis of the suction nozzle can be recognized. That is, by obtaining the pixel positions where the RGB signal values change significantly, the pixel positions of the boundary lines 8d, 8e, 8f of the different color regions 8a, 8b, 8c can be obtained. The inclination can be obtained. Therefore, the mounting angle with respect to the reference angle of the suction nozzle can be obtained by comparing this with the reference angle.

  If the mounting angle of the suction nozzle can be calculated, when the electronic component supply device 4 sucks the component, the θ-axis motor 24 is driven to correct the mounting angle of the suction nozzle 8 and the suction nozzle is optimal for component suction. After adjusting the θ angle, the components are sucked. Furthermore, when it is necessary to replace the nozzle due to a change in the part type, etc., the θ-axis motor 24 is driven based on the mounting angle obtained above, and the suction nozzle 8 is suitable for storing in the nozzle exchanger 7. The suction nozzle is stored and replaced after adjusting the angle.

  Since the mounting head 1 is equipped with a plurality of nozzles as shown in FIG. 2, each suction nozzle is sequentially imaged by moving the mounting head 1 on the recognition camera 6. Similarly, the type of the suction nozzle is recognized with respect to the suction nozzle.

  FIG. 6 is a diagram showing another embodiment for detecting the color information attached to the suction nozzle. In this embodiment, instead of imaging the suction nozzle with the recognition camera 6, the suction nozzle is recognized by the detection device 11 mounted on the mounting head 1 on the side of the suction nozzle 8, as shown in FIG. The detection device 11 includes an illumination unit 13 and a light receiver 14. The illumination unit 13 includes a light source 13a that generates red (R) illumination light, a light source 13b that generates green (G) illumination light, and a blue (B ), And the light sources 13a, 13b and 13c are sequentially turned on for a predetermined time by the light source lighting circuit 25 controlled by the controller 20, as shown in FIG. Light is generated with a time difference. The illumination light of each color is applied to the colored portion 8 ′ of the suction nozzle 8, the reflected light from the colored portion 8 ′ is received by the light receiver 14, and the signal value is input to the recognition device 27.

  Further, in order to recognize a plurality of suction nozzles of the mounting head, the detection device 11 is moved in the direction in which the suction nozzles 8 are arranged by a drive motor 26 of a detection device drive mechanism (not shown) as shown in FIG. The

  Other configurations are the same as those of the first embodiment.

  In such a configuration, when the suction nozzle 8 is mounted on the mounting head, the drive motor 26 is driven to move the detection device 11 to the suction nozzle 8, and the light source lighting circuit 25 sequentially turns the light sources 13 a, 13 b, and 13 c to a predetermined time. Light. Thereby, as shown in FIG. 8, red (R), green (G), and blue (B) illumination lights are sequentially generated and applied to the colored portion 8 ′ of the suction nozzle 8. Assuming that the spectral sensitivity of the light receiver 14 is the same in the red, green, and blue regions, for example, when the colored portion of the suction nozzle is colored green, the light source 13b is turned on and the green color is changed. When the illumination light is irradiated, the amount of reflected light is the largest, and the light receiver 14 transmits a large output value to the recognition device 27. Therefore, the recognition device 27 identifies that the suction nozzle is colored in the same color as the illumination light of the light source 13b. Based on this color information, a database stored in the storage device 30 is accessed to acquire the type of suction nozzle related to the green color information and recognize the type of suction nozzle.

  Also in this embodiment, when the light sources 13a, 13b, and 13c are sequentially switched and turned on, the intermediate values can be identified by comparing the signal values obtained from the light receivers 13, respectively. The color of the suction nozzle can be identified, and the type of the suction nozzle can be identified from the color information stored as a database.

  Since the mounting head 1 is equipped with a plurality of nozzles as shown in FIG. 2, the detection device 11 is moved in the direction in which the suction nozzles 8 are arranged (X-axis direction), and other suction nozzles are moved. Recognize the same type.

Other examples

  As shown in FIG. 1, the recognition camera 6 has a fixed type that is fixed to the mounting apparatus main body, a mounting type that is mounted on a mounting head, or other methods, but the same effect can be obtained with any type.

  The types of suction nozzles and their mounting angles are recognized not only before and after the replacement of the nozzles, but also at regular intervals determined by the actual operation time, the number of suction and mounting of parts, and according to the frequency of suction and mounting errors. You may do it.

1 is a perspective view schematically showing an overall configuration of an electronic component mounting apparatus according to the present invention. It is the perspective view which showed the detailed structure of the mounting head. It is a block diagram which shows the structure of the control system of an electronic component mounting apparatus. (A) is a perspective view of a suction nozzle whose peripheral surface is colored with a single color, and (b) is a bottom view thereof. (A) is a perspective view of a suction nozzle whose peripheral surface is colored with a plurality of colors, and (b) is a bottom view thereof. It is the block diagram which showed the structure of the detection apparatus which identifies the color information of a suction nozzle. FIG. 5 is a block diagram illustrating a configuration of a control system according to a second embodiment. It is a timing diagram showing a method for identifying color information attached to the suction nozzle.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Mount head 6 Recognition camera 7 Nozzle exchange machine 8 Adsorption nozzle 8 'Colored part of adsorption nozzle 11 Detection apparatus 12 Electronic component 13 Illumination means 14 Light receiver

Claims (5)

In an electronic component mounting apparatus for mounting an electronic component sucked by a suction nozzle on a circuit board,
A suction nozzle colored in a different color for each type of suction nozzle;
An imaging means for color-imaging the colored portion;
A storage device that stores color information assigned to each type of suction nozzle in correspondence with the type of suction nozzle;
Recognizing means for recognizing the color of the colored portion from the color image of the colored portion and recognizing the type of the suction nozzle from the stored color information;
An electronic component mounting apparatus comprising:   The electronic component mounting apparatus according to claim 1, wherein the recognition is performed for each suction nozzle by relatively moving a plurality of suction nozzles and an imaging unit. In an electronic component mounting apparatus for mounting an electronic component sucked by a suction nozzle on a circuit board,
A suction nozzle in which a part is a predetermined color and a part adjacent to this part is colored with a color different from the predetermined color;
Imaging means for color imaging the colored portion of the suction nozzle;
Recognizing means for recognizing boundary lines of different colors from the colored color image and recognizing the mounting state of the suction nozzle based on the identified boundary lines;
An electronic component mounting apparatus comprising: In an electronic component mounting apparatus for mounting an electronic component sucked by a suction nozzle on a circuit board,
A suction nozzle colored in a different color for each type of suction nozzle;
Illumination means for sequentially switching and illuminating different colored illumination lights on the colored part;
A receiver that receives the reflected light from the colored portion;
A storage device that stores color information assigned to each type of suction nozzle in correspondence with the type of suction nozzle;
Recognizing means for recognizing the color of the colored portion based on the signal of the light receiver and recognizing the type of the suction nozzle from the stored color information;
An electronic component mounting apparatus comprising:   The electronic component mounting apparatus according to claim 4, wherein the plurality of suction nozzles, the illuminating unit, and the light receiver are relatively moved so that the recognition is performed for each suction nozzle.

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