JP2007157848A - Surface mounter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a surface mounter capable of preventing mounting of contamination such as dust along with a part on a substrate. <P>SOLUTION: The surface mounter includes a mounting head 15 which has a suction nozzle at its tip and is movable, and a side camera which images the tip of the suction nozzle from its side. After sucking a part, it images an image of a specified range including a sucked part using the side camera, and then mounts the part on a substrate P. The surface mounter discriminates presence of the contamination such as dirts sticking to a part based on the image of a background except for the sucked part and the suction nozzle in the image taken by the side camera. It is equipped with a controller for controlling the mounting head 15 to mount the part on the substrate P if no sticking of contamination is recognized. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a surface mounter configured to suck an electronic component by a component sucking head and transport and mount the electronic component on a substrate such as a printed board.

2. Description of the Related Art Conventionally, a surface mounter configured to suck electronic components from a component supply unit by a movable head having a component suction nozzle at the tip, and transport and mount the electronic components to a predetermined position on a printed circuit board. Generally known. In this type of surface mounter, in order to prevent mounting defects due to component suction mistakes or suction shifts (before mounting), the suction component is image-recognized and its suction state is checked, and necessary processing (position correction, etc.) (For example, Patent Document 1).
Japanese Patent No. 3570815

  In the above image recognition of suction parts, it is required to accurately extract (cut out) the parts in the image, so the image of fine foreign matter such as dust adhering to the suction parts is regarded as noise reflected in the background. Often processed.

  Therefore, for example, when foreign matter such as dust or tape dust generated from a tape feeder adheres to the component itself, it is considered that the foreign matter is overlooked and is directly mounted on the substrate together with the component. . In this case, for example, if a conductive substance is contained in the dust, in the worst case, it may cause a trouble that the circuit is short-circuited. Is desired. Even when no foreign matter such as dust adheres to the component itself, foreign matter is adsorbed at the tip of the nozzle together with the component when the component is adsorbed, and this is transferred to the adsorbed component and mounted on the board together with the component It is also necessary to deal with this.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to prevent a situation in which foreign matters such as dust are mounted on a substrate together with components.

  In order to solve the above-described problems, a surface mounting machine according to the present invention has a movable mounting head having a component suction nozzle at the tip, and the component is sucked by the nozzle to be mounted on the substrate to be mounted. In the surface mounter for mounting the component on the surface, the image pickup means for picking up the tip of the nozzle, the determination means for determining the presence or absence of foreign matter based on the image picked up by the image pickup means, and the determination result by the determination means And a control means for controlling the head so as to perform a predetermined operation in response.

  According to this apparatus, the nozzle tip portion is imaged by the imaging means before the component adsorption or after the component adsorption and before the component is mounted on the substrate, and the determination unit determines the presence or absence of a foreign substance based on the image. The head is driven and controlled by the control means according to the determination result. For example, the head is driven and controlled by the control means to mount the component on the substrate only when no foreign matter is attached. Further, before the component suction, the head is driven and controlled by the control means so that the component is sucked as it is only when no foreign matter is attached.

  In other words, it is possible to detect dust and tape residue adhering to the nozzles and components by imaging the nozzle tip as described above and examining the image. Therefore, for example, by picking up an image of the tip of the nozzle with an imaging means after picking up the component and mounting the component only when no foreign matter is recognized, it is possible to prevent foreign matters such as dust from being mounted on the substrate together with the component. Is possible. In addition, by adsorbing the component as it is before the adsorbing of the component, only when the foreign material is not adhered, the transfer of the foreign material to the component can be avoided and the foreign material can be prevented from being mounted on the board together with the component. It becomes possible.

  In this apparatus, the nozzle may be imaged from the axial direction. In this case, when the component is sucked, both sides of the component in the nozzle axial direction are blind spots. Therefore, it is preferable that the image pickup means picks up an image of the tip portion of the nozzle from the side (claim 2).

  According to this configuration, for example, a blind spot can be eliminated by rotating the nozzle around its axis and taking images from a plurality of directions, and foreign substances such as dust can be detected more reliably.

  In this apparatus, the imaging unit images the tip portion of the nozzle in a state where no component is attracted, and the determination unit applies an image of a background portion excluding the nozzle among images captured by the imaging unit. What determines the presence or absence of a foreign material based on this is suitable (Claim 3).

  That is, when foreign matter such as dust or tape dust adheres to the nozzle, the foreign matter often adheres in a state of protruding outward from the nozzle, and therefore, the nozzle tip is imaged as described above. By examining the background portion of the image, it is possible to more reliably detect dust and tape residue adhering to the nozzle.

  In this case, a cleaning unit for cleaning the tip of the nozzle is further provided, and when the determination means determines that there is a foreign object, the head is used as a cleaning unit to clean the nozzle tip at the cleaning unit. It is preferable that the control means is configured to be moved (claim 4).

  According to this configuration, when the determination unit recognizes the attachment of foreign matter, the head moves to the cleaning unit based on the control by the control unit, and after the nozzle tip is cleaned, the component suction operation is performed. Migrate to Therefore, it is possible to remove foreign matters in advance before the suction operation.

  Further, in the apparatus as described above, the imaging unit images the tip portion of the nozzle in a state where the component is sucked, and the determination unit selects the suction component and the nozzle among the images captured by the imaging unit. The presence / absence of a foreign object may be determined based on an image of the background portion to be excluded (claim 5).

  In this case as well, it is possible to more reliably detect dust and tape residue adhering to the nozzle and the suction component by examining the background portion as described above.

  In this case, after the component is picked up by the nozzle, for a part in which a certain range including the picked-up component is picked up by the image pickup means and then the component is mounted on the substrate, the waste part of the component and the tip of the nozzle are cleaned. A cleaning unit, and when the control unit determines that there is a foreign substance by the determination unit, the suction component is discarded in the discard unit, and the head is further cleaned in the cleaning unit to clean the nozzle tip. It is preferable to be configured to sequentially move to the disposal unit and the cleaning unit.

  According to this apparatus, when the foreign matter is recognized by the judging means, the head moves to the discarding section based on the control by the controlling means to discard the parts, and further moves to the cleaning section where the nozzle tip is moved. After the cleaning is performed, the next suction mounting operation is started. In other words, even if foreign matter is found attached, it may be difficult to determine whether the foreign matter is attached to the component itself or the tip of the nozzle. By cleaning the nozzle tip, it is possible to move to the next component suction operation after reliably removing foreign matters such as dust.

  According to the surface mounting machine of the present invention, the tip portion of the nozzle is imaged, and based on the image, it is determined whether or not foreign matter such as dust or tape dust adheres to the nozzle or suction component, and the determination result Since the head is driven accordingly, it is possible to effectively prevent foreign matters from being mounted on the substrate together with the components. Accordingly, it is possible to prevent troubles such as a short circuit due to the foreign matter being mounted on the substrate together with the component.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a partial plan view of a surface mounter according to the present invention, FIG. 2 is a side cross-sectional view showing a part of the surface mounter shown in FIG. 1, and FIG. It is front sectional drawing which abbreviate | omits and shows a part of surface mounting machine shown.

  The surface mounter includes a main body mechanism unit 1 for mounting an electronic component C (a small chip component such as an IC, a transistor, or a capacitor: see FIG. 6A) on the printed circuit board P by the operation of each unit mechanism, and its operation. Controller (control means) 30 (see FIG. 4).

  The main body mechanism unit 1 includes a mounting machine body including a base 2 and the like, and a head unit 3 that is movable with respect to the mounting machine body.

  On the base 2 is disposed a conveyor 4 for transporting a printed circuit board. The conveyor 4 transports a printed circuit board P (hereinafter abbreviated as a circuit board P) placed on the upper part, and a predetermined mounting work position. It stops at (position shown in FIG. 1).

  On both sides of the conveyor 4, component supply units 5 are arranged, and these component supply units 5 are provided with multiple rows of tape feeders 5 a.

  Each of the tape feeders 5a is configured such that an electronic component C (hereinafter abbreviated as “component C”) is stored at predetermined intervals and the held tape is led out from the reel, and can be taken out by the head unit 3. In this way, the electronic component C is intermittently delivered. In the figure, reference numeral 6 denotes a bucket (corresponding to a discard unit according to the present invention) for storing the discarded component C, which is arranged in the component supply unit 5 together with the tape feeder 5a.

  The head unit 3 is provided so as to be movable along an X axis and a Y axis that are orthogonal to each other on a horizontal plane, and is movable across the component supply unit 5 and the mounting work position.

  That is, a fixed rail 7 in the Y-axis direction and a ball screw shaft 9 driven by a Y-axis servomotor 8 are disposed on the base 2. A support member 10 for the head unit is disposed on the fixed rail 7, and a nut portion 10 a provided on the support member 10 is screwed into the ball screw shaft 9. Further, the support member 10 is provided with a guide member 11 in the X-axis direction and a ball screw shaft 13 driven by an X-axis servo motor 12, and the head unit 3 is movably held by the guide member 11. A nut portion (not shown) provided on the head unit 3 is screwed onto the ball screw shaft 13.

  Accordingly, the support member 10 is moved in the Y-axis direction by driving the Y-axis servo motor 8, and the head unit 3 is moved in the X-axis direction with respect to the support member 10 by driving the X-axis servo motor 12. By this mechanism, the movement of the head unit 3 along the X-axis and Y-axis directions is realized.

  In the present embodiment, the head unit 3 is provided with six mounting heads 15 each having a suction nozzle 14 at the tip thereof arranged in a line along the X-axis direction.

  The head unit 3 is provided with a Z-axis servomotor 16 and a Z-axis ball screw shaft 17 that is rotationally driven by the Z-axis servomotor 16 for each mounting head 15.

  A nut member 18 attached to each mounting head 15 in a relatively rotatable state is screwed to the Z-axis ball screw shaft 17, and the ball screw shaft 17 is rotationally driven by the Z-axis servomotor 16. As a result, the mounting head 15 moves in the vertical direction.

  The head unit 3 is provided with a rotation mechanism 19 for rotating the mounting head 15 about its axis (around the R axis) corresponding to the mounting head 15. These rotation mechanisms 19 are respectively connected to an R-axis servomotor 27 (see FIG. 4), and the mounting heads 15 are rotated around the R-axis in response to the rotational drive of the R-axis servomotor 27. It has become.

  Furthermore, a holding portion 20 extending in a direction away from the support member 10 in the Y-axis direction is formed at the lower end portion of the head unit 3, and the mounting heads 15 are inserted into the holding portion 20. The holding portion 20 has a tip portion protruding downward, and a side illumination 21 for irradiating light from the side of each mounting head 15 is attached to the tip portion of the protrusion portion. . As shown in FIG. 2, the side illumination 21 is disposed corresponding to each suction nozzle 14 of each mounting head 15.

  On the other hand, a camera support portion 22 is suspended from a lower surface of a substantially intermediate portion (X-axis direction intermediate portion) of the support member 10, and each mounting head 15 is attracted to a lower end portion of the camera support portion 22. A side camera 23 capable of capturing the tip of the nozzle 14 from the side is attached. The side illumination 21 and the side camera 23 are arranged so as to face each other in the Y-axis direction.

  The side camera 23 is composed of an area sensor. Under the illumination condition of the side illumination 21, the side camera 23 captures a transmission image of the tip portion of the suction nozzle 14 (part C when there is a suction part C) and takes the image. A signal is transmitted to the controller 30. That is, in this embodiment, the side illumination 21, the side camera 23, and the like constitute an imaging unit according to the present invention.

  Further, on the base 2, at a position aligned in the Y-axis direction with respect to the side camera 23, a lower imaging unit 24 that images the component C sucked by the suction nozzle 14 from below is provided.

  As shown in FIG. 3, the lower imaging unit 24 includes a lower camera 25 made of an area sensor and a dome-shaped lower illumination made up of a plurality of LEDs arranged so as to surround the imaging range of the lower camera 25 and spread upward. 26, and the reflected image of the suction component C of the suction nozzle 14 passing above is taken and the image signal is transmitted to the controller 30.

  In addition, since the lower imaging unit 24 is provided at a position aligned with the side camera 23 in the X-axis direction as described above, the Y-axis position of each suction nozzle 14 is aligned with the lower camera 25. By moving the head unit 3 along the support member 10 (X-axis direction), the suction nozzles 14 can be simultaneously passed through the imaging ranges of the cameras 23 and 25, and the suction nozzles 14 are continuously connected. And let it pass. Therefore, if the imaging of both the cameras 23 and 25 is executed when passing through the imaging range, a side image and a bottom image can be obtained simultaneously for each suction nozzle 14 at the same time.

  In FIG. 1, reference numeral 28 denotes a cleaning station (corresponding to the cleaning unit according to the present invention) for cleaning the suction nozzle 14, and the conveyor 4 and the component supply unit 5 on one side (upper side in the figure). In the space between them, the lower imaging unit 24 is arranged in the X-axis direction.

  In the cleaning station 28, two nozzle insertion holes 28a corresponding to the arrangement pitch of the mounting heads 15 in the head unit 3 are arranged in the X-axis direction, and the tip of the suction nozzle 14 is inserted into these nozzle insertion holes 28a. The high pressure air is blown from the air nozzle provided in the nozzle insertion hole 28a to the tip of the suction nozzle 14.

  Next, the control system in the present embodiment will be described with reference to FIG.

  The surface mounter has a controller 30 that comprehensively controls its operation. The controller 30 corresponds to a determination unit and a control unit according to the present invention. The controller 30 is provided at an appropriate position inside the main body mechanism unit 1, and is a well-known CPU that executes logical operations, a ROM that stores initial settings, and the like. It is composed of a RAM or the like that temporarily stores various data during operation. The main functional configurations include an axis control means 31, an imaging device control means 32, an image memory 33, an on-board information storage means 34, and equipment information storage. Means 35, calculation means 36, and the like are included.

  The axis control means 31 includes the Y-axis servo motor 8, the X-axis servo motor 12, the Z-axis servo motor 16 (first head Z-axis servo motor to sixth head Z-axis servo motor), and the R-axis servo motor 27 (first head). It controls the drive of 1 head R-axis servo motor to 6th head R-axis servo motor.

  The imaging device control means 32 controls the operations of the side camera 23, the lower camera 25, the side illumination 21, and the lower illumination 26.

  The image memory 33 stores image data obtained by imaging with the side camera 23 and the lower camera 25.

  The mounting information storage means 34 stores various types of information related to the component C mounted on the substrate P. In addition to information regarding the shape of the component C, what kind of component C is placed at which location on the substrate P. The mounting information such as the order of mounting is stored.

  The facility information storage means 35 stores information related to the suction nozzles 14 attached to each mounting head 15, specifically information related to the shape of the suction nozzles 14.

  The calculation means 36 has a calculation function such as a CPU, and executes a mounting process described below in accordance with a program stored in advance. In particular, the calculation means 36 determines whether or not foreign matter such as dust adheres to the component C or the suction nozzle 14 based on the image data of the image memory 33 and information stored in the storage means 34 and 35. The subsequent processing is appropriately selected and executed according to the determination result.

  In FIG. 4, reference numeral 37 denotes a display device connected to the controller 30, and is configured to be able to display the driving state of the main body mechanism unit 1 and necessary warnings according to instructions from the calculation means 36. ing.

  Next, control of the mounting operation by the controller 30 will be described with reference to the flowchart of FIG.

  When the mounting operation is started, the conveyor 4 is driven to carry the substrate P into the main body mechanism unit 1 and to be positioned at the mounting work position. In parallel with this, the head unit 3 takes out the component C from the component supply unit 5 (component adsorption) (step S1). Specifically, after moving the head unit 3 above the component supply unit 5, the mounting head 15 is moved up and down to suck the component C by the suction nozzle 14 and take it out from the tape feeder 5 a. At this time, if possible, the components are sucked by a plurality of suction nozzles 14.

  When the suction of the component C by all the suction nozzles 14 (mounting heads 15) is completed, the head unit 3 is moved to the side of the nearest lower imaging unit 24. Then, with the side illumination 21 and the lower illumination 26 turned on, the side camera 23 and the lower camera 25 are moved while moving the head unit 3 in the X-axis direction from one side of the lower imaging unit 24 toward the other side. Thus, the suction component C of each suction nozzle 14 is imaged (step S2). Thus, a certain range of transmission image including the suction component C is captured from the side by the side camera 23, while a certain range of reflection image including the suction component C is captured from the lower side by the lower camera 25. As for the transmission images, two types of transmission images (transmission images in two directions) are taken for one component C by rotating the mounting head 15 by 90 ° about its axis.

  Next, the presence / absence determination of foreign matter such as dust is performed based on the transmission image of the suction component C of each suction nozzle 14 captured by the side camera 23 (step S3).

  This determination is made based on an image of the background portion excluding the suction component C and the suction nozzle 14 in each transmission image. For example, in the transmission image, the portion where the object exists such as the suction nozzle 14 is dark and the background portion is bright, so that the background is shown in FIG. 6A by binarizing the transmission image according to a predetermined brightness level. A binarized image is created in which the boundary between the part and the other part is clarified. Then, based on the shape information of the part C stored in the mounting information storage means 34 and the shape information of the suction nozzle 14 stored in the equipment information storage means 35, the suction is performed from the black pixel portion of the binarized image. The part corresponding to the nozzle 14 and the suction component C is specified and the part is masked (for example, the black pixel is inverted to the white pixel). In this case, when there is no foreign matter such as dust, almost the entire image is a white pixel. For example, as shown in FIG. 6A, there is foreign matter such as dust (indicated by D in the figure). In this case, since the black pixel portion remains after masking as shown in FIG. 5B, the presence or absence of foreign matter such as dust is determined based on the degree of the remaining black pixel.

  Note that this determination is performed based on two types of transmission images captured at different angles. That is, by making a determination based on the two types of transmission images in this way, the foreign object can be detected even when the blind spot of the suction component C, that is, dust or the like is present on the light source side (side illumination 21 side). It has become.

  If it is determined that there is a foreign substance such as dust (YES in step S3), it is further determined whether or not there are foreign substances in all six suction nozzles 14a (step S13). Shifts to step S7. On the other hand, if it is determined that there is a foreign substance in only a part of the six suction nozzles 14a (NO in step S13), the identification number (nozzle No) of the corresponding suction nozzle 14 is stored, and the process proceeds to step S4 ( Step S14).

  On the other hand, if it is determined that there is no foreign matter such as dust in any of the suction nozzles 14 (NO in step S3), the defect of the part C or the suction nozzle based on the reflection image of the suction part C of each suction nozzle 14 14 is recognized, and it is determined whether or not the result is good (step S4). In the case of passing through the process of step S14, in this process of step S4, a part C (hereinafter referred to as an effective part C as appropriate) sucked by the suction nozzle 14 other than the identification number stored in step S14. )

  For example, when a defect is recognized in the suction component C, such as a partial defect, or when a component C different from the mounting target is sucked (NO in step S4), the recognition result for all the effective components C is also obtained. Is determined to be defective (step S15). If YES is determined here, the process proceeds to step S7. On the other hand, if it is determined that the recognition result is poor for only a part (NO in step S15), the identification number (nozzle No) of the corresponding suction nozzle 14 is further stored and the process proceeds to step S5 (step S16).

  On the other hand, if it is determined in step S4 that the recognition result is good for all the effective components C (YES in step S4), the head unit 3 is placed on the substrate P positioned at the mounting work position. The effective parts C among the parts C sucked by the suction nozzles 14 are sequentially mounted on the substrate P (step S5). In the case of passing through the processes of steps S14 and S16, the component C (effective component C) sucked by the suction nozzle 14 other than the stored identification number is mounted on the substrate P.

  Then, it is determined whether or not all the components C sucked by the suction nozzles 14 have been mounted on the substrate P (step S6). If YES is determined here, a series of mounting operations of the components C is performed. Exit. On the other hand, if NO is determined in step S6, that is, if the process in step S14 or S16 is performed, the head unit 3 is moved above the bucket 6 and the parts C remaining in the suction nozzle 14 are sequentially placed. It discards in this bucket 6 (step S7).

  After the parts are discarded, the parts supply unit 5 is moved onto the cleaning station 28, and the suction nozzle 14 that has sucked the waste parts C is stored with the identification number in step S14, that is, the parts C have foreign matters such as dust. The suction nozzle 14 that has been determined to be present is cleaned (step S8). Specifically, the suction nozzle 14 (mounting head 15) as a target is lowered and inserted into the nozzle insertion hole 28a, and high pressure air is blown onto the nozzle tip to clean the tip portion of the suction nozzle 14. In this case, since the cleaning station 28 is provided with two nozzle insertion holes 28a, when cleaning two adjacent suction nozzles 14, these suction nozzles 14 are simultaneously inserted into the nozzle insertion holes 28a. Clean.

  Next, with the side illumination 21 turned on, the head unit 3 is moved in the X-axis direction, and a transmission image of the tip portion of the suction nozzle 14 thus cleaned is taken by the side camera 23, and the image is taken. Based on the above, it is determined whether or not there is a foreign substance such as dust (steps S9 and S10).

  The presence / absence determination of the foreign matter is performed based on the image of the background portion excluding the suction nozzle 14 in the transmission image, similarly to the processing (determination method) in step S3. That is, a predetermined binarized image is created from the transmission image, a portion corresponding to the suction nozzle 14 in the black pixel portion of the binarized image is specified, the portion is masked, and the black remaining in the remaining portion The presence or absence of foreign matter such as dust is determined based on the degree of pixels.

  If it is determined that there is a foreign substance such as dust in any of the suction nozzles 14 (YES in step S10), it is further determined whether or not cleaning has been performed for a preset number of cleanings (step S11). If NO is determined here, the process returns to step S8 to further clean the suction nozzle 14 that has been determined to have foreign matter such as dust.

  If no foreign substance is finally recognized in the suction nozzle 14 (YES in step 10), the series of mounting operations for the component C is terminated. In addition, when the presence of foreign matter is recognized even after the nozzle cleaning by the cleaning station 28 is repeated a predetermined number of times (YES in step S11), a predetermined warning is executed by displaying the fact on the display device 37. (Step S12), the mounting operation is terminated.

  As described above, in this surface mounter, foreign matters such as dust adhering to the component C are detected after the component adsorption and before the mounting, and when the foreign matter is recognized, the component C is discarded. Therefore, it is possible to effectively prevent foreign matters such as dust from being mounted on the substrate together with the components.

  In particular, detection of foreign matters such as dust is performed by taking a transmission image of a certain range including the part C sucked by the suction nozzle 14 with the side camera 23 as described above, and among the images, the suction part C and the suction nozzle 14 are captured. Since it is configured to perform based on the image of the background portion excluding, foreign matters such as dust and tape dust can be appropriately detected. That is, when foreign matter such as dust or tape dust adheres to the component C, the foreign matter adheres in a state of protruding outward from the component C rather than being in close contact with the component C integrally. (See FIG. 6A). Therefore, as described above, a transmission image of a certain range including the part C is taken, and by checking the image of the background part excluding the suction part C and the suction nozzle 14 in the image, foreign matters such as dust and tape dust are removed. It becomes possible to detect relatively easily.

  Therefore, according to this surface mounting machine, it is possible to more reliably prevent the occurrence of trouble such as a short circuit due to foreign matters such as dust being mounted on the substrate P together with the component C.

  In addition, when a foreign object is detected, the part C is discarded in the bucket 6 and then the tip portion of the suction nozzle 14 that has sucked the part C is cleaned. There is also an advantage that the reliability is high in preventing the mounting. That is, when a foreign object is detected based on the transmission image as described above, even if the foreign object can be detected, it is determined whether the foreign object is attached to the component C itself or the suction nozzle 14 (tip portion). difficult. Therefore, if the foreign object is detected, the component C is simply discarded. If the foreign object is attached to the suction nozzle 14, the foreign object is transferred to the next suction component C and mounted on the substrate P. Cases may come out. However, if the suction nozzle 14 is cleaned after discarding the parts as in the above-described embodiment, even if foreign matter adheres to the suction nozzle 14 side, the foreign matter will be collected before the next part suction. Therefore, the transfer of the foreign matter can be effectively prevented. As a result, it is possible to more reliably prevent foreign matters from being mounted on the substrate P together with the component C.

  The surface mounting machine described above is an example of a preferred embodiment of the surface mounting machine according to the present invention, and the specific configuration thereof can be changed as appropriate without departing from the gist of the present invention. For example, the following configuration may be adopted.

  (1) In the embodiment, a transmission image from the side of the suction component C sucked by the suction nozzle 14 is taken, and two types of images obtained by rotating the suction nozzle 14 90 degrees around the R axis (this image) (Images from two directions) are picked up to detect foreign matters such as dust based on these images. For example, a transmission image of the suction component C in the nozzle axis direction is picked up, and based on this image You may comprise so that a foreign material may be detected. Specifically, an illumination that irradiates light downward is provided behind the suction nozzle 14, and a transmission image of the suction component C is captured by the lower camera 25 in a state in which the illumination is turned on. May be detected. According to this configuration, when foreign matter such as dust adheres around the part C, the foreign matter can be detected based on one transmission image, so that the foreign matter can be efficiently detected. There are benefits. However, in this case, since the upper and lower sides of the part C are blind spots, it is preferable to adopt the configuration of the above embodiment in terms of reliability. That is, as in the embodiment, the suction component C is imaged from the side, and the suction nozzle 14 is rotated 90 ° around the R axis to capture two types of images (images from two directions). In this case, since the blind spot as described above does not occur, foreign matters such as dust can be detected more reliably, and the reliability is improved accordingly.

  (2) In the embodiment, an area sensor camera is applied as the side camera 23 or the lower camera 25, but it goes without saying that a line sensor (linear sensor) camera may be applied. When a line sensor camera is used as the side camera 23, first, the head unit 3 is moved (moved forward) with respect to the side camera 23 to image each component C, and each component C is rotated around the nozzle axis. Then, the head unit 3 is again moved (returned) with respect to the side camera 23 to capture each component C, thereby capturing two types of transmission images (images from two directions). You just have to do it.

  (3) In the embodiment, the foreign matter such as dust is detected by picking up a transmission image of the suction component C sucked by the suction nozzle 14 after the component suction, but the tip portion of the suction nozzle before the component suction A side image is taken by the side camera 23 to check the adhesion of the foreign matter to the suction nozzle 14. When the foreign matter is attached to the suction nozzle 14, the suction nozzle 14 is cleaned in advance at the cleaning station 28. You may make it perform. That is, before the process of step S1 in FIG. 5, first, the processes of steps S9 and S10 are executed, and when there is a suction nozzle 14 to which foreign matter is attached, steps S8 to step are further performed for the suction nozzle 14. You may make it perform the process of S12.

  (4) In the embodiment, a transmission image of the suction component C by the suction nozzle 14 is taken, and when foreign matter such as dust is detected, the suction nozzle 14 is unconditionally cleaned. For example, the calculation means 36 determines which of the suction nozzle 14 and the part C the foreign matter is attached from the position of the foreign matter on the image, and the subsequent processing is executed according to the place where the foreign matter is attached. Also good. Specifically, in the process of step S14 in FIG. 5, the object to be adhered (part C or suction nozzle 14) is stored together with the identification number of the suction nozzle 14. In step S7, only the part C determined to have foreign matters attached is discarded, while in step S8, only the suction nozzle 14 determined to have foreign matters attached is cleaned. To. According to this configuration, since nozzle cleaning is performed only when foreign matter is attached to the suction nozzle 14, there is a merit that the subsequent mounting operation can be rapidly advanced by that amount. .

  (5) In the embodiment, a transmission image of a suction component or the like is captured by the side camera 23, and the presence or absence of foreign matter such as dust is determined based on the image, but by capturing a reflection image The determination may be performed based on the image. That is, side illumination may be arranged in the vicinity of the side camera 23, and a side reflection image of the tip of the suction nozzle 14 may be captured while providing illumination from the camera 23 side. Alternatively, a lower reflection image of the tip of the suction nozzle 14 may be captured by the lower imaging unit 24 (lower camera 25). Further, an illumination device that is directed downward is provided above the suction nozzle 14, and a lower transmission image of the suction component is captured by capturing the suction component with the lower camera 25 in a state where the illumination device is turned on, and based on the image. The presence or absence of foreign matter such as dust may be determined.

  (6) In the embodiment, after the component is picked up, a transmission image is picked up by the side camera 23 and the presence or absence of foreign matter such as dust is determined based on the image. A lower reflection image or a lower transmission image of the front end of the suction nozzle 14 (an image obtained by imaging the front end of the suction nozzle 14 with the lower camera 25 in the same manner as in the modification (5)) is captured. The presence / absence of foreign matter may be determined based on a background image from which the nozzle portion equivalent portion is deleted. Alternatively, the side camera 23 captures a side transmission image or a side reflection image (a reflection image captured by the side camera 23 in the same manner as the above modification (5)) of the nozzle tip before the component suction, and this side. The presence / absence of foreign matter may be determined from a background image obtained by deleting the nozzle portion equivalent portion viewed from the side from the side transmission image or the side reflection image.

  (7) When determining the presence or absence of foreign matter, for example, the imaging data of the suction nozzle 14 and the part C, or CAD data thereof is stored in a storage device in advance, and the above masking is performed using this data. Although the processing is performed, the fact that the brightness of the image of the foreign matter such as dust is different from the brightness of the suction nozzle 14 or the image of the component, the suction nozzle 14 or the A part corresponding to the suction component C may be extracted to determine the presence or absence of foreign matter. That is, a portion corresponding to the extracted suction nozzle 14 and suction component C is removed from the transmission image or reflection image, leaving a background image, and foreign matter such as dust is determined from the background image.

It is a partial top view of the surface mounting machine which concerns on this invention. It is the II-II sectional view taken on the line of FIG. It is front sectional drawing which abbreviate | omits and shows a part of surface mounting machine shown in FIG. It is a block diagram which shows a functional structure about the controller of the surface mounter of FIG. It is a flowchart which shows the mounting operation control performed by the controller of FIG. It is a schematic diagram for demonstrating the determination method of the presence or absence of foreign materials, such as dust ((a) is a schematic diagram which shows the permeation | transmission image (binarization image) of the adsorption | suction component imaged with the side camera, (b) is. It is the schematic diagram which shows the image which masked the part corresponding to a suction nozzle and components among the images).

Explanation of symbols

2 base 3 head unit 6 bucket 10 support member 14 suction nozzle 23 side camera 25 lower camera 30 controller (control means, determination means)
C Electronic component P Printed circuit board

Claims (6)

In a surface mounting machine having a movable mounting head having a component suction nozzle at the tip, and mounting the component on the substrate to be mounted by sucking the component by the nozzle,
An imaging unit that images the tip of the nozzle, a determination unit that determines the presence or absence of a foreign object based on an image captured by the imaging unit, and the head that performs a predetermined operation according to a determination result by the determination unit And a control means for controlling the surface mounting machine. In the surface mounting machine according to claim 1,
The surface mounting machine characterized in that the imaging means images the nozzle tip from the side. In the surface mounting machine according to claim 1 or 2,
The imaging means images the tip portion of the nozzle in a state where no component is adsorbed, and the determination means determines whether or not there is a foreign substance based on an image of a background portion excluding the nozzle among images captured by the imaging means. A surface mounter characterized by judging. In the surface mounting machine according to claim 3,
A cleaning unit that cleans the tip of the nozzle, and the control unit sets the head to a cleaning unit to clean the nozzle tip in the cleaning unit when the determination unit determines that there is a foreign object. A surface mounting machine characterized by being moved. In the surface mounting machine according to claim 1 or 2,
The imaging means images the tip of the nozzle in a state where the component is sucked, and the determination means is a foreign object based on the image of the background portion excluding the suction part and the nozzle in the image captured by the imaging means. A surface mounter characterized by determining the presence or absence. In the surface mounting machine according to claim 5,
After the component is picked up by the nozzle, a certain range including the picked-up component is picked up by the image pickup means, and then the component is mounted on the substrate, and cleaning is performed to clean the waste part of the component and the tip of the nozzle And when the determination means determines that there is a foreign object, the control means discards the suction component in the disposal section and further cleans the nozzle tip in the cleaning section. A surface mounter that is sequentially moved to a disposal unit and a cleaning unit.

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