JP2007007768A - Part adsorbing method and part adsorbing device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parts adsorbing method of adsorbing parts stored in a parts storage tray in a simple and correct manner and in a short period of time, and to provide a parts adsorbing device. <P>SOLUTION: According to the parts adsorbing method, the parts stored in the storage tray 31 which has been moved to a parts feeding location, are adsorbed by an adsorbing head 11. An image pickup device 12 mounted on the adsorbing head is moved to predetermined parts storage locations P1, P2, P3 in the storage tray, and images of the parts stored in the storage tray or parts storage portions are picked up, to thereby obtain a correction value of each of the parts adsorbing location, based on a result of image processing. According to the method, a correction value at a location other than the selected locations P1, P2, P3 can be obtained by linear interpolation, for instance, and therefore individual storage portions are need not be recognized, which leads to drastic reduction in the number of times of recognition as a whole, to thereby reduce an adsorbing tact. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a component suction method and apparatus, and more particularly to a component suction method and apparatus for sucking a component stored in a storage tray moved to a component supply position by a suction head in a component mounter.

  Conventionally, electronic components supplied from a component supply device (hereinafter simply referred to as components) are adsorbed by an adsorption nozzle of an adsorption head, and the adsorbed components are mounted at a predetermined position on a circuit board being conveyed. The device is known. Here, as the component supply device, there is a tray supply device for supplying a tray storing a large number of components in addition to a supply device such as a feeder.

  When a tray supply device is used as the external component supply device, the tray is moved from the tray supply device to the component supply position of the component mounting device, and the suction head of the component mounting device sucks the components stored in the tray. ing. At this time, if the storage tray is not correctly positioned, the instructed component cannot be picked up, so a method for mechanically positioning the storage tray has been proposed (Patent Document 1).

In order to allow the suction nozzle to pick up the center of the part, for parts with a small part storage margin, the part stored in each part storage part is imaged by an imaging device mounted on the suction head, Is recognized by the image processing apparatus, and the suction position coordinates of each part are acquired.
Japanese Patent Laid-Open No. 10-335889

  However, in the conventional method of acquiring the suction position coordinates of each component, there is a problem that the suction tact increases because the components stored in the tray must be individually recognized.

  The present invention has been made to solve such problems, and a component suction method capable of sucking the components stored in the component storage tray in a short time and accurately by a simple method and It is an object to provide an apparatus.

The present invention
A component suction method in which a component stored in a storage tray moved to a component supply position is suctioned by a suction head,
Move the imaging device mounted on the suction head to a predetermined component storage position of the storage tray to image the component or component storage unit stored there,
Processing the captured image and obtaining the correction value of the suction position of the component stored in the component storage position from the processing result,
The suction head is moved to the component suction position corrected with the correction value to suck the component.

The present invention also provides:
A component suction device that sucks a component stored in a storage tray moved to a component supply position by a suction head,
An imaging device mounted on the suction head;
Moving means for moving the imaging device to a predetermined component storage position of the storage tray;
An image processing device for processing an image by the imaging device of a component stored in a component storage position or a component storage unit,
A correction value of the suction position at the component storage position is obtained from the processing result of the image, and the suction head is moved to the component suction position corrected with the correction value to suck the component.

  In the present invention, a component or a component storage unit at a predetermined component storage position is imaged, and a correction value of the component suction position is acquired by the image processing, and at a position other than the selected position. The correction value can be obtained, for example, by linear interpolation, so that it is not necessary to recognize the individual storage units, and the number of times of recognition as a whole is significantly reduced, so that the suction tact can be shortened. It is done.

  In the following, the present invention will be described in detail based on embodiments shown in the drawings.

  FIG. 1 shows a component mounting apparatus 10. The component mounting apparatus 10 is provided with a suction head 11 that can be moved in the X-axis direction along an X-axis rail 15 by an X-axis motor (not shown). ing. The X-axis rail 15 is coupled to the screw shafts 14 and 14 ′, and is moved in the Y-axis direction along the Y-axis rails 16 and 16 ′ by rotating the screw shaft by the Y-axis motors 17 and 17 ′.

  An X-axis moving means such as an X-axis motor and an X-axis rail 15 is indicated by 41 in FIG. 2, and Y-axis motors 17 and 17 ', screw shafts 14 and 14', Y-axis rails 16 and 16 ', etc. The Y axis moving means is indicated by 42. The controller 40 of the component mounting apparatus moves the suction head 11 in the X and Y axis directions by driving an XY drive unit including an X axis moving unit 41 and a Y axis moving unit 42. Further, the component mounting apparatus 10 is provided with a Z-axis moving unit 43 including a Z-axis motor (not shown), and the suction head 11 moves up and down in the Z-axis direction (height direction) by the Z-axis moving unit 43.

  As shown in FIG. 2, a plurality (four) of suction nozzles 11 a to 11 d are mounted on the suction head 11, and an imaging device 12 composed of a CCD or the like is fixed to the suction head 11. Has been. An image captured by the imaging device 12 is input to the image processing device 47 and subjected to image processing.

  In addition, the suction head 11 is moved to the position of the component supply device 20 including a number of feeders 20a by the X-axis moving unit 41 and the Y-axis moving unit 42, and is lowered by the Z-axis moving unit 43 to be provided from the feeder. Is adsorbed by the adsorption nozzles 11a to 11d. After picking up the parts, the picking head 11 moves to the position of the parts recognition camera 21, the picked up parts are picked up by the parts recognition camera 21, and the picked up parts are processed by the image processing device 47. The slope is calculated. When there is a deviation between the component center and the suction center and there is a deviation in the component inclination, these deviations are corrected, and the components sucked by the suction nozzles 11a to 11d are conveyed along the rails 18 and 18 '. It is mounted in the correct posture at the position of the substrate 19 coming.

  The components can be supplied not only from the component supply device 20 on the front side, but also from the component supply device 30 that houses a plurality of trays behind. The component supply device 30 moves a storage tray 31 that stores a large number of components 31a in a matrix to a component supply position. When all the components stored in the storage tray 31 are not supplied, the component supply device 30 removes the storage tray 31 and removes the uppermost storage tray 31 ′ deposited on the replenishment side (rear side) from the components. The component is moved to the supply position, and the components stored in the storage tray 31 ′ are supplied.

  The component supply device 30 may not be set at the correct position. Even if the component supply device 30 is set at the correct position, the component supply device 30 is moved from the outside and installed in the component mounting apparatus 10. The position of the storage tray 31 is not always in the correct position because the position of the storage tray 31 is shifted, or when the storage tray is moved from the replenishment side to the front component supply position, a position shift may occur. It is not always supplied to the component supply position.

  The state in which the storage tray 31 is displaced and moved to the component supply position is exaggerated in FIG. 1, and the suction nozzle moves to the regular suction position of the component defined by the component data. Then, since the parts are sucked, if the position of the storage tray is large, a suction error or a suction error occurs.

  The flow of correcting the component suction position of the storage tray and obtaining the suction position (coordinates) is shown as a flowchart in FIG.

  First, the suction head 11 is driven by the XY drive unit, and the imaging device 12 mounted on the suction head 11 is moved to a predetermined component storage position on the storage tray 31 at the component supply position (step S1). This position is normally selected from the positions of the four corners of the component storage tray 31 as shown in FIG. 2, and for example, component storage positions P1, P2, and P3 are selected. The coordinate values of the positions P1, P2, and P3 correspond to the coordinate values of the suction positions of the components stored therein, and are coordinate values that are defined in advance in the component data in relation to the components.

  Subsequently, the storage tray is imaged by the imaging device 12 at the moved position (step S2), the image is processed by the image processing device 47, and recognition processing is performed (step S3).

  The image captured by the imaging device 12 is bright when the component is in the storage position, so the component 31a is imaged brightly as shown in FIG. 3A, while the component is not in the storage position. The whole image is dark, and as shown in FIG. 3B, the outer edge 31b of the component storage portion is darker. Therefore, from the average value of the brightness of the storage part with and without parts, the center value is set in advance as a threshold value, and the brightness of the storage part is compared with this threshold value, If it is determined (Yes in step S4), the process proceeds to step S5 to recognize the component. In this component recognition, a plurality of edges are detected from the shade of the image of the component 31a as shown in FIG. 3A, and the coordinate values (Xn2, Yn2) of the center Gn of the component 31a are obtained from the detected edge points. Done.

  On the other hand, if it is determined that there is no part (No in step S4), the process proceeds to step S6, and a plurality of edges are detected from the shade of the image of the outer edge 31b of the part storage unit as shown in FIG. Then, the coordinate value of the center Gn of the outer edge 31b is obtained from the detected edge point.

  Subsequently, a correction value ΔXn = Xn2-Xn1; ΔYn = Yn2− is obtained from the obtained coordinate value (Xn2, Yn2) of the center Gn and the coordinate value (Xn1, Yn2) of the component storage position Pn previously described in the component data. Yn1 is acquired (step S7).

  The above processing is performed on the component storage position Pn (n = 1, 2, 3) selected in advance (step S8), and the suction position coordinate value is acquired. For the positions P1, P2, and P3, the value obtained by adding the correction values ΔXn and ΔYn, that is, the obtained Gn coordinate value becomes the suction position coordinate value, and the suction position of the component stored in another component storage position Is corrected with a correction value obtained by linear interpolation to obtain its coordinate value. Normally, components are stored in the tray at equal pitches in the X and Y directions. Therefore, the correction value of the component is the difference between the correction values of one end and the other end of the row or column of the components. It can be obtained by dividing by multiples.

  In this way, the suction nozzle is moved to the coordinate value of the finally corrected component suction position, and the component stored in each position of the storage tray is suctioned (step S9), and the component recognition camera 21 recognizes the component. Thereafter, the suction error is corrected and the component is mounted on the substrate 19.

  As described above, according to the present invention, the component storage portion of the tray or the component itself stored in the tray can be recognized to obtain the correction value of the suction position with respect to the positional deviation of the tray. It is possible to obtain an accurate component suction position with a simple configuration without attaching, and correction values other than the selected positions P1, P2, and P3 can be obtained by interpolating already obtained correction values. There is no need to recognize individual storage units, and the number of times of recognition as a whole is significantly reduced.

  In the embodiment described above, in steps S5 and S6, a plurality of edges are detected from the density of the image, and the coordinates for suction position correction are acquired from the detected edge points. In addition, the correction value can be obtained using a method such as template matching. Moreover, as a shape of a component storage part, it can respond also to shapes, such as a rectangle, as FIG.3 (C) and (D). In this case, the rectangular component 32a or the rectangular outer edge 32b is recognized, and a correction value is obtained.

It is the top view which showed the structure of the component mounting apparatus. It is the block diagram which showed the structure of the drive system of a suction head. It is explanatory drawing explaining the image in a components storage position. It is the flowchart which showed the flow which acquires a component adsorption position.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Component mounting apparatus 11 Suction head 12 Imaging apparatus 19 Substrate 30 Component supply apparatus 31 Storage tray 40 Controller 47 Image processing apparatus

Claims (4)

A component suction method in which a component stored in a storage tray moved to a component supply position is suctioned by a suction head,
Move the imaging device mounted on the suction head to a predetermined component storage position of the storage tray to image the component or component storage unit stored there,
Processing the captured image and obtaining the correction value of the suction position of the component stored in the component storage position from the processing result,
A component suction method, wherein a suction head is moved to a component suction position corrected with the correction value to suck a component.   The component suction method according to claim 1, wherein the correction value of the suction position of a component stored in another component storage position is obtained by interpolating a correction value that has already been obtained. A component suction device that sucks a component stored in a storage tray moved to a component supply position by a suction head,
An imaging device mounted on the suction head;
Moving means for moving the imaging device to a predetermined component storage position of the storage tray;
An image processing device for processing an image by the imaging device of a component stored in a component storage position or a component storage unit,
A component suction device that obtains a correction value of a suction position at a component storage position from the processing result of the image and moves the suction head to a component suction position corrected with the correction value to suck the component.   The component suction device according to claim 3, wherein the correction value of the suction position of a component stored in another component storage position is obtained by interpolating a correction value that has already been obtained.

Images